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

CMakeLists.txt

@@ -274,7 +274,7 @@ px4_generate_messages(TARGET msg_gen
 px4_generate_parameters_xml(OUT parameters.xml BOARD ${BOARD})
 px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})
 add_custom_target(xml_gen
-	DEPENDS parameters.xml airframes.xml)
+	DEPENDS git_eigen parameters.xml airframes.xml)
 
 #=============================================================================
 # external projects
@@ -286,6 +286,9 @@ set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
 # add external project install folders to build
 link_directories(${ep_base}/Install/lib)
 include_directories(${ep_base}/Install/include)
+# add the directories so cmake won't warn
+execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
+execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
 
 #=============================================================================
 # subdirectories

cmake/common/px4_base.cmake

@@ -731,7 +731,9 @@ function(px4_generate_parameters_xml)
 		REQUIRED OUT BOARD
 		ARGN ${ARGN})
 	set(path ${CMAKE_SOURCE_DIR}/src)
-	file(GLOB_RECURSE param_src_files ${path}/*.h* ${path}/*.c*)
+	file(GLOB_RECURSE param_src_files
+		${CMAKE_SOURCE_DIR}/src/*params.c
+		)
 	add_custom_command(OUTPUT ${OUT}
 		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py
 			-s ${path} --board CONFIG_ARCH_${BOARD} --xml

cmake/qurt/px4_impl_qurt.cmake

@@ -229,7 +229,7 @@ function(px4_os_prebuild_targets)
 		COMMAND patch -p1 -i ${CMAKE_SOURCE_DIR}/cmake/qurt/qurt_eigen.patch
 		DEPENDS git_eigen)
 	add_custom_target(${OUT} DEPENDS git_dspal git_eigen_patched)
-	add_custom_target(ALL DEPENDS git_eigen)
+	add_custom_target(ALL DEPENDS git_eigen_patched)
 
 endfunction()
 

cmake/qurt/qurt_funcs.cmake

@@ -46,5 +46,3 @@
 # The macros are called from the top level CMakeLists.txt
 #
 px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")
-px4_add_git_submodule(TARGET git_eigen32 PATH "src/lib/eigen-3.2")
-

src/firmware/qurt/CMakeLists.txt

@@ -14,7 +14,7 @@ if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
 	add_executable(mainapp 
 		${CMAKE_SOURCE_DIR}/src/platforms/qurt/dspal/dspal_stub.c
 		${CMAKE_BINARY_DIR}/apps.h)
-else("${QURT_ENABLE_STUBS}" STREQUAL "1")
+else()
 	add_library(mainapp 
 		${CMAKE_SOURCE_DIR}/src/platforms/qurt/dspal/dspal_stub.c
 		${CMAKE_BINARY_DIR}/apps.h)

src/modules/mavlink/CMakeLists.txt

@@ -56,6 +56,7 @@ px4_add_module(
 		mavlink_rate_limiter.cpp
 		mavlink_receiver.cpp
 		mavlink_ftp.cpp
+		mavlink_params.c
 	DEPENDS
 		platforms__common
 	)

src/modules/mavlink/mavlink.c

@@ -46,75 +46,6 @@
 #include "mavlink_bridge_header.h"
 #include <systemlib/param/param.h>
 
-/**
- * MAVLink system ID
- * @group MAVLink
- * @min 1
- * @max 250
- */
-PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
-
-/**
- * MAVLink component ID
- * @group MAVLink
- * @min 1
- * @max 250
- */
-PARAM_DEFINE_INT32(MAV_COMP_ID, 1);
-
-/**
- * MAVLink Radio ID
- *
- * When non-zero the MAVLink app will attempt to configure the
- * radio to this ID and re-set the parameter to 0. If the value
- * is negative it will reset the complete radio config to
- * factory defaults.
- *
- * @group MAVLink
- * @min -1
- * @max 240
- */
-PARAM_DEFINE_INT32(MAV_RADIO_ID, 0);
-
-/**
- * MAVLink airframe type
- *
- * @min 1
- * @group MAVLink
- */
-PARAM_DEFINE_INT32(MAV_TYPE, 1);
-
-/**
- * Use/Accept HIL GPS message even if not in HIL mode
- *
- * If set to 1 incoming HIL GPS messages are parsed.
- *
- * @group MAVLink
- */
-PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);
-
-/**
- * Forward external setpoint messages
- *
- * If set to 1 incoming external setpoint messages will be directly forwarded
- * to the controllers if in offboard control mode
- *
- * @group MAVLink
- */
-PARAM_DEFINE_INT32(MAV_FWDEXTSP, 1);
-
-/**
- * Test parameter
- *
- * This parameter is not actively used by the system. Its purpose is to allow
- * testing the parameter interface on the communication level.
- *
- * @group MAVLink
- * @min -1000
- * @max 1000
- */
-PARAM_DEFINE_INT32(MAV_TEST_PAR, 1);
-
 mavlink_system_t mavlink_system = {
 	100,
 	50

