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Merge branch 'master' of github.com:PX4/Firmware into navigator_new

sbg
Lorenz Meier 11 years ago
parent
a65de1e0b9 ba4f881f80
commit
018e42733a
8 changed files with 27 additions and 45 deletions
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  1. 15
      makefiles/config_px4fmu-v1_backside.mk
  2. 10
      makefiles/config_px4fmu-v1_default.mk
  3. 3
      makefiles/toolchain_gnu-arm-eabi.mk
  4. 6
      src/drivers/boards/px4fmu-v1/board_config.h
  5. 26
      src/drivers/boards/px4fmu-v2/board_config.h
  6. 4
      src/drivers/boards/px4io-v1/board_config.h
  7. 6
      src/drivers/boards/px4io-v2/board_config.h
  8. 2
      src/drivers/drv_rc_input.h

15
makefiles/config_px4fmu-v1_backside.mk
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@ -25,14 +25,10 @@ MODULES += drivers/bma180
MODULES += drivers/mpu6000 MODULES += drivers/mpu6000
MODULES += drivers/hmc5883 MODULES += drivers/hmc5883
MODULES += drivers/ms5611 MODULES += drivers/ms5611
MODULES += drivers/mb12xx
MODULES += drivers/gps MODULES += drivers/gps
MODULES += drivers/hil MODULES += drivers/hil
MODULES += drivers/hott/hott_telemetry
MODULES += drivers/hott/hott_sensors
MODULES += drivers/blinkm MODULES += drivers/blinkm
MODULES += drivers/rgbled MODULES += drivers/rgbled
MODULES += drivers/mkblctrl
MODULES += drivers/roboclaw MODULES += drivers/roboclaw
MODULES += drivers/airspeed MODULES += drivers/airspeed
MODULES += drivers/ets_airspeed MODULES += drivers/ets_airspeed
@ -71,22 +67,11 @@ MODULES += modules/gpio_led
# #
# Estimation modules (EKF/ SO3 / other filters) # Estimation modules (EKF/ SO3 / other filters)
# #
#MODULES += modules/attitude_estimator_ekf
MODULES += modules/att_pos_estimator_ekf MODULES += modules/att_pos_estimator_ekf
#MODULES += modules/position_estimator_inav
MODULES += examples/flow_position_estimator
MODULES += modules/attitude_estimator_so3
# #
# Vehicle Control # Vehicle Control
# #
#MODULES += modules/segway # XXX Needs GCC 4.7 fix
#MODULES += modules/fw_pos_control_l1
#MODULES += modules/fw_att_control
#MODULES += modules/multirotor_att_control
#MODULES += modules/multirotor_pos_control
#MODULES += examples/flow_position_control
#MODULES += examples/flow_speed_control
MODULES += modules/fixedwing_backside MODULES += modules/fixedwing_backside
# #

10
makefiles/config_px4fmu-v1_default.mk
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@ -21,7 +21,7 @@ MODULES += drivers/px4fmu
MODULES += drivers/boards/px4fmu-v1 MODULES += drivers/boards/px4fmu-v1
MODULES += drivers/ardrone_interface MODULES += drivers/ardrone_interface
MODULES += drivers/l3gd20 MODULES += drivers/l3gd20
MODULES += drivers/bma180 #MODULES += drivers/bma180
MODULES += drivers/mpu6000 MODULES += drivers/mpu6000
MODULES += drivers/hmc5883 MODULES += drivers/hmc5883
MODULES += drivers/ms5611 MODULES += drivers/ms5611
@ -33,7 +33,6 @@ MODULES += drivers/hott/hott_sensors
MODULES += drivers/blinkm MODULES += drivers/blinkm
MODULES += drivers/rgbled MODULES += drivers/rgbled
MODULES += drivers/mkblctrl MODULES += drivers/mkblctrl
MODULES += drivers/roboclaw
MODULES += drivers/airspeed MODULES += drivers/airspeed
MODULES += drivers/ets_airspeed MODULES += drivers/ets_airspeed
MODULES += drivers/meas_airspeed MODULES += drivers/meas_airspeed
@ -75,18 +74,17 @@ MODULES += modules/attitude_estimator_ekf
MODULES += modules/attitude_estimator_so3 MODULES += modules/attitude_estimator_so3
MODULES += modules/att_pos_estimator_ekf MODULES += modules/att_pos_estimator_ekf
MODULES += modules/position_estimator_inav MODULES += modules/position_estimator_inav
MODULES += examples/flow_position_estimator #MODULES += examples/flow_position_estimator
# #
# Vehicle Control # Vehicle Control
# #
#MODULES += modules/segway # XXX Needs GCC 4.7 fix
MODULES += modules/fw_pos_control_l1 MODULES += modules/fw_pos_control_l1
MODULES += modules/fw_att_control MODULES += modules/fw_att_control
MODULES += modules/multirotor_att_control MODULES += modules/multirotor_att_control
MODULES += modules/multirotor_pos_control MODULES += modules/multirotor_pos_control
MODULES += examples/flow_position_control #MODULES += examples/flow_position_control
MODULES += examples/flow_speed_control #MODULES += examples/flow_speed_control
# #
# Logging # Logging

