From 2e6dd243af393afb64e326a0357a052045e2a492 Mon Sep 17 00:00:00 2001 From: bresch Date: Fri, 26 Jan 2024 16:53:21 +0100 Subject: [PATCH 01/53] mpc: add possibility to generate tilt using full 3D accel Using full 3D acceleration provides better horizontal acceleration tracking but also creates a sometimes unwanted behavior because the tilt is directly coupled with the vertical acceleration setpoint. --- .../MulticopterPositionControl.cpp | 1 + .../MulticopterPositionControl.hpp | 1 + .../PositionControl/PositionControl.cpp | 17 ++++++++++++----- .../PositionControl/PositionControl.hpp | 6 ++++++ ...multicopter_position_control_limits_params.c | 10 ++++++++++ 5 files changed, 30 insertions(+), 5 deletions(-) diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.cpp b/src/modules/mc_pos_control/MulticopterPositionControl.cpp index ca8360c80452..90928921835d 100644 --- a/src/modules/mc_pos_control/MulticopterPositionControl.cpp +++ b/src/modules/mc_pos_control/MulticopterPositionControl.cpp @@ -167,6 +167,7 @@ void MulticopterPositionControl::parameters_update(bool force) Vector3f(_param_mpc_xy_vel_i_acc.get(), _param_mpc_xy_vel_i_acc.get(), _param_mpc_z_vel_i_acc.get()), Vector3f(_param_mpc_xy_vel_d_acc.get(), _param_mpc_xy_vel_d_acc.get(), _param_mpc_z_vel_d_acc.get())); _control.setHorizontalThrustMargin(_param_mpc_thr_xy_marg.get()); + _control.decoupleHorizontalAndVecticalAcceleration(_param_mpc_acc_decouple.get()); _goto_control.setParamMpcAccHor(_param_mpc_acc_hor.get()); _goto_control.setParamMpcAccDownMax(_param_mpc_acc_down_max.get()); _goto_control.setParamMpcAccUpMax(_param_mpc_acc_up_max.get()); diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.hpp b/src/modules/mc_pos_control/MulticopterPositionControl.hpp index b1f88fde57d3..3dac59bc1b89 100644 --- a/src/modules/mc_pos_control/MulticopterPositionControl.hpp +++ b/src/modules/mc_pos_control/MulticopterPositionControl.hpp @@ -146,6 +146,7 @@ class MulticopterPositionControl : public ModuleBase (ParamFloat) _param_mpc_tiltmax_air, (ParamFloat) _param_mpc_thr_hover, (ParamBool) _param_mpc_use_hte, + (ParamBool) _param_mpc_acc_decouple, // Takeoff / Land (ParamFloat) _param_com_spoolup_time, /**< time to let motors spool up after arming */ diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp index 955f3f4b44a7..0cf632c04359 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp @@ -204,13 +204,20 @@ void PositionControl::_velocityControl(const float dt) void PositionControl::_accelerationControl() { // Assume standard acceleration due to gravity in vertical direction for attitude generation - Vector3f body_z = Vector3f(-_acc_sp(0), -_acc_sp(1), CONSTANTS_ONE_G).normalized(); + float z_specific_force = -CONSTANTS_ONE_G; + + if (!_decouple_horizontal_and_vertical_acceleration) { + // Include vertical acceleration setpoint for better horizontal acceleration tracking + z_specific_force += _acc_sp(2); + } + + Vector3f body_z = Vector3f(-_acc_sp(0), -_acc_sp(1), -z_specific_force).normalized(); ControlMath::limitTilt(body_z, Vector3f(0, 0, 1), _lim_tilt); - // Scale thrust assuming hover thrust produces standard gravity - float collective_thrust = _acc_sp(2) * (_hover_thrust / CONSTANTS_ONE_G) - _hover_thrust; + // Convert to thrust assuming hover thrust produces standard gravity + const float thrust_ned_z = _acc_sp(2) * (_hover_thrust / CONSTANTS_ONE_G) - _hover_thrust; // Project thrust to planned body attitude - collective_thrust /= (Vector3f(0, 0, 1).dot(body_z)); - collective_thrust = math::min(collective_thrust, -_lim_thr_min); + const float cos_ned_body = (Vector3f(0, 0, 1).dot(body_z)); + const float collective_thrust = math::min(thrust_ned_z / cos_ned_body, -_lim_thr_min); _thr_sp = body_z * collective_thrust; } diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp index 4eb909e1fa3e..7575409bbc78 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp @@ -163,6 +163,11 @@ class PositionControl */ void resetIntegral() { _vel_int.setZero(); } + /** + * If set, the tilt setpoint is computed by assuming no vertical acceleration + */ + void decoupleHorizontalAndVecticalAcceleration(bool val) { _decouple_horizontal_and_vertical_acceleration = val; } + /** * Get the controllers output local position setpoint * These setpoints are the ones which were executed on including PID output and feed-forward. @@ -211,6 +216,7 @@ class PositionControl float _lim_tilt{}; ///< Maximum tilt from level the output attitude is allowed to have float _hover_thrust{}; ///< Thrust [HOVER_THRUST_MIN, HOVER_THRUST_MAX] with which the vehicle hovers not accelerating down or up with level orientation + bool _decouple_horizontal_and_vertical_acceleration{false}; ///< Ignore vertical acceleration setpoint to remove its effect on the tilt setpoint // States matrix::Vector3f _pos; /**< current position */ diff --git a/src/modules/mc_pos_control/multicopter_position_control_limits_params.c b/src/modules/mc_pos_control/multicopter_position_control_limits_params.c index a60732cfa8c2..91039f04ea6d 100644 --- a/src/modules/mc_pos_control/multicopter_position_control_limits_params.c +++ b/src/modules/mc_pos_control/multicopter_position_control_limits_params.c @@ -138,3 +138,13 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f); * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.f); + +/** + * Acceleration to tilt coupling + * + * Set to decouple tilt from vertical