Anton Babushkin
11 years ago
17 changed files with 558 additions and 43 deletions
@ -0,0 +1,88 @@ |
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#!nsh |
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# |
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# PX4FMU startup script for logging purposes |
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# |
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# |
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# Try to mount the microSD card. |
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# |
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echo "[init] looking for microSD..." |
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if mount -t vfat /dev/mmcsd0 /fs/microsd |
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then |
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echo "[init] card mounted at /fs/microsd" |
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# Start playing the startup tune |
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tone_alarm start |
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else |
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echo "[init] no microSD card found" |
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# Play SOS |
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tone_alarm error |
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fi |
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uorb start |
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# |
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# Start sensor drivers here. |
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# |
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ms5611 start |
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adc start |
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# mag might be external |
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if hmc5883 start |
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then |
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echo "using HMC5883" |
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fi |
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if mpu6000 start |
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then |
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echo "using MPU6000" |
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fi |
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if l3gd20 start |
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then |
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echo "using L3GD20(H)" |
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fi |
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if lsm303d start |
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then |
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set BOARD fmuv2 |
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else |
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set BOARD fmuv1 |
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fi |
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# Start airspeed sensors |
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if meas_airspeed start |
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then |
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echo "using MEAS airspeed sensor" |
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else |
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if ets_airspeed start |
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then |
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echo "using ETS airspeed sensor (bus 3)" |
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else |
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if ets_airspeed start -b 1 |
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then |
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echo "Using ETS airspeed sensor (bus 1)" |
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fi |
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fi |
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fi |
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# |
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# Start the sensor collection task. |
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# IMPORTANT: this also loads param offsets |
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# ALWAYS start this task before the |
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# preflight_check. |
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# |
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if sensors start |
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then |
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echo "SENSORS STARTED" |
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fi |
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sdlog2 start -r 250 -e -b 16 |
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if sercon |
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then |
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echo "[init] USB interface connected" |
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# Try to get an USB console |
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nshterm /dev/ttyACM0 & |
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fi |
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@ -0,0 +1,157 @@ |
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#
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# Makefile for the px4fmu_default configuration
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#
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#
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# Use the configuration's ROMFS, copy the px4iov2 firmware into
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# the ROMFS if it's available
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#
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ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_logging
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ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
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#
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# Board support modules
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#
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MODULES += drivers/device
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MODULES += drivers/stm32
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MODULES += drivers/stm32/adc
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MODULES += drivers/stm32/tone_alarm
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MODULES += drivers/led
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MODULES += drivers/px4fmu
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MODULES += drivers/px4io
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MODULES += drivers/boards/px4fmu-v2
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MODULES += drivers/rgbled
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MODULES += drivers/mpu6000
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MODULES += drivers/lsm303d
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MODULES += drivers/l3gd20
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MODULES += drivers/hmc5883
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MODULES += drivers/ms5611
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MODULES += drivers/mb12xx
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MODULES += drivers/gps
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MODULES += drivers/hil
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MODULES += drivers/hott/hott_telemetry
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MODULES += drivers/hott/hott_sensors
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MODULES += drivers/blinkm
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MODULES += drivers/roboclaw
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MODULES += drivers/airspeed
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MODULES += drivers/ets_airspeed
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MODULES += drivers/meas_airspeed
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MODULES += modules/sensors
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# Needs to be burned to the ground and re-written; for now,
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# just don't build it.
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#MODULES += drivers/mkblctrl
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#
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# System commands
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#
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MODULES += systemcmds/ramtron
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MODULES += systemcmds/bl_update
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MODULES += systemcmds/boardinfo
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MODULES += systemcmds/mixer
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MODULES += systemcmds/param
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MODULES += systemcmds/perf
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MODULES += systemcmds/preflight_check
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MODULES += systemcmds/pwm
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MODULES += systemcmds/esc_calib
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MODULES += systemcmds/reboot
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MODULES += systemcmds/top
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MODULES += systemcmds/tests
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MODULES += systemcmds/config
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MODULES += systemcmds/nshterm
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#
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# General system control
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#
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MODULES += modules/commander
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MODULES += modules/navigator
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MODULES += modules/mavlink
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MODULES += modules/mavlink_onboard
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#
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# Estimation modules (EKF/ SO3 / other filters)
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#
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MODULES += modules/attitude_estimator_ekf
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MODULES += modules/attitude_estimator_so3
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MODULES += modules/att_pos_estimator_ekf
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MODULES += modules/position_estimator_inav
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MODULES += examples/flow_position_estimator
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#
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# Vehicle Control
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#
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#MODULES += modules/segway # XXX Needs GCC 4.7 fix
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MODULES += modules/fw_pos_control_l1
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MODULES += modules/fw_att_control
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MODULES += modules/multirotor_att_control
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MODULES += modules/multirotor_pos_control
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#
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# Logging
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#
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MODULES += modules/sdlog2
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#
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# Unit tests
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#
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#MODULES += modules/unit_test
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#MODULES += modules/commander/commander_tests
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#
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# Library modules
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#
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MODULES += modules/systemlib
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MODULES += modules/systemlib/mixer
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MODULES += modules/controllib
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MODULES += modules/uORB
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#
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# Libraries
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#
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LIBRARIES += lib/mathlib/CMSIS
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MODULES += lib/mathlib
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MODULES += lib/mathlib/math/filter
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MODULES += lib/ecl
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MODULES += lib/external_lgpl
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MODULES += lib/geo
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MODULES += lib/conversion
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#
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# Demo apps
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#
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#MODULES += examples/math_demo
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# Tutorial code from
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# https://pixhawk.ethz.ch/px4/dev/hello_sky
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MODULES += examples/px4_simple_app
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# Tutorial code from
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# https://pixhawk.ethz.ch/px4/dev/daemon
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#MODULES += examples/px4_daemon_app
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# Tutorial code from
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# https://pixhawk.ethz.ch/px4/dev/debug_values
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#MODULES += examples/px4_mavlink_debug
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# Tutorial code from
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# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
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#MODULES += examples/fixedwing_control
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# Hardware test
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#MODULES += examples/hwtest
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#
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# Transitional support - add commands from the NuttX export archive.
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#
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# In general, these should move to modules over time.
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#
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# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
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# to make the table a bit more readable.
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#
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define _B |
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$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
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endef |
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# command priority stack entrypoint
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BUILTIN_COMMANDS := \
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$(call _B, sercon, , 2048, sercon_main ) \
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$(call _B, serdis, , 2048, serdis_main )
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@ -0,0 +1,146 @@ |
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/****************************************************************************
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* |
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* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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|
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/**
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* @file test_ppm_loopback.c |
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* Tests the PWM outputs and PPM input |
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* |
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*/ |
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#include <nuttx/config.h> |
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#include <sys/types.h> |
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#include <stdio.h> |
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#include <poll.h> |
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#include <stdlib.h> |
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#include <unistd.h> |
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#include <fcntl.h> |
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#include <errno.h> |
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#include <debug.h> |
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#include <arch/board/board.h> |
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#include <drivers/drv_pwm_output.h> |
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#include <drivers/drv_rc_input.h> |
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#include <systemlib/err.h> |
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#include "tests.h" |
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#include <math.h> |
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#include <float.h> |
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int test_rc(int argc, char *argv[]) |
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{ |
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int _rc_sub = orb_subscribe(ORB_ID(input_rc)); |
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/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */ |
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struct rc_input_values rc_input; |
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struct rc_input_values rc_last; |
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orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); |
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usleep(100000); |
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/* open PPM input and expect values close to the output values */ |
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bool rc_updated; |
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orb_check(_rc_sub, &rc_updated); |
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warnx("Reading PPM values - press any key to abort"); |
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warnx("This test guarantees: 10 Hz update rates, no glitches (channel values), no channel count changes."); |
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if (rc_updated) { |
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/* copy initial set */ |
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for (unsigned i = 0; i < rc_input.channel_count; i++) { |
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rc_last.values[i] = rc_input.values[i]; |
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} |
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rc_last.channel_count = rc_input.channel_count; |
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/* poll descriptor */ |
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struct pollfd fds[2]; |
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fds[0].fd = _rc_sub; |
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fds[0].events = POLLIN; |
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fds[1].fd = 0; |
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fds[1].events = POLLIN; |
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while (true) { |
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int ret = poll(fds, 2, 200); |
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if (ret > 0) { |
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if (fds[0].revents & POLLIN) { |
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orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); |
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/* go and check values */ |
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for (unsigned i = 0; i < rc_input.channel_count; i++) { |
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if (fabsf(rc_input.values[i] - rc_last.values[i]) > 20) { |
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warnx("comparison fail: RC: %d, expected: %d", rc_input.values[i], rc_last.values[i]); |
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(void)close(_rc_sub); |
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return ERROR; |
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} |
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rc_last.values[i] = rc_input.values[i]; |
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} |
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if (rc_last.channel_count != rc_input.channel_count) { |
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warnx("channel count mismatch: last: %d, now: %d", rc_last.channel_count, rc_input.channel_count); |
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(void)close(_rc_sub); |
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return ERROR; |
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} |
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if (hrt_absolute_time() - rc_input.timestamp > 100000) { |
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warnx("TIMEOUT, less than 10 Hz updates"); |
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(void)close(_rc_sub); |
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return ERROR; |
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}
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} else { |
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/* key pressed, bye bye */ |
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return 0; |
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} |
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} |
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} |
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} else { |
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warnx("failed reading RC input data"); |
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return ERROR; |
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} |
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warnx("PPM CONTINUITY TEST PASSED SUCCESSFULLY!"); |
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return 0; |
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} |
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