3
makefiles/toolchain_gnu-arm-eabi.mk
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@ -138,8 +138,7 @@ ARCHCWARNINGS = $(ARCHWARNINGS) \
-Wold-style-declaration \ -Wold-style-declaration \
-Wmissing-parameter-type \ -Wmissing-parameter-type \
-Wmissing-prototypes \ -Wmissing-prototypes \
-Wnested-externs \ -Wnested-externs
-Wunsuffixed-float-constants
# C++-specific warnings # C++-specific warnings
# #

6
src/drivers/boards/px4fmu-v1/board_config.h
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@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012 PX4 Development Team. All rights reserved. * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@ -34,7 +34,7 @@
/** /**
* @file board_config.h * @file board_config.h
* *
* PX4FMU internal definitions * PX4FMUv1 internal definitions
*/ */
#pragma once #pragma once
@ -180,7 +180,7 @@ __BEGIN_DECLS
#define HRT_TIMER 1 /* use timer1 for the HRT */ #define HRT_TIMER 1 /* use timer1 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */ #define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */ #define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10) #define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
/**************************************************************************************************** /****************************************************************************************************
* Public Types * Public Types

26
src/drivers/boards/px4fmu-v2/board_config.h
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@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012 PX4 Development Team. All rights reserved. * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@ -34,7 +34,7 @@
/** /**
* @file board_config.h * @file board_config.h
* *
* PX4FMU internal definitions * PX4FMUv2 internal definitions
*/ */
#pragma once #pragma once
@ -82,21 +82,21 @@ __BEGIN_DECLS
#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15) #define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
/* Data ready pins off */ /* Data ready pins off */
#define GPIO_GYRO_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0) #define GPIO_GYRO_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0)
#define GPIO_MAG_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1) #define GPIO_MAG_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1)
#define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4) #define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4)
#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15) #define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
/* SPI1 off */ /* SPI1 off */
#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5) #define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
#define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6) #define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7) #define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
/* SPI1 chip selects off */ /* SPI1 chip selects off */
#define GPIO_SPI_CS_GYRO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13) #define GPIO_SPI_CS_GYRO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13)
#define GPIO_SPI_CS_ACCEL_MAG_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15) #define GPIO_SPI_CS_ACCEL_MAG_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7) #define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_MPU (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2) #define GPIO_SPI_CS_MPU (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
/* SPI chip selects */ /* SPI chip selects */
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13) #define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
@ -177,7 +177,7 @@ __BEGIN_DECLS
* *
* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED) * PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
*/ */
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9) #define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
/* High-resolution timer */ /* High-resolution timer */
#define HRT_TIMER 8 /* use timer8 for the HRT */ #define HRT_TIMER 8 /* use timer8 for the HRT */

4
src/drivers/boards/px4io-v1/board_config.h
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@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012 PX4 Development Team. All rights reserved. * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@ -92,4 +92,4 @@
#define HRT_TIMER 1 /* use timer1 for the HRT */ #define HRT_TIMER 1 /* use timer1 for the HRT */
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */ #define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */ #define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */
#define GPIO_PPM_IN GPIO_TIM1_CH1IN #define GPIO_PPM_IN (GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTE|GPIO_PIN9)

6
src/drivers/boards/px4io-v2/board_config.h
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@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012 PX4 Development Team. All rights reserved. * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@ -32,7 +32,7 @@
****************************************************************************/ ****************************************************************************/
/** /**
* @file px4iov2_internal.h * @file board_config.h
* *
* PX4IOV2 internal definitions * PX4IOV2 internal definitions
*/ */
@ -122,7 +122,7 @@
#define HRT_TIMER 1 /* use timer1 for the HRT */ #define HRT_TIMER 1 /* use timer1 for the HRT */
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */ #define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */ #define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */
#define GPIO_PPM_IN GPIO_TIM1_CH1IN #define GPIO_PPM_IN (GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTE|GPIO_PIN9)
/* LED definitions ******************************************************************/ /* LED definitions ******************************************************************/
/* PX4 has two LEDs that we will encode as: */ /* PX4 has two LEDs that we will encode as: */

2
src/drivers/drv_rc_input.h
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@ -60,7 +60,7 @@
/** /**
* Maximum number of R/C input channels in the system. S.Bus has up to 18 channels. * Maximum number of R/C input channels in the system. S.Bus has up to 18 channels.
*/ */
#define RC_INPUT_MAX_CHANNELS 20 #define RC_INPUT_MAX_CHANNELS 18
/** /**
* Input signal type, value is a control position from zero to 100 * Input signal type, value is a control position from zero to 100

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