acceleration. + * + * @boolean + * @group Multicopter Position Control + */ +PARAM_DEFINE_INT32(MPC_ACC_DECOUPLE, 1); From 95627ea098f3e6107805ba4f389c54ecfe1c0c42 Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Wed, 20 Mar 2024 09:33:37 +1100 Subject: [PATCH 02/53] SMART_BATTERY_INFO to BATTERY_INFO (#22875) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Update submodule mavlink to latest Wed Mar 13 01:02:16 UTC 2024 - mavlink in PX4/Firmware (497327e916103ef05ff8f08f47d33b9a19bc28d7): https://github.com/mavlink/mavlink/commit/c4a5c497379ca873f73abe691a033641a6a5a817 - mavlink current upstream: https://github.com/mavlink/mavlink/commit/a3558d6b335d930fc01816fd168d16b3f38ed434 - Changes: https://github.com/mavlink/mavlink/compare/c4a5c497379ca873f73abe691a033641a6a5a817...a3558d6b335d930fc01816fd168d16b3f38ed434 a3558d6b 2024-03-07 Hamish Willee - common - DO_FENCE_ENABLE/PARACHUTE fix (#2090) b9730e0f 2024-03-06 olliw42 - update RADIO_RC_CHANNELS to latest, remove all mlrs from storm32.xml (#1919) 7fed0268 2024-03-06 Patrick José Pereira - common: MAV_CMD_DO_SET_SYS_CMP_ID: Add first version (#2082) 2909b481 2024-03-06 Hamish Willee - Update Pymavlink (#2089) e9b532a9 2024-03-05 Randy Mackay - common: add set-camera-source command (#2079) bcdbeb7f 2024-03-01 auturgy - Allow individual fences to be enabled and disabled (#2085) 2f8403d1 2024-02-29 Hamish Willee - MAV_CMD_ODID_SET_EMERGENCY - (#2086) daa59c02 2024-02-22 Peter Barker - common.xml: add a command to deal with safety switch (#2081) 977332e2 2024-02-14 Hamish Willee - COMPONENT_INFORMATION_BASIC - add manufacturer date (#2078) 4fef7de2 2024-02-07 Randy Mackay - Common: rename SMART_BATTERY_INFO to BATTERY_INFO and add SOH (#2070) 3865b311 2024-02-01 Hamish Willee - FLIGHT_INFORMATION - description to match PX4 (#2067) f80e6818 2024-01-31 KonradRudin - development.xml: merge both MAV_CMD enums together (#2074) * SMART_BATTERY_INFO to BATTERY_INFO on new mavlink module * Update src/modules/mavlink/streams/BATTERY_INFO.hpp * fix trivial whitespace --------- Co-authored-by: PX4 BuildBot Co-authored-by: Daniel Agar --- src/modules/mavlink/mavlink | 2 +- src/modules/mavlink/mavlink_messages.cpp | 8 +-- ...MART_BATTERY_INFO.hpp => BATTERY_INFO.hpp} | 58 ++++++++++++------- 3 files changed, 41 insertions(+), 27 deletions(-) rename src/modules/mavlink/streams/{SMART_BATTERY_INFO.hpp => BATTERY_INFO.hpp} (67%) diff --git a/src/modules/mavlink/mavlink b/src/modules/mavlink/mavlink index c4a5c497379c..a3558d6b335d 160000 --- a/src/modules/mavlink/mavlink +++ b/src/modules/mavlink/mavlink @@ -1 +1 @@ -Subproject commit c4a5c497379ca873f73abe691a033641a6a5a817 +Subproject commit a3558d6b335d930fc01816fd168d16b3f38ed434 diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index d9a9dc213910..bcd532861814 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -132,6 +132,7 @@ #if !defined(CONSTRAINED_FLASH) # include "streams/ADSB_VEHICLE.hpp" # include "streams/AUTOPILOT_STATE_FOR_GIMBAL_DEVICE.hpp" +# include "streams/BATTERY_INFO.hpp" # include "streams/DEBUG.hpp" # include "streams/DEBUG_FLOAT_ARRAY.hpp" # include "streams/DEBUG_VECT.hpp" @@ -147,7 +148,6 @@ # include "streams/ODOMETRY.hpp" # include "streams/SCALED_PRESSURE2.hpp" # include "streams/SCALED_PRESSURE3.hpp" -# include "streams/SMART_BATTERY_INFO.hpp" # include "streams/UAVIONIX_ADSB_OUT_CFG.hpp" # include "streams/UAVIONIX_ADSB_OUT_DYNAMIC.hpp" # include "streams/UTM_GLOBAL_POSITION.hpp" @@ -259,9 +259,9 @@ static const StreamListItem streams_list[] = { create_stream_list_item(), #endif // SYS_STATUS_HPP create_stream_list_item(), -#if defined(SMART_BATTERY_INFO_HPP) - create_stream_list_item(), -#endif // SMART_BATTERY_INFO_HPP +#if defined(BATTERY_INFO_HPP) + create_stream_list_item(), +#endif // BATTERY_INFO_HPP #if defined(HIGHRES_IMU_HPP) create_stream_list_item(), #endif // HIGHRES_IMU_HPP diff --git a/src/modules/mavlink/streams/SMART_BATTERY_INFO.hpp b/src/modules/mavlink/streams/BATTERY_INFO.hpp similarity index 67% rename from src/modules/mavlink/streams/SMART_BATTERY_INFO.hpp rename to src/modules/mavlink/streams/BATTERY_INFO.hpp index 3476db3a02b2..fd72acce45ed 100644 --- a/src/modules/mavlink/streams/SMART_BATTERY_INFO.hpp +++ b/src/modules/mavlink/streams/BATTERY_INFO.hpp @@ -31,30 +31,30 @@ * ****************************************************************************/ -#ifndef SMART_BATTERY_INFO_HPP -#define SMART_BATTERY_INFO_HPP +#ifndef BATTERY_INFO_HPP +#define BATTERY_INFO_HPP #include -class MavlinkStreamSmartBatteryInfo : public MavlinkStream +class MavlinkStreamBatteryInfo : public MavlinkStream { public: - static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamSmartBatteryInfo(mavlink); } + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamBatteryInfo(mavlink); } - static constexpr const char *get_name_static() { return "SMART_BATTERY_INFO"; } - static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SMART_BATTERY_INFO; } + static constexpr const char *get_name_static() { return "BATTERY_INFO"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_BATTERY_INFO; } const char *get_name() const override { return get_name_static(); } uint16_t get_id() override { return get_id_static(); } unsigned get_size() override { - static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_SMART_BATTERY_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_BATTERY_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; return