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

sbg
Thomas Gubler 12 years ago
parent
8768b7ddbf 90466afe05
commit
536ab4bce3
7 changed files with 206 additions and 140 deletions
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  1. 4
      apps/mavlink/mavlink_receiver.c
  2. 4
      apps/mavlink/orb_listener.c
  3. 6
      apps/multirotor_pos_control/multirotor_pos_control.c
  4. 175
      apps/px4/tests/test_adc.c
  5. 141
      apps/px4/tests/test_sensors.c
  6. 4
      apps/sensors/sensors.cpp
  7. 12
      apps/uORB/topics/subsystem_info.h

4
apps/mavlink/mavlink_receiver.c
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@ -1,7 +1,7 @@ @@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -35,6 +35,8 @@ @@ -35,6 +35,8 @@
/**
* @file mavlink_receiver.c
* MAVLink protocol message receive and dispatch
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
/* XXX trim includes */

4
apps/mavlink/orb_listener.c
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@ -1,7 +1,7 @@ @@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -35,6 +35,8 @@ @@ -35,6 +35,8 @@
/**
* @file orb_listener.c
* Monitors ORB topics and sends update messages as appropriate.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
// XXX trim includes

6
apps/multirotor_pos_control/multirotor_pos_control.c
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@ -32,8 +32,10 @@ @@ -32,8 +32,10 @@
*
****************************************************************************/
/*
* @file Implementation of AR.Drone 1.0 / 2.0 control interface
/**
* @file multirotor_pos_control.c
*
* Skeleton for multirotor position controller
*/
#include <nuttx/config.h>