src/modules/mavlink/mavlink_params.c

@@ -0,0 +1,104 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <systemlib/param/param.h>
+
+/**
+ * MAVLink system ID
+ * @group MAVLink
+ * @min 1
+ * @max 250
+ */
+PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
+
+/**
+ * MAVLink component ID
+ * @group MAVLink
+ * @min 1
+ * @max 250
+ */
+PARAM_DEFINE_INT32(MAV_COMP_ID, 1);
+
+/**
+ * MAVLink Radio ID
+ *
+ * When non-zero the MAVLink app will attempt to configure the
+ * radio to this ID and re-set the parameter to 0. If the value
+ * is negative it will reset the complete radio config to
+ * factory defaults.
+ *
+ * @group MAVLink
+ * @min -1
+ * @max 240
+ */
+PARAM_DEFINE_INT32(MAV_RADIO_ID, 0);
+
+/**
+ * MAVLink airframe type
+ *
+ * @min 1
+ * @group MAVLink
+ */
+PARAM_DEFINE_INT32(MAV_TYPE, 1);
+
+/**
+ * Use/Accept HIL GPS message even if not in HIL mode
+ *
+ * If set to 1 incoming HIL GPS messages are parsed.
+ *
+ * @group MAVLink
+ */
+PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);
+
+/**
+ * Forward external setpoint messages
+ *
+ * If set to 1 incoming external setpoint messages will be directly forwarded
+ * to the controllers if in offboard control mode
+ *
+ * @group MAVLink
+ */
+PARAM_DEFINE_INT32(MAV_FWDEXTSP, 1);
+
+/**
+ * Test parameter
+ *
+ * This parameter is not actively used by the system. Its purpose is to allow
+ * testing the parameter interface on the communication level.
+ *
+ * @group MAVLink
+ * @min -1000
+ * @max 1000
+ */
+PARAM_DEFINE_INT32(MAV_TEST_PAR, 1);
+

src/modules/muorb/adsp/px4muorb.cpp

@@ -31,38 +31,30 @@
  *
  ****************************************************************************/
 #include "px4muorb.hpp"
-//#include "qurt.h"
 #include "uORBFastRpcChannel.hpp"
 #include "uORBManager.hpp"
 
 #include <px4_middleware.h>
 #include <px4_tasks.h>
 #include <px4_posix.h>
-#include <map>
-#include <string>
+#include <dspal_platform.h>
 #include "px4_log.h"
 #include "uORB/topics/sensor_combined.h"
 #include "uORB.h"
 
-#define _ENABLE_MUORB 1
-
-extern "C" {
-int dspal_main(int argc, const char *argv[]);
-void HAP_power_request(int a, int b, int c);
-};
-
+__BEGIN_DECLS
+extern int dspal_main(int argc, char *argv[]);
+__END_DECLS
 
 int px4muorb_orb_initialize()
 {
-	int rc = 0;
-	PX4_WARN("Before calling dspal_entry() method...");
 	HAP_power_request(100, 100, 1000);
 	// register the fastrpc muorb with uORBManager.
 	uORB::Manager::get_instance()->set_uorb_communicator(uORB::FastRpcChannel::GetInstance());
-	const char *argv[2] = { "dspal", "start" };
+	const char *argv[] = { "dspal", "start" };
 	int argc = 2;
-	dspal_main(argc, argv);
-	PX4_WARN("After calling dspal_entry");
+	int rc;
+	rc = dspal_main(argc, (char **)argv);
 	return rc;
 }
 