size_per_battery * _battery_status_subs.advertised_count(); } private: - explicit MavlinkStreamSmartBatteryInfo(Mavlink *mavlink) : MavlinkStream(mavlink) {} + explicit MavlinkStreamBatteryInfo(Mavlink *mavlink) : MavlinkStream(mavlink) {} uORB::SubscriptionMultiArray _battery_status_subs{ORB_ID::battery_status}; @@ -67,36 +67,50 @@ class MavlinkStreamSmartBatteryInfo : public MavlinkStream if (battery_sub.update(&battery_status)) { if (battery_status.serial_number == 0) { - // This is not smart battery + // Required to emit continue; } - mavlink_smart_battery_info_t msg{}; + mavlink_battery_info_t msg{}; msg.id = battery_status.id - 1; - msg.capacity_full_specification = battery_status.capacity; - msg.capacity_full = (int32_t)((float)(battery_status.state_of_health * battery_status.capacity) / 100.f); + msg.design_capacity = (float)(battery_status.capacity * 1000); + msg.full_charge_capacity = (float)(battery_status.state_of_health * battery_status.capacity * 1000.f) / 100.f; msg.cycle_count = battery_status.cycle_count; if (battery_status.manufacture_date) { uint16_t day = battery_status.manufacture_date % 32; uint16_t month = (battery_status.manufacture_date >> 5) % 16; - uint16_t year = (80 + (battery_status.manufacture_date >> 9)) % 100; + uint16_t year = (80 + (battery_status.manufacture_date >> 9)); + uint16_t year2dig = year % 100; + //Formatted as 'ddmmyyyy' (maxed 9 chars) + snprintf(msg.manufacture_date, sizeof(msg.manufacture_date), "%d%d%d", day, month, year); //Formatted as 'dd/mm/yy-123456' (maxed 15 + 1 chars) - snprintf(msg.serial_number, sizeof(msg.serial_number), "%d/%d/%d-%d", day, month, year, battery_status.serial_number); + snprintf(msg.serial_number, sizeof(msg.serial_number), "%d/%d/%d-%d", day, month, year2dig, + battery_status.serial_number); } else { + snprintf(msg.serial_number, sizeof(msg.serial_number), "%d", battery_status.serial_number); } - //msg.device_name = ?? - msg.weight = -1; - msg.discharge_minimum_voltage = -1; - msg.charging_minimum_voltage = -1; - msg.resting_minimum_voltage = -1; - - mavlink_msg_smart_battery_info_send_struct(_mavlink->get_channel(), &msg); + // Not supported by PX4 (not in battery_status uorb topic) + /* + msg.name = 0; // char[50] + msg.weight = 0; + msg.discharge_minimum_voltage = 0; + msg.charging_minimum_voltage = 0; + msg.resting_minimum_voltage = 0; + msg.charging_maximum_voltage = 0; + msg.charging_maximum_current = 0; + msg.discharge_maximum_current = 0; + msg.discharge_maximum_burst_current = 0; + msg.cells_in_series = 0; + msg.nominal_voltage = 0; + */ + + mavlink_msg_battery_info_send_struct(_mavlink->get_channel(), &msg); updated = true; } } @@ -105,4 +119,4 @@ class MavlinkStreamSmartBatteryInfo : public MavlinkStream } }; -#endif // SMART_BATTERY_INFO_HPP +#endif // BATTERY_INFO_HPP From 63850873eb6a0ecb7fc5ccda0b294dc3e60a674e Mon Sep 17 00:00:00 2001 From: muramura Date: Sun, 10 Mar 2024 01:20:35 +0900 Subject: [PATCH 03/53] sd_bench: Display maximum time for maximum write time --- src/systemcmds/sd_bench/sd_bench.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/systemcmds/sd_bench/sd_bench.cpp b/src/systemcmds/sd_bench/sd_bench.cpp index 990932432162..edfaff4f5062 100644 --- a/src/systemcmds/sd_bench/sd_bench.cpp +++ b/src/systemcmds/sd_bench/sd_bench.cpp @@ -50,6 +50,8 @@ #include +#define MAX(a,b) ((a) > (b) ? (a) : (b)) + typedef struct sdb_config { int num_runs; ///< number of runs int run_duration; ///< duration of a single run [ms] @@ -202,6 +204,7 @@ void write_test(int fd, sdb_config_t *cfg, uint8_t *block, int block_size) unsigned int total_blocks = 0; cfg->total_blocks_written = 0; unsigned int *blocknumber = (unsigned int *)(void *)&block[0]; + unsigned int max_max_write_time = 0; for (int run = 0; run < cfg->num_runs; ++run) { hrt_abstime start = hrt_absolute_time(); @@ -245,10 +248,12 @@ void write_test(int fd, sdb_config_t *cfg, uint8_t *block, int block_size) total_elapsed += elapsed; total_blocks += num_blocks; + max_max_write_time = MAX(max_max_write_time, max_write_time); } cfg->total_blocks_written = total_blocks; PX4_INFO(" Avg : %8.2lf KB/s", (double)block_size * total_blocks / total_elapsed / 1024.); + PX4_INFO(" Overall max write time: %i ms", max_max_write_time); } int read_test(int fd, sdb_config_t *cfg, uint8_t *block, int block_size) From 37caddedbb8e8fd871ebbe942f03c257ae6a0012 Mon Sep 17 00:00:00 2001 From: Drone-Lab <2334088143@qq.com> Date: Wed, 20 Mar 2024 15:37:19 +0800 Subject: [PATCH 04/53] navigator: update mission after changing home position (#22834) --- src/modules/navigator/mission_base.cpp | 27 ++++++++++++++++++++++++++ src/modules/navigator/mission_base.h | 8 ++++++++ 2 files changed, 35 insertions(+) diff --git a/src/modules/navigator/mission_base.cpp b/src/modules/navigator/mission_base.cpp index 4a376995a098..026cefaba2c5 100644 --- a/src/modules/navigator/mission_base.cpp +++ b/src/modules/navigator/mission_base.cpp @@ -253,6 +253,7 @@ MissionBase::on_active() updateMavlinkMission(); updateDatamanCache(); + updateMissionAltAfterHomeChanged(); /* Check the mission */ if (!