zrzk
/
px4_autopilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

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
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  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
Unescape View File

@ -1,7 +1,7 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012 PX4 Development Team. All rights reserved. * 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 * 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
@ -35,6 +35,8 @@
/** /**
* @file mavlink_receiver.c * @file mavlink_receiver.c
* MAVLink protocol message receive and dispatch * MAVLink protocol message receive and dispatch
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/ */
/* XXX trim includes */ /* XXX trim includes */

4
apps/mavlink/orb_listener.c
Unescape View File

@ -1,7 +1,7 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012 PX4 Development Team. All rights reserved. * 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 * 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
@ -35,6 +35,8 @@
/** /**
* @file orb_listener.c * @file orb_listener.c
* Monitors ORB topics and sends update messages as appropriate. * Monitors ORB topics and sends update messages as appropriate.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/ */
// XXX trim includes // XXX trim includes

6
apps/multirotor_pos_control/multirotor_pos_control.c
Unescape View File

@ -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> #include <nuttx/config.h>

175
apps/px4/tests/test_adc.c
Unescape View File

@ -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 * 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
@ -13,7 +12,7 @@
* notice, this list of conditions and the following disclaimer in * notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the * the documentation and/or other materials provided with the
* distribution. * 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 * used to endorse or promote products derived from this software
* without specific prior written permission. * without specific prior written permission.
* *
@ -32,9 +31,10 @@
* *
****************************************************************************/ ****************************************************************************/
/**************************************************************************** /**
* Included Files * @file test_adc.c
****************************************************************************/ * Test for the analog to digital converter.
*/
#include <nuttx/config.h> #include <nuttx/config.h>
#include <nuttx/arch.h> #include <nuttx/arch.h>
@ -54,91 +54,46 @@
#include <nuttx/analog/adc.h> #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 test_adc(int argc, char *argv[])
{ {
int fd0; int fd0 = 0;
int ret = 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 { struct adc_msg4_s {
uint8_t am_channel1; /* The 8-bit ADC Channel */ uint8_t am_channel1; /**< The 8-bit ADC Channel 1 */
int32_t am_data1; /* ADC convert result (4 bytes) */ int32_t am_data1; /**< ADC convert result 1 (4 bytes) */
uint8_t am_channel2; /* The 8-bit ADC Channel */ uint8_t am_channel2; /**< The 8-bit ADC Channel 2 */
int32_t am_data2; /* ADC convert result (4 bytes) */ int32_t am_data2; /**< ADC convert result 2 (4 bytes) */
uint8_t am_channel3; /* The 8-bit ADC Channel */ uint8_t am_channel3; /**< The 8-bit ADC Channel 3 */
int32_t am_data3; /* ADC convert result (4 bytes) */ int32_t am_data3; /**< ADC convert result 3 (4 bytes) */
uint8_t am_channel4; /* The 8-bit ADC Channel */ uint8_t am_channel4; /**< The 8-bit ADC Channel 4 */
int32_t am_data4; /* ADC convert result (4 bytes) */ int32_t am_data4; /**< ADC convert result 4 (4 bytes) */
} __attribute__((__packed__));; };
#pragma pack(pop)
struct adc_msg4_s sample1[4], sample2[4];
struct adc_msg4_s sample1;
size_t readsize;
ssize_t nbytes, nbytes2; ssize_t nbytes;
int i;
int j; int j;
int errval; int errval;
for (j = 0; j < 1; j++) { fd0 = open("/dev/adc0", O_RDONLY | O_NONBLOCK);
char name[11];
sprintf(name, "/dev/adc%d", j);
fd0 = open(name, O_RDONLY | O_NONBLOCK);
if (fd0 < 0) { if (fd0 <= 0) {
printf("ADC: %s open fail\n", name); message("/dev/adc0 open fail: %d\n", errno);
return ERROR; return ERROR;
} else { } else {
printf("Opened %s successfully\n", name); message("opened /dev/adc0 successfully\n");
} }
usleep(10000);
/* first adc read round */ for (j = 0; j < 10; j++) {
readsize = 4 * sizeof(struct adc_msg_s);
up_udelay(10000);//microseconds /* sleep 20 milliseconds */
nbytes = read(fd0, sample1, readsize); usleep(20000);
up_udelay(10000);//microseconds nbytes = read(fd0, &sample1, sizeof(sample1));
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);
/* Handle unexpected return values */ /* Handle unexpected return values */
@ -146,62 +101,44 @@ int test_adc(int argc, char *argv[])
errval = errno; errval = errno;
if (errval != EINTR) { if (errval != EINTR) {
message("read %s failed: %d\n", message("reading /dev/adc0 failed: %d\n", errval);
name, errval);
errval = 3; errval = 3;
goto errout_with_dev; goto errout_with_dev;
} }
message("\tInterrupted read...\n"); message("\tinterrupted read..\n");
} else if (nbytes == 0) { } 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 */ /* Print the sample data on successful return */
else { else {
int nsamples = nbytes / sizeof(struct adc_msg_s); if (nbytes != sizeof(sample1)) {
message("\tsample 1 size %d is not matching struct size %d, ignoring\n",
if (nsamples * sizeof(struct adc_msg_s) != nbytes) { nbytes, sizeof(sample1));
message("\tread size=%d is not a multiple of sample size=%d, Ignoring\n", ret = ERROR;
nbytes, sizeof(struct adc_msg_s));
} else { } else {
message("Sample:");
message("CYCLE %d:\n", j);
for (i = 0; i < 1 ; i++) {
message("%d: channel: %d value: %d\n", message("channel: %d value: %d\n",
i, sample1[i].am_channel1, sample1[i].am_data1); (int)sample1.am_channel1, sample1.am_data1);
message("Sample:"); message("channel: %d value: %d",
message("%d: channel: %d value: %d\n", (int)sample1.am_channel2, sample1.am_data2);
i, sample1[i].am_channel2, sample1[i].am_data2); message("channel: %d value: %d",
message("Sample:"); (int)sample1.am_channel3, sample1.am_data3);
message("%d: channel: %d value: %d\n", message("channel: %d value: %d",
i, sample1[i].am_channel3, sample1[i].am_data3); (int)sample1.am_channel4, sample1.am_data4);
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);
}
} }
} }
fflush(stdout);
} }
printf("\t ADC test successful.\n"); message("\t ADC test successful.");
errout_with_dev: errout_with_dev:

141
apps/px4/tests/test_sensors.c
Unescape View File

@ -1,7 +1,7 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012 PX4 Development Team. All rights reserved. * 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 * 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
@ -36,7 +36,7 @@
* @file test_sensors.c * @file test_sensors.c
* Tests the onboard sensors. * 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> #include <nuttx/config.h>
@ -56,7 +56,10 @@
#include "tests.h" #include "tests.h"
#include <drivers/drv_gyro.h>
#include <drivers/drv_accel.h> #include <drivers/drv_accel.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_baro.h>
/**************************************************************************** /****************************************************************************
* Pre-processor Definitions * Pre-processor Definitions
@ -70,8 +73,10 @@
* Private Function Prototypes * Private Function Prototypes
****************************************************************************/ ****************************************************************************/
//static int lis331(int argc, char *argv[]); static int accel(int argc, char *argv[]);
static int mpu6000(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 * Private Data
@ -82,7 +87,10 @@ struct {
const char *path; const char *path;
int (* test)(int argc, char *argv[]); int (* test)(int argc, char *argv[]);
} sensors[] = { } sensors[] = {
{"mpu6000", "/dev/accel", mpu6000}, {"accel", "/dev/accel", accel},
{"gyro", "/dev/gyro", gyro},
{"mag", "/dev/mag", mag},
{"baro", "/dev/baro", baro},
{NULL, NULL, NULL} {NULL, NULL, NULL}
}; };
@ -95,9 +103,9 @@ struct {
****************************************************************************/ ****************************************************************************/
static int 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); fflush(stdout);
int fd; int fd;
@ -107,7 +115,7 @@ mpu6000(int argc, char *argv[])
fd = open("/dev/accel", O_RDONLY); fd = open("/dev/accel", O_RDONLY);
if (fd < 0) { 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; return ERROR;
} }
@ -118,11 +126,11 @@ mpu6000(int argc, char *argv[])
ret = read(fd, &buf, sizeof(buf)); ret = read(fd, &buf, sizeof(buf));
if (ret < 3) { if (ret < 3) {
printf("\tMPU-6000: read1 fail (%d)\n", ret); printf("\tACCEL: read1 fail (%d)\n", ret);
return ERROR; return ERROR;
} else { } 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 */ // /* wait at least 10ms, sensor should have data after no more than 2ms */
@ -141,7 +149,118 @@ mpu6000(int argc, char *argv[])
/* XXX more tests here */ /* XXX more tests here */
/* Let user know everything is ok */ /* 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; return OK;
} }

4
apps/sensors/sensors.cpp
Unescape View File

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

12
apps/uORB/topics/subsystem_info.h
Unescape View File

@ -1,9 +1,9 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. * Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch> * Author: Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch> * Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch> * Julian Oes <joes@student.ethz.ch>
* *
* 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
@ -37,6 +37,10 @@
/** /**
* @file subsystem_info.h * @file subsystem_info.h
* Definition of the subsystem info topic. * 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_ #ifndef TOPIC_SUBSYSTEM_INFO_H_

Write Preview
Loading…
Cancel
Save