175
apps/px4/tests/test_adc.c
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@ -1,7 +1,6 @@ @@ -1,7 +1,6 @@
/****************************************************************************
* px4/sensors/test_gpio.c
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (C) 2012 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
@ -13,7 +12,7 @@ @@ -13,7 +12,7 @@
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* 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.
*
@ -32,9 +31,10 @@ @@ -32,9 +31,10 @@
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
/**
* @file test_adc.c
* Test for the analog to digital converter.
*/
#include <nuttx/config.h>
#include <nuttx/arch.h>
@ -54,91 +54,46 @@ @@ -54,91 +54,46 @@
#include <nuttx/analog/adc.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: test_gpio
****************************************************************************/
int test_adc(int argc, char *argv[])
{
int fd0;
int fd0 = 0;
int ret = 0;
//struct adc_msg_s sample[4],sample2[4],sample3[4],sample4[4],sample5[4],sample6[4],sample7[4],sample8[4],sample9[4];
#pragma pack(push,1)
struct adc_msg4_s {
uint8_t am_channel1; /* The 8-bit ADC Channel */
int32_t am_data1; /* ADC convert result (4 bytes) */
uint8_t am_channel2; /* The 8-bit ADC Channel */
int32_t am_data2; /* ADC convert result (4 bytes) */
uint8_t am_channel3; /* The 8-bit ADC Channel */
int32_t am_data3; /* ADC convert result (4 bytes) */
uint8_t am_channel4; /* The 8-bit ADC Channel */
int32_t am_data4; /* ADC convert result (4 bytes) */
} __attribute__((__packed__));;
struct adc_msg4_s sample1[4], sample2[4];
size_t readsize;
ssize_t nbytes, nbytes2;
int i;
uint8_t am_channel1; /**< The 8-bit ADC Channel 1 */
int32_t am_data1; /**< ADC convert result 1 (4 bytes) */
uint8_t am_channel2; /**< The 8-bit ADC Channel 2 */
int32_t am_data2; /**< ADC convert result 2 (4 bytes) */
uint8_t am_channel3; /**< The 8-bit ADC Channel 3 */
int32_t am_data3; /**< ADC convert result 3 (4 bytes) */
uint8_t am_channel4; /**< The 8-bit ADC Channel 4 */
int32_t am_data4; /**< ADC convert result 4 (4 bytes) */
};
#pragma pack(pop)
struct adc_msg4_s sample1;
ssize_t nbytes;
int j;
int errval;
for (j = 0; j < 1; j++) {
char name[11];
sprintf(name, "/dev/adc%d", j);
fd0 = open(name, O_RDONLY | O_NONBLOCK);
fd0 = open("/dev/adc0", O_RDONLY | O_NONBLOCK);
if (fd0 < 0) {
printf("ADC: %s open fail\n", name);
return ERROR;
if (fd0 <= 0) {
message("/dev/adc0 open fail: %d\n", errno);
return ERROR;
} else {
printf("Opened %s successfully\n", name);
}
} else {
message("opened /dev/adc0 successfully\n");
}
usleep(10000);
/* first adc read round */
readsize = 4 * sizeof(struct adc_msg_s);
up_udelay(10000);//microseconds
nbytes = read(fd0, sample1, readsize);
up_udelay(10000);//microseconds
nbytes2 = read(fd0, sample2, readsize);
// nbytes2 = read(fd0, sample3, readsize);
// nbytes2 = read(fd0, sample4, readsize);
// nbytes2 = read(fd0, sample5, readsize);
// nbytes2 = read(fd0, sample6, readsize);
// nbytes2 = read(fd0, sample7, readsize);
// nbytes2 = read(fd0, sample8, readsize);
//nbytes2 = read(fd0, sample9, readsize);
for (j = 0; j < 10; j++) {
/* sleep 20 milliseconds */
usleep(20000);
nbytes = read(fd0, &sample1, sizeof(sample1));
/* Handle unexpected return values */
@ -146,62 +101,44 @@ int test_adc(int argc, char *argv[]) @@ -146,62 +101,44 @@ int test_adc(int argc, char *argv[])
errval = errno;
if (errval != EINTR) {
message("read %s failed: %d\n",
name, errval);
message("reading /dev/adc0 failed: %d\n", errval);
errval = 3;
goto errout_with_dev;
}
message("\tInterrupted read...\n");
message("\tinterrupted read..\n");
} else if (nbytes == 0) {
message("\tNo data read, Ignoring\n");
message("\tno data read, ignoring.\n");
ret = ERROR;
}
/* Print the sample data on successful return */
else {
int nsamples = nbytes / sizeof(struct adc_msg_s);
if (nsamples * sizeof(struct adc_msg_s) != nbytes) {
message("\tread size=%d is not a multiple of sample size=%d, Ignoring\n",
nbytes, sizeof(struct adc_msg_s));
if (nbytes != sizeof(sample1)) {
message("\tsample 1 size %d is not matching struct size %d, ignoring\n",
nbytes, sizeof(sample1));
ret = ERROR;
} else {
message("Sample:");
for (i = 0; i < 1 ; i++) {
message("%d: channel: %d value: %d\n",
i, sample1[i].am_channel1, sample1[i].am_data1);
message("Sample:");
message("%d: channel: %d value: %d\n",
i, sample1[i].am_channel2, sample1[i].am_data2);
message("Sample:");
message("%d: channel: %d value: %d\n",
i, sample1[i].am_channel3, sample1[i].am_data3);
message("Sample:");
message("%d: channel: %d value: %d\n",
i, sample1[i].am_channel4, sample1[i].am_data4);
message("Sample:");
message("%d: channel: %d value: %d\n",
i + 1, sample2[i].am_channel1, sample2[i].am_data1);
message("Sample:");
message("%d: channel: %d value: %d\n",
i + 1, sample2[i].am_channel2, sample2[i].am_data2);
message("Sample:");
message("%d: channel: %d value: %d\n",
i + 1, sample2[i].am_channel3, sample2[i].am_data3);
message("Sample:");
message("%d: channel: %d value: %d\n",
i + 1, sample2[i].am_channel4, sample2[i].am_data4);
// message("%d: channel: %d value: %d\n",
// i, sample9[i].am_channel, sample9[i].am_data);
}
message("CYCLE %d:\n", j);
message("channel: %d value: %d\n",
(int)sample1.am_channel1, sample1.am_data1);
message("channel: %d value: %d",
(int)sample1.am_channel2, sample1.am_data2);
message("channel: %d value: %d",
(int)sample1.am_channel3, sample1.am_data3);
message("channel: %d value: %d",
(int)sample1.am_channel4, sample1.am_data4);
}
}
fflush(stdout);
}
printf("\t ADC test successful.\n");
message("\t ADC test successful.");
errout_with_dev:

141
apps/px4/tests/test_sensors.c
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@ -1,7 +1,7 @@ @@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -36,7 +36,7 @@ @@ -36,7 +36,7 @@
* @file test_sensors.c
* Tests the onboard sensors.
*
* The sensors app must not be running when performing this test.
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <nuttx/config.h>
@ -56,7 +56,10 @@ @@ -56,7 +56,10 @@
#include "tests.h"
#include <drivers/drv_gyro.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_baro.h>
/****************************************************************************
* Pre-processor Definitions
@ -70,8 +73,10 @@ @@ -70,8 +73,10 @@
* Private Function Prototypes
****************************************************************************/
//static int lis331(int argc, char *argv[]);
static int mpu6000(int argc, char *argv[]);
static int accel(int argc, char *argv[]);
static int gyro(int argc, char *argv[]);
static int mag(int argc, char *argv[]);
static int baro(int argc, char *argv[]);
/****************************************************************************
* Private Data
@ -82,7 +87,10 @@ struct { @@ -82,7 +87,10 @@ struct {
const char *path;
int (* test)(int argc, char *argv[]);
} sensors[] = {
{"mpu6000", "/dev/accel", mpu6000},
{"accel", "/dev/accel", accel},
{"gyro", "/dev/gyro", gyro},
{"mag", "/dev/mag", mag},
{"baro", "/dev/baro", baro},
{NULL, NULL, NULL}
};
@ -95,9 +103,9 @@ struct { @@ -95,9 +103,9 @@ struct {
****************************************************************************/
static int
mpu6000(int argc, char *argv[])
accel(int argc, char *argv[])
{
printf("\tMPU-6000: test start\n");
printf("\tACCEL: test start\n");
fflush(stdout);
int fd;
@ -107,7 +115,7 @@ mpu6000(int argc, char *argv[]) @@ -107,7 +115,7 @@ mpu6000(int argc, char *argv[])
fd = open("/dev/accel", O_RDONLY);
if (fd < 0) {
printf("\tMPU-6000: open fail, run <mpu6000 start> first.\n");
printf("\tACCEL: open fail, run <mpu6000 start> or <lsm303 start> or <bma180 start> first.\n");
return ERROR;
}
@ -118,11 +126,11 @@ mpu6000(int argc, char *argv[]) @@ -118,11 +126,11 @@ mpu6000(int argc, char *argv[])
ret = read(fd, &buf, sizeof(buf));
if (ret < 3) {
printf("\tMPU-6000: read1 fail (%d)\n", ret);
printf("\tACCEL: read1 fail (%d)\n", ret);
return ERROR;
} else {
printf("\tMPU-6000 values: acc: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);//\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]);
printf("\tACCEL values: acc: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
}
// /* wait at least 10ms, sensor should have data after no more than 2ms */
@ -141,7 +149,118 @@ mpu6000(int argc, char *argv[]) @@ -141,7 +149,118 @@ mpu6000(int argc, char *argv[])
/* XXX more tests here */
/* Let user know everything is ok */
printf("\tOK: MPU-6000 passed all tests successfully\n");
printf("\tOK: ACCEL passed all tests successfully\n");
return OK;
}
static int
gyro(int argc, char *argv[])
{
printf("\tGYRO: test start\n");
fflush(stdout);
int fd;
struct gyro_report buf;
int ret;
fd = open("/dev/gyro", O_RDONLY);
if (fd < 0) {
printf("\tGYRO: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
return ERROR;
}
/* wait at least 5 ms, sensor should have data after that */
usleep(5000);
/* read data - expect samples */
ret = read(fd, &buf, sizeof(buf));
if (ret < 3) {
printf("\tGYRO: read fail (%d)\n", ret);
return ERROR;
} else {
printf("\tGYRO values: rates: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
}
/* Let user know everything is ok */
printf("\tOK: GYRO passed all tests successfully\n");
return OK;
}
static int
mag(int argc, char *argv[])
{
printf("\tMAG: test start\n");
fflush(stdout);
int fd;
struct mag_report buf;
int ret;
fd = open("/dev/mag", O_RDONLY);
if (fd < 0) {
printf("\tMAG: open fail, run <hmc5883 start> or <lsm303 start> first.\n");
return ERROR;
}
/* wait at least 5 ms, sensor should have data after that */
usleep(5000);
/* read data - expect samples */
ret = read(fd, &buf, sizeof(buf));
if (ret < 3) {
printf("\tMAG: read fail (%d)\n", ret);
return ERROR;
} else {
printf("\tMAG values: mag. field: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
}
/* Let user know everything is ok */
printf("\tOK: MAG passed all tests successfully\n");
return OK;
}
static int
baro(int argc, char *argv[])
{
printf("\tBARO: test start\n");
fflush(stdout);
int fd;
struct baro_report buf;
int ret;
fd = open("/dev/baro", O_RDONLY);
if (fd < 0) {
printf("\tBARO: open fail, run <ms5611 start> or <lps331 start> first.\n");
return ERROR;
}
/* wait at least 5 ms, sensor should have data after that */
usleep(5000);
/* read data - expect samples */
ret = read(fd, &buf, sizeof(buf));
if (ret < 3) {
printf("\tBARO: read fail (%d)\n", ret);
return ERROR;
} else {
printf("\tBARO values: pressure: %8.4f mbar\taltitude: %8.4f m\ttemperature: %8.4f deg Celsius\n", (double)buf.pressure, (double)buf.altitude, (double)buf.temperature);
}
/* Let user know everything is ok */
printf("\tOK: BARO passed all tests successfully\n");
return OK;
}

4
apps/sensors/sensors.cpp
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@ -34,9 +34,9 @@ @@ -34,9 +34,9 @@
/**
* @file sensors.cpp
* @author Lorenz Meier <lm@inf.ethz.ch>
*
* Sensor readout process.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <nuttx/config.h>

12
apps/uORB/topics/subsystem_info.h
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@ -1,9 +1,9 @@ @@ -1,9 +1,9 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -37,6 +37,10 @@ @@ -37,6 +37,10 @@
/**
* @file subsystem_info.h
* Definition of the subsystem info topic.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
#ifndef TOPIC_SUBSYSTEM_INFO_H_

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