_mission_checked && canRunMissionFeasibility()) { @@ -1375,3 +1376,29 @@ bool MissionBase::canRunMissionFeasibility() (_geofence_status_sub.get().geofence_id == _mission.geofence_id) && (_geofence_status_sub.get().status == geofence_status_s::GF_STATUS_READY); } + +void MissionBase::updateMissionAltAfterHomeChanged() +{ + if (_navigator->get_home_position()->update_count > _home_update_counter) { + float new_alt = get_absolute_altitude_for_item(_mission_item); + float altitude_diff = new_alt - _navigator->get_position_setpoint_triplet()->current.alt; + + if (_navigator->get_position_setpoint_triplet()->previous.valid + && PX4_ISFINITE(_navigator->get_position_setpoint_triplet()->previous.alt)) { + _navigator->get_position_setpoint_triplet()->previous.alt = _navigator->get_position_setpoint_triplet()->previous.alt + + altitude_diff; + } + + _navigator->get_position_setpoint_triplet()->current.alt = _navigator->get_position_setpoint_triplet()->current.alt + + altitude_diff; + + if (_navigator->get_position_setpoint_triplet()->next.valid + && PX4_ISFINITE(_navigator->get_position_setpoint_triplet()->next.alt)) { + _navigator->get_position_setpoint_triplet()->next.alt = _navigator->get_position_setpoint_triplet()->next.alt + + altitude_diff; + } + + _navigator->set_position_setpoint_triplet_updated(); + _home_update_counter = _navigator->get_home_position()->update_count; + } +} diff --git a/src/modules/navigator/mission_base.h b/src/modules/navigator/mission_base.h index 7f234bb7d277..1b788106f4a3 100644 --- a/src/modules/navigator/mission_base.h +++ b/src/modules/navigator/mission_base.h @@ -448,8 +448,16 @@ class MissionBase : public MissionBlock, public ModuleParams */ bool checkMissionDataChanged(mission_s new_mission); + /** + * @brief update current mission altitude after the home position has changed. + */ + + void updateMissionAltAfterHomeChanged(); + bool canRunMissionFeasibility(); + uint32_t _home_update_counter = 0; /**< Variable to store the previous value for home change detection.*/ + bool _align_heading_necessary{false}; // if true, heading of vehicle needs to be aligned with heading of next waypoint. Used to create new mission items for heading alignment. mission_item_s _last_gimbal_configure_item {}; From c9221b91ad85c7eae114fd1a0ffe3bf1750676ea Mon Sep 17 00:00:00 2001 From: bresch Date: Tue, 19 Mar 2024 13:55:51 +0100 Subject: [PATCH 05/53] ekf2: fix gnss yaw unit test --- src/modules/ekf2/test/test_EKF_gps_yaw.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/modules/ekf2/test/test_EKF_gps_yaw.cpp b/src/modules/ekf2/test/test_EKF_gps_yaw.cpp index 42737306eae3..2c3afc655ac4 100644 --- a/src/modules/ekf2/test/test_EKF_gps_yaw.cpp +++ b/src/modules/ekf2/test/test_EKF_gps_yaw.cpp @@ -81,9 +81,10 @@ class EkfGpsHeadingTest : public ::testing::Test void EkfGpsHeadingTest::runConvergenceScenario(float yaw_offset_rad, float antenna_offset_rad) { // GIVEN: an initial GPS yaw, not aligned with the current one - float gps_heading = matrix::wrap_pi(_ekf_wrapper.getYawAngle() + yaw_offset_rad); + // The yaw antenna offset has already been corrected in the driver + float gps_heading = matrix::wrap_pi(_ekf_wrapper.getYawAngle()); - _sensor_simulator._gps.setYaw(gps_heading); + _sensor_simulator._gps.setYaw(gps_heading); // used to remove the correction to fuse the real measurement _sensor_simulator._gps.setYawOffset(antenna_offset_rad); // WHEN: the GPS yaw fusion is activated @@ -91,7 +92,7 @@ void EkfGpsHeadingTest::runConvergenceScenario(float yaw_offset_rad, float anten _sensor_simulator.runSeconds(5); // THEN: the estimate is reset and stays close to the measurement - checkConvergence(gps_heading, 0.05f); + checkConvergence(gps_heading, 0.01f); } void EkfGpsHeadingTest::checkConvergence(float truth, float tolerance_deg) From cb2bb2e0980e21a9cb4029aa036d2535d37c94b8 Mon Sep 17 00:00:00 2001 From: bresch Date: Wed, 20 Mar 2024 12:12:27 +0100 Subject: [PATCH 06/53] ekf2: add no gyro bias estimate test case This makes the ekf unstable and creates NANs during initialization --- .../test/sensor_simulator/ekf_wrapper.cpp | 10 +++++++ .../ekf2/test/sensor_simulator/ekf_wrapper.h | 3 +++ .../ekf2/test/test_EKF_initialization.cpp | 26 +++++++++++++++++++ 3 files changed, 39 insertions(+) diff --git a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp index 513e6d057b3d..fe2c3a88ff7c 100644 --- a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp +++ b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp @@ -314,3 +314,13 @@ float EkfWrapper::getMagHeadingNoise() const { return _ekf_params->mag_heading_noise; } + +void EkfWrapper::enableGyroBiasEstimation() +{ + _ekf_params->imu_ctrl |= static_cast(ImuCtrl::GyroBias); +} + +void EkfWrapper::disableGyroBiasEstimation() +{ + _ekf_params->imu_ctrl &= ~static_cast(ImuCtrl::GyroBias); +} diff --git a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h index 43753e9bc548..e1d35f093408 100644 --- a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h +++ b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h @@ -128,6 +128,9 @@ class EkfWrapper float getMagHeadingNoise() const; + void enableGyroBiasEstimation(); + void disableGyroBiasEstimation(); + private: std::shared_ptr _ekf; diff --git a/src/modules/ekf2/test/test_EKF_initialization.cpp b/src/modules/ekf2/test/test_EKF_initialization.cpp index 6e2dae1b9eba..eed210864176 100644 --- a/src/modules/ekf2/test/test_EKF_initialization.cpp +++ b/src/modules/ekf2/test/test_EKF_initialization.cpp @@ -191,6 +191,32 @@ TEST_F(EkfInitializationTest, initializeWithZeroTiltNotAtRest) learningCorrectAccelBias(); } +TEST_F(EkfInitializationTest, initializeWithTiltNoGyroBiasEstimate) +{ + const float pitch = math::radians(30.0f); + const float roll = math::radians(-20.0f); + const Eulerf euler_angles_sim(roll, pitch, 0.0f); + const Quatf quat_sim(euler_angles_sim); + + _ekf_wrapper.disableGyroBiasEstimation(); + _sensor_simulator.simulateOrientation(quat_sim); + + _sensor_simulator.runSeconds(_init_tilt_period); + + EXPECT_TRUE(_ekf->control_status_flags().tilt_align); + + initializedOrienationIsMatchingGroundTruth(quat_sim); + quaternionVarianceBigEnoughAfterOrientationInitialization(0.00001f); + + velocityAndPositionCloseToZero(); + + positionVarianceBigEnoughAfterOrientationInitialization(0.00001f); // Fake position fusion obs var when at rest sq(0.5f) + velocityVarianceBigEnoughAfterOrientationInitialization(0.0001f); + + _sensor_simulator.runSeconds(1.f); + learningCorrectAccelBias(); +} + TEST_F(EkfInitializationTest, gyroBias) { // GIVEN: a healthy filter From 6d819343aad926d2a156b6e028c93dc79d5cba96 Mon Sep 17 00:00:00 2001 From: bresch Date: Wed, 20 Mar 2024 11:02:08 +0100 Subject: [PATCH 07/53] ekf2: fix direct state measurement update for suboptimal K case The duration of a unit test had to be increased because the incorrect covariance matrix update, was making the unit test passing faster (over-optimistic variance). --- src/modules/ekf2/EKF/ekf.h | 9 +++++++-- src/modules/ekf2/EKF/ekf_helper.cpp | 10 ++++++++-- src/modules/ekf2/test/test_EKF_initialization.cpp | 2 +- 3 files changed, 16 insertions(+), 5 deletions(-) diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h index edffd17974d0..bc087558e9eb 100644 --- a/src/modules/ekf2/EKF/ekf.h +++ b/src/modules/ekf2/EKF/ekf.h @@ -485,9 +485,14 @@ class Ekf final : public EstimatorInterface #else // Efficient implementation of the Joseph stabilized covariance update // Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006" + // P = (I - K * H) * P * (I - K * H).T + K * R * K.T + // = P_temp * (I - H.T * K.T) + K * R * K.T + // = P_temp - P_temp * H.T * K.T + K * R * K.T // Step 1: conventional update - VectorState PH = P * H; + // Compute P_temp and store it in P to avoid allocating more memory + // P is symmetric, so PH == H.T * P.T == H.T * P. Taking the row is faster as matrices are row-major + VectorState PH = P * H; // H is stored as a column vector. H is in fact H.T for (unsigned i = 0; i < State::size; i++) { for (unsigned j = 0; j < State::size; j++) { @@ -496,7 +501,7 @@ class Ekf final : public EstimatorInterface } // Step 2: stabilized update - PH = P * H; + PH = P * H; // H is stored as a column vector. H is in fact H.T for (unsigned i = 0; i < State::size; i++) { for (unsigned j = 0; j <= i; j++) { diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp index 032d35fb31a6..bb9e901f5760 100644 --- a/src/modules/ekf2/EKF/ekf_helper.cpp +++ b/src/modules/ekf2/EKF/ekf_helper.cpp @@ -865,18 +865,24 @@ bool Ekf::fuseDirectStateMeasurement(const float innov, const float innov_var, c #else // Efficient implementation of the Joseph stabilized covariance update // Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006" + // P = (I - K * H) * P * (I - K * H).T + K * R * K.T + // = P_temp * (I - H.T * K.T) + K * R * K.T + // = P_temp - P_temp * H.T * K.T + K * R * K.T // Step 1: conventional update + // Compute P_temp and store it in P to avoid allocating more memory + // P is symmetric, so PH == H.T * P.T == H.T * P. Taking the row is faster as matrices are row-major VectorState PH = P.row(state_index); for (unsigned i = 0; i < State::size; i++) { for (unsigned j = 0; j < State::size; j++) { - P(i, j) -= K(i) * PH(j); // P is now not symmetrical if K is not optimal (e.g.: some gains have been zeroed) + P(i, j) -= K(i) * PH(j); // P is now not symmetric if K is not optimal (e.g.: some gains have been zeroed) } } // Step 2: stabilized update - PH = P.row(state_index); + // P (or "P_temp") is not symmetric so we must take the column + PH = P.col(state_index); for (unsigned i = 0; i < State::size; i++) { for (unsigned j = 0; j <= i; j++) { diff --git a/src/modules/ekf2/test/test_EKF_initialization.cpp b/src/modules/ekf2/test/test_EKF_initialization.cpp index eed210864176..142a4ea3ef73 100644 --- a/src/modules/ekf2/test/test_EKF_initialization.cpp +++ b/src/modules/ekf2/test/test_EKF_initialization.cpp @@ -346,7 +346,7 @@ TEST_F(EkfInitializationTest, initializeWithTiltNotAtRest) _ekf->set_vehicle_at_rest(false); _sensor_simulator.simulateOrientation(quat_sim); //_sensor_simulator.runSeconds(_init_tilt_period); - _sensor_simulator.runSeconds(7); + _sensor_simulator.runSeconds(10); EXPECT_TRUE(_ekf->control_status_flags().tilt_align); From 638e17d5518ead549aa667a9db18960d35177378 Mon Sep 17 00:00:00 2001 From: bresch Date: Wed, 20 Mar 2024 11:13:42 +0100 Subject: [PATCH 08/53] ekf: update change indicator --- .../test/change_indication/ekf_gsf_reset.csv | 754 +++++++++--------- .../ekf2/test/change_indication/iris_gps.csv | 666 ++++++++-------- 2 files changed, 710 insertions(+), 710 deletions(-) diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv index 93742373c006..17437ae7216c 100644 --- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv +++ b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv @@ -12,380 +12,380 @@ 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2024 13:43:47 +0100 Subject: [PATCH 09/53] mpc: fix PositionControl unit test The unit test assumes the position controller is in "decoupled" mode --- src/modules/mc_pos_control/PositionControl/PositionControl.