@@ -102,7 +94,6 @@ int px4muorb_remove_subscriber(const char *name)
 	}
 
 	return rc;
-
 }
 
 int px4muorb_send_topic_data(const char *name, const uint8_t *data, int data_len_in_bytes)

src/modules/sdlog2/CMakeLists.txt

@@ -44,6 +44,7 @@ px4_add_module(
 	SRCS
 		sdlog2.c
 		logbuffer.c
+		params.c
 	DEPENDS
 		platforms__common
 	)

src/modules/sdlog2/params.c

@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <systemlib/param/param.h>
+
+/**
+ * Logging rate.
+ *
+ * A value of -1 indicates the commandline argument
+ * should be obeyed. A value of 0 sets the minimum rate,
+ * any other value is interpreted as rate in Hertz. This
+ * parameter is only read out before logging starts (which
+ * commonly is before arming).
+ *
+ * @min -1
+ * @max  1
+ * @group SD Logging
+ */
+PARAM_DEFINE_INT32(SDLOG_RATE, -1);
+
+/**
+ * Enable extended logging mode.
+ *
+ * A value of -1 indicates the commandline argument
+ * should be obeyed. A value of 0 disables extended
+ * logging mode, a value of 1 enables it. This
+ * parameter is only read out before logging starts
+ * (which commonly is before arming).
+ *
+ * @min -1
+ * @max  1
+ * @group SD Logging
+ */
+PARAM_DEFINE_INT32(SDLOG_EXT, -1);
+
+/**
+ * Use timestamps only if GPS 3D fix is available
+ *
+ * A value of 1 constrains the log folder creation
+ * to only use the time stamp if a 3D GPS lock is
+ * present.
+ *
+ * @min 0
+ * @max  1
+ * @group SD Logging
+ */
+PARAM_DEFINE_INT32(SDLOG_GPSTIME, 1);

src/modules/sdlog2/sdlog2.c

@@ -124,49 +124,6 @@
 
 #define PX4_EPOCH_SECS 1234567890L
 
-/**
- * Logging rate.
- *
- * A value of -1 indicates the commandline argument
- * should be obeyed. A value of 0 sets the minimum rate,
- * any other value is interpreted as rate in Hertz. This
- * parameter is only read out before logging starts (which
- * commonly is before arming).
- *
- * @min -1
- * @max  1
- * @group SD Logging
- */
-PARAM_DEFINE_INT32(SDLOG_RATE, -1);
-
-/**
- * Enable extended logging mode.
- *
- * A value of -1 indicates the commandline argument
- * should be obeyed. A value of 0 disables extended
- * logging mode, a value of 1 enables it. This
- * parameter is only read out before logging starts
- * (which commonly is before arming).
- *
- * @min -1
- * @max  1
- * @group SD Logging
- */
-PARAM_DEFINE_INT32(SDLOG_EXT, -1);
-
-/**
- * Use timestamps only if GPS 3D fix is available
- *
- * A value of 1 constrains the log folder creation
- * to only use the time stamp if a 3D GPS lock is
- * present.
- *
- * @min 0
- * @max  1
- * @group SD Logging
- */
-PARAM_DEFINE_INT32(SDLOG_GPSTIME, 1);
-
 #define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \
 		log_msgs_written++; \
 	} else { \

src/platforms/qurt/px4_layer/CMakeLists.txt

@@ -38,6 +38,7 @@ set(QURT_LAYER_SRCS
 	drv_hrt.c
 	qurt_stubs.c
 	main.cpp
+	params.c
 	)
 if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
 	list(APPEND QURT_LAYER_SRCS
@@ -53,7 +54,7 @@ if ("${BOARD}" STREQUAL "eagle")
 	# The CI test target can use the hil commands
 	if ("${LABEL}" STREQUAL "travis")
 		set(CONFIG_SRC commands_hil.c)
-	else("${LABEL}" STREQUAL "travis")
+	else()
 		set(CONFIG_SRC commands_${LABEL}.c)
 	endif()
 

src/platforms/qurt/px4_layer/main.cpp

@@ -1,5 +1,4 @@
 /****************************************************************************
- *
  * Copyright (C) 2015 Mark Charlebois. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -42,6 +41,7 @@
 #include <px4_time.h>
 #include <px4_posix.h>
 #include <px4_defines.h>
+#include <dspal_platform.h>
 #include <vector>
 #include <string>
 #include <map>
@@ -100,15 +100,6 @@ static void process_commands(map<string,px4_main_t> &apps, const char *cmds)
 	bool found_first_char = false;
 	char arg[256];
 
-	// This is added because it is a parameter used by commander, yet created by mavlink.  Since mavlink is not
-	// running on QURT, we need to manually define it so it is available to commander.  "2" is for quadrotor.
-
-	// Following is hack to prevent duplicate parameter definition error in param parser
-	/**
-	 * @board QuRT_App
-	 */
-	PARAM_DEFINE_INT32(MAV_TYPE,2);
-
 	// Eat leading whitespace
 	eat_whitespace(b, i);
 
@@ -152,7 +143,7 @@ extern void init_once(void);
 };
 
 __BEGIN_DECLS
-extern int dspal_main(int argc, char *argv[]);
+int dspal_main(int argc, char *argv[]);
 __END_DECLS
 
 
@@ -164,13 +155,13 @@ int dspal_entry( int argc, char* argv[] )
 	px4::init_once();
 	px4::init(argc, (char **)argv, "mainapp");
 	process_commands(apps, get_commands());
-	usleep( 1000000 ); // give time for all commands to execute before starting external function
+	sleep(1); // give time for all commands to execute before starting external function
 	if(qurt_external_hook)
 	{
 		qurt_external_hook();
 	}
 	for(;;){
-		usleep( 1000000 );
+		sleep(1);
 	}
         return 0;
 }

src/platforms/qurt/px4_layer/params.c

@@ -0,0 +1,43 @@
+/****************************************************************************
+ * Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <systemlib/param/param.h>
+
+// This is added because it is a parameter used by commander, yet created by mavlink.  Since mavlink is not
+// running on QURT, we need to manually define it so it is available to commander.  "2" is for quadrotor.
+
+// Following is hack to prevent duplicate parameter definition error in param parser
+/**
+ * @board QuRT_App
+ */
+PARAM_DEFINE_INT32(MAV_TYPE,2);
+

src/platforms/qurt/px4_layer/qurt_stubs.c

@@ -31,7 +31,8 @@
  *
  ****************************************************************************/
 #include "px4_log.h"
-//extern "C" {
+#include <semaphore.h>
+
 void block_indefinite(void);
 void _Read_uleb(void);
 void _Parse_fde_instr(void);
@@ -47,11 +48,9 @@ void __cxa_pure_virtual( void );
 
 void block_indefinite( void )
 {
-   for(;;)
-   {
-      volatile int x = 0;
-      ++x;
-   }
+	sem_t forever;
+	sem_init(&forever, 0, 0);
+	sem_wait(&forever);
 }
 
 void _Read_uleb( void )
@@ -72,20 +71,6 @@ void _Parse_csd( void )
 	block_indefinite(); 
 }
 
-#if 0
-void _Locksyslock( int x )
-{
-   PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
-   block_indefinite(); 
-}
-
-void _Unlocksyslock( int x )
-{
-   PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
-   block_indefinite(); 
-}
-#endif
-
 void _Valbytes( void )
 {
 	PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
@@ -133,5 +118,3 @@ void __cxa_pure_virtual()
 	PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
 	block_indefinite(); 
 }
-
-//}

src/platforms/qurt/stubs/stubs_qurt.c

@@ -1,4 +1,6 @@
+#include <dlfcn.h>
 #include <qurt_log.h>
+#include <dspal_platform.h>
 
 void HAP_debug(const char *msg, int level, const char *filename, int line)
 {

src/systemcmds/tests/CMakeLists.txt

@@ -53,7 +53,7 @@ set(srcs
 	test_file.c
 	test_file2.c
 	tests_main.c
-	test_param.c
+	test_params.c
 	test_ppm_loopback.c
 	test_rc.c
 	test_conv.cpp