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp index 7575409bbc78..85af876cd136 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp @@ -216,7 +216,7 @@ class PositionControl float _lim_tilt{}; ///< Maximum tilt from level the output attitude is allowed to have float _hover_thrust{}; ///< Thrust [HOVER_THRUST_MIN, HOVER_THRUST_MAX] with which the vehicle hovers not accelerating down or up with level orientation - bool _decouple_horizontal_and_vertical_acceleration{false}; ///< Ignore vertical acceleration setpoint to remove its effect on the tilt setpoint + bool _decouple_horizontal_and_vertical_acceleration{true}; ///< Ignore vertical acceleration setpoint to remove its effect on the tilt setpoint // States matrix::Vector3f _pos; /**< current position */ From 35532609c9f8b337372c57d12f12e24aa5634738 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 20 Mar 2024 11:10:37 -0400 Subject: [PATCH 10/53] mathlib: utilities refactor float to function template (for optional double precision usage) Co-authored-by: Mathieu Bresciani --- src/lib/mathlib/math/Utilities.hpp | 99 +++++++++++++++++------------- 1 file changed, 58 insertions(+), 41 deletions(-) diff --git a/src/lib/mathlib/math/Utilities.hpp b/src/lib/mathlib/math/Utilities.hpp index 9b8f7047c422..890346b9733c 100644 --- a/src/lib/mathlib/math/Utilities.hpp +++ b/src/lib/mathlib/math/Utilities.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2024 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 @@ -51,17 +51,18 @@ static constexpr float sq(float var) { return var * var; } // rot312(1) - Second rotation is a RH rotation about the X axis (rad) // rot312(2) - Third rotation is a RH rotation about the Y axis (rad) // See http://www.atacolorado.com/eulersequences.doc -inline matrix::Dcmf taitBryan312ToRotMat(const matrix::Vector3f &rot312) +template +inline matrix::Dcm taitBryan312ToRotMat(const matrix::Vector3 &rot312) { // Calculate the frame2 to frame 1 rotation matrix from a 312 Tait-Bryan rotation sequence - const float c2 = cosf(rot312(2)); // third rotation is pitch - const float s2 = sinf(rot312(2)); - const float s1 = sinf(rot312(1)); // second rotation is roll - const float c1 = cosf(rot312(1)); - const float s0 = sinf(rot312(0)); // first rotation is yaw - const float c0 = cosf(rot312(0)); - - matrix::Dcmf R; + const T c2 = cosf(rot312(2)); // third rotation is pitch + const T s2 = sinf(rot312(2)); + const T s1 = sinf(rot312(1)); // second rotation is roll + const T c1 = cosf(rot312(1)); + const T s0 = sinf(rot312(0)); // first rotation is yaw + const T c0 = cosf(rot312(0)); + + matrix::Dcm R; R(0, 0) = c0 * c2 - s0 * s1 * s2; R(1, 1) = c0 * c1; R(2, 2) = c2 * c1; @@ -75,20 +76,21 @@ inline matrix::Dcmf taitBryan312ToRotMat(const matrix::Vector3f &rot312) return R; } -inline matrix::Dcmf quatToInverseRotMat(const matrix::Quatf &quat) +template +inline matrix::Dcm quatToInverseRotMat(const matrix::Quaternion &quat) { - const float q00 = quat(0) * quat(0); - const float q11 = quat(1) * quat(1); - const float q22 = quat(2) * quat(2); - const float q33 = quat(3) * quat(3); - const float q01 = quat(0) * quat(1); - const float q02 = quat(0) * quat(2); - const float q03 = quat(0) * quat(3); - const float q12 = quat(1) * quat(2); - const float q13 = quat(1) * quat(3); - const float q23 = quat(2) * quat(3); - - matrix::Dcmf dcm; + const T q00 = quat(0) * quat(0); + const T q11 = quat(1) * quat(1); + const T q22 = quat(2) * quat(2); + const T q33 = quat(3) * quat(3); + const T q01 = quat(0) * quat(1); + const T q02 = quat(0) * quat(2); + const T q03 = quat(0) * quat(3); + const T q12 = quat(1) * quat(2); + const T q13 = quat(1) * quat(3); + const T q23 = quat(2) * quat(3); + + matrix::Dcm dcm; dcm(0, 0) = q00 + q11 - q22 - q33; dcm(1, 1) = q00 - q11 + q22 - q33; dcm(2, 2) = q00 - q11 - q22 + q33; @@ -105,40 +107,46 @@ inline matrix::Dcmf quatToInverseRotMat(const matrix::Quatf &quat) // We should use a 3-2-1 Tait-Bryan (yaw-pitch-roll) rotation sequence // when there is more roll than pitch tilt and a 3-1-2 rotation sequence // when there is more pitch than roll tilt to avoid gimbal lock. -inline bool shouldUse321RotationSequence(const matrix::Dcmf &R) +template +inline bool shouldUse321RotationSequence(const matrix::Dcm &R) { return fabsf(R(2, 0)) < fabsf(R(2, 1)); } -inline float getEuler321Yaw(const matrix::Dcmf &R) +template +inline float getEuler321Yaw(const matrix::Dcm &R) { return atan2f(R(1, 0), R(0, 0)); } -inline float getEuler312Yaw(const matrix::Dcmf &R) +template +inline float getEuler312Yaw(const matrix::Dcm &R) { return atan2f(-R(0, 1), R(1, 1)); } -inline float getEuler321Yaw(const matrix::Quatf &q) +template +inline T getEuler321Yaw(const matrix::Quaternion &q) { // Values from yaw_input_321.c file produced by // https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/quat2yaw321.m - const float a = 2.f * (q(0) * q(3) + q(1) * q(2)); - const float b = sq(q(0)) + sq(q(1)) - sq(q(2)) - sq(q(3)); + const T a = static_cast(2.) * (q(0) * q(3) + q(1) * q(2)); + const T b = sq(q(0)) + sq(q(1)) - sq(q(2)) - sq(q(3)); return atan2f(a, b); } -inline float getEuler312Yaw(const matrix::Quatf &q) +template +inline T getEuler312Yaw(const matrix::Quaternion &q) { // Values from yaw_input_312.c file produced by // https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/quat2yaw312.m - const float a = 2.f * (q(0) * q(3) - q(1) * q(2)); - const float b = sq(q(0)) - sq(q(1)) + sq(q(2)) - sq(q(3)); + const T a = static_cast(2.) * (q(0) * q(3) - q(1) * q(2)); + const T b = sq(q(0)) - sq(q(1)) + sq(q(2)) - sq(q(3)); return atan2f(a, b); } -inline float getEulerYaw(const matrix::Dcmf &R) +template +inline T getEulerYaw(const matrix::Dcm &R) { if (shouldUse321RotationSequence(R)) { return getEuler321Yaw(R); @@ -148,23 +156,32 @@ inline float getEulerYaw(const matrix::Dcmf &R) } } -inline matrix::Dcmf updateEuler321YawInRotMat(float yaw, const matrix::Dcmf &rot_in) +template +inline T getEulerYaw(const matrix::Quaternion &q) { - matrix::Eulerf euler321(rot_in); + return getEulerYaw(matrix::Dcm(q)); +} + +template +inline matrix::Dcm updateEuler321YawInRotMat(T yaw, const matrix::Dcm &rot_in) +{ + matrix::Euler euler321(rot_in); euler321(2) = yaw; - return matrix::Dcmf(euler321); + return matrix::Dcm(euler321); } -inline matrix::Dcmf updateEuler312YawInRotMat(float yaw, const matrix::Dcmf &rot_in) +template +inline matrix::Dcm updateEuler312YawInRotMat(T yaw, const matrix::Dcm &rot_in) { - const matrix::Vector3f rotVec312(yaw, // yaw - asinf(rot_in(2, 1)), // roll - atan2f(-rot_in(2, 0), rot_in(2, 2))); // pitch + const matrix::Vector3 rotVec312(yaw, // yaw + asinf(rot_in(2, 1)), // roll + atan2f(-rot_in(2, 0), rot_in(2, 2))); // pitch return taitBryan312ToRotMat(rotVec312); } // Checks which euler rotation sequence to use and update yaw in rotation matrix -inline matrix::Dcmf updateYawInRotMat(float yaw, const matrix::Dcmf &rot_in) +template +inline matrix::Dcm updateYawInRotMat(T yaw, const matrix::Dcm &rot_in) { if (shouldUse321RotationSequence(rot_in)) { return updateEuler321YawInRotMat(yaw, rot_in); From af16544809c4863a8f9417937320a3d5485f00b7 Mon Sep 17 00:00:00 2001 From: alexklimaj Date: Tue, 19 Mar 2024 12:26:31 -0600 Subject: [PATCH 11/53] boards: ark septentrio update flash size and enable ekf2 --- boards/ark/septentrio-gps/default.px4board | 1 + boards/ark/septentrio-gps/init/rc.board_defaults | 2 ++ boards/ark/septentrio-gps/nuttx-config/canbootloader/defconfig | 1 + boards/ark/septentrio-gps/nuttx-config/nsh/defconfig | 1 + .../septentrio-gps/nuttx-config/scripts/canbootloader_script.ld | 2 +- boards/ark/septentrio-gps/nuttx-config/scripts/script.ld | 2 +- 6 files changed, 7 insertions(+), 2 deletions(-) diff --git a/boards/ark/septentrio-gps/default.px4board b/boards/ark/septentrio-gps/default.px4board index 1480a0b4da05..b62a95d689d5 100644 --- a/boards/ark/septentrio-gps/default.px4board +++ b/boards/ark/septentrio-gps/default.px4board @@ -20,6 +20,7 @@ CONFIG_UAVCANNODE_RTK_DATA=y CONFIG_UAVCANNODE_SAFETY_BUTTON=y CONFIG_UAVCANNODE_STATIC_PRESSURE=y CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y +CONFIG_MODULES_EKF2=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y CONFIG_MODULES_SENSORS=y diff --git a/boards/ark/septentrio-gps/init/rc.board_defaults b/boards/ark/septentrio-gps/init/rc.board_defaults index c50d81602629..0db1234ce96d 100644 --- a/boards/ark/septentrio-gps/init/rc.board_defaults +++ b/boards/ark/septentrio-gps/init/rc.board_defaults @@ -11,3 +11,5 @@ param set-default SENS_IMU_CLPNOTI 0 safety_button start tone_alarm start + +ekf2 start diff --git a/boards/ark/septentrio-gps/nuttx-config/canbootloader/defconfig b/boards/ark/septentrio-gps/nuttx-config/canbootloader/defconfig index 6b3c2c951842..0208af2cac25 100644 --- a/boards/ark/septentrio-gps/nuttx-config/canbootloader/defconfig +++ b/boards/ark/septentrio-gps/nuttx-config/canbootloader/defconfig @@ -50,6 +50,7 @@ CONFIG_STACK_COLORATION=y CONFIG_START_DAY=30 CONFIG_START_MONTH=11 CONFIG_STDIO_DISABLE_BUFFERING=y +CONFIG_STM32_FLASH_CONFIG_G=y CONFIG_STM32_NOEXT_VECTORS=y CONFIG_STM32_TIM8=y CONFIG_TASK_NAME_SIZE=0 diff --git a/boards/ark/septentrio-gps/nuttx-config/nsh/defconfig b/boards/ark/septentrio-gps/nuttx-config/nsh/defconfig index 81007d30a44f..176ae3eccc5b 100644 --- a/boards/ark/septentrio-gps/nuttx-config/nsh/defconfig +++ b/boards/ark/septentrio-gps/nuttx-config/nsh/defconfig @@ -123,6 +123,7 @@ CONFIG_STM32_ADC1=y CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y CONFIG_STM32_DMA1=y CONFIG_STM32_DMA2=y +CONFIG_STM32_FLASH_CONFIG_G=y CONFIG_STM32_FLASH_PREFETCH=y CONFIG_STM32_FLOWCONTROL_BROKEN=y CONFIG_STM32_I2C1=y diff --git a/boards/ark/septentrio-gps/nuttx-config/scripts/canbootloader_script.ld b/boards/ark/septentrio-gps/nuttx-config/scripts/canbootloader_script.ld index cbf9fddc32dc..48a59fe92d0e 100644 --- a/boards/ark/septentrio-gps/nuttx-config/scripts/canbootloader_script.ld +++ b/boards/ark/septentrio-gps/nuttx-config/scripts/canbootloader_script.ld @@ -33,7 +33,7 @@ * ****************************************************************************/ -/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and +/* The STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and * 256Kb of SRAM. SRAM is split up into three blocks: * * 1) 112Kb of SRAM beginning at address 0x2000:0000 diff --git a/boards/ark/septentrio-gps/nuttx-config/scripts/script.ld b/boards/ark/septentrio-gps/nuttx-config/scripts/script.ld index d8573d2bcdde..2f4769b8f5b4 100644 --- a/boards/ark/septentrio-gps/nuttx-config/scripts/script.ld +++ b/boards/ark/septentrio-gps/nuttx-config/scripts/script.ld @@ -33,7 +33,7 @@ * ****************************************************************************/ -/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and +/* The STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and * 256Kb of SRAM. SRAM is split up into three blocks: * * 1) 112Kb of SRAM beginning at address 0x2000:0000 From 34c19b2e5a39831373509d69c71b346d098b975d Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 20 Mar 2024 12:35:34 -0400 Subject: [PATCH 12/53] boards/px4/fmu-v5x: default remove systemcmds/sd_stress to save flash --- boards/px4/fmu-v5x/default.px4board | 1 - 1 file changed, 1 deletion(-) diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board index e2b5833dfecb..4107d049e1d3 100644 --- a/boards/px4/fmu-v5x/default.px4board +++ b/boards/px4/fmu-v5x/default.px4board @@ -104,7 +104,6 @@ CONFIG_SYSTEMCMDS_PERF=y CONFIG_SYSTEMCMDS_REBOOT=y CONFIG_SYSTEMCMDS_REFLECT=y CONFIG_SYSTEMCMDS_SD_BENCH=y -CONFIG_SYSTEMCMDS_SD_STRESS=y CONFIG_SYSTEMCMDS_SYSTEM_TIME=y CONFIG_SYSTEMCMDS_TOP=y CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y From 710286da722beae72a488af52b6c1e603f68eea7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=C3=98yvind=20Taksdal=20Stubhaug?= Date: Wed, 20 Mar 2024 17:38:47 +0100 Subject: [PATCH 13/53] uavcan: publish new can interface status as uorb topic (#22873) --- msg/CMakeLists.txt | 1 + msg/CanInterfaceStatus.msg | 6 +++++ src/drivers/uavcan/CMakeLists.txt | 1 + src/drivers/uavcan/uavcan_main.cpp | 35 ++++++++++++++++++++++++++++ src/drivers/uavcan/uavcan_main.hpp | 5 ++++ src/modules/logger/logged_topics.cpp | 1 + 6 files changed, 49 insertions(+) create mode 100644 msg/CanInterfaceStatus.msg diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt index 3b1e2647e3c5..c53402bd0f35 100644 --- a/msg/CMakeLists.txt +++ b/msg/CMakeLists.txt @@ -58,6 +58,7 @@ set(msg_files CameraCapture.msg CameraStatus.msg CameraTrigger.msg + CanInterfaceStatus.msg CellularStatus.msg CollisionConstraints.msg CollisionReport.msg diff --git a/msg/CanInterfaceStatus.msg b/msg/CanInterfaceStatus.msg new file mode 100644 index 000000000000..4129c8d56386 --- /dev/null +++ b/msg/CanInterfaceStatus.msg @@ -0,0 +1,6 @@ +uint64 timestamp # time since system start (microseconds) +uint8 interface + +uint64 io_errors +uint64 frames_tx +uint64 frames_rx diff --git a/src/drivers/uavcan/CMakeLists.txt b/src/drivers/uavcan/CMakeLists.txt index 4146edab05b8..39a9bb3ff2ff 100644 --- a/src/drivers/uavcan/CMakeLists.txt +++ b/src/drivers/uavcan/CMakeLists.txt @@ -75,6 +75,7 @@ add_definitions( -DUAVCAN_${UAVCAN_DRIVER_UPPER}_${OS_UPPER}=1 -DUAVCAN_${UAVCAN_DRIVER_UPPER}_NUM_IFACES=${config_uavcan_num_ifaces} -DUAVCAN_${UAVCAN_DRIVER_UPPER}_TIMER_NUMBER=${UAVCAN_TIMER} + -DUAVCAN_NUM_IFACES=${config_uavcan_num_ifaces} -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_DRIVER=uavcan_${UAVCAN_DRIVER} -DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1 diff --git a/src/drivers/uavcan/uavcan_main.cpp b/src/drivers/uavcan/uavcan_main.cpp index 277b2526ddd4..fbdc534a9c30 100644 --- a/src/drivers/uavcan/uavcan_main.cpp +++ b/src/drivers/uavcan/uavcan_main.cpp @@ -744,6 +744,41 @@ UavcanNode::Run() _node.spinOnce(); // expected to be non-blocking + // Publish status + constexpr hrt_abstime status_pub_interval = 100_ms; + + if (hrt_absolute_time() - _last_can_status_pub >= status_pub_interval) { + _last_can_status_pub = hrt_absolute_time(); + + for (int i = 0; i < _node.getDispatcher().getCanIOManager().getCanDriver().getNumIfaces(); i++) { + if (i > UAVCAN_NUM_IFACES) { + break; + } + + auto iface = _node.getDispatcher().getCanIOManager().getCanDriver().getIface(i); + + if (!iface) { + continue; + } + + auto iface_perf_cnt = _node.getDispatcher().getCanIOManager().getIfacePerfCounters(i); + can_interface_status_s status{ + .timestamp = hrt_absolute_time(), + .io_errors = iface_perf_cnt.errors, + .frames_tx = iface_perf_cnt.frames_tx, + .frames_rx = iface_perf_cnt.frames_rx, + .interface = static_cast(i), + }; + + if (_can_status_pub_handles[i] == nullptr) { + int instance{0}; + _can_status_pub_handles[i] = orb_advertise_multi(ORB_ID(can_interface_status), nullptr, &instance); + } + + (void)orb_publish(ORB_ID(can_interface_status), _can_status_pub_handles[i], &status); + } + } + // check for parameter updates if (_parameter_update_sub.updated()) { // clear update diff --git a/src/drivers/uavcan/uavcan_main.hpp b/src/drivers/uavcan/uavcan_main.hpp index 54119259ef16..5afa04ef672e 100644 --- a/src/drivers/uavcan/uavcan_main.hpp +++ b/src/drivers/uavcan/uavcan_main.hpp @@ -96,6 +96,7 @@ #include #include #include +#include #include #include #include @@ -309,6 +310,10 @@ class UavcanNode : public px4::ScheduledWorkItem, public ModuleParams uORB::Publication _param_response_pub{ORB_ID(uavcan_parameter_value)}; uORB::Publication _command_ack_pub{ORB_ID(vehicle_command_ack)}; + uORB::PublicationMulti _can_status_pub{ORB_ID(can_interface_status)}; + + hrt_abstime _last_can_status_pub{0}; + orb_advert_t _can_status_pub_handles[UAVCAN_NUM_IFACES] = {nullptr}; /* * The MAVLink parameter bridge needs to know the maximum parameter index diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp index 68b3d27b42fd..cd72d324a0c9 100644 --- a/src/modules/logger/logged_topics.cpp +++ b/src/modules/logger/logged_topics.cpp @@ -53,6 +53,7 @@ void LoggedTopics::add_default_topics() add_optional_topic("autotune_attitude_control_status", 100); add_optional_topic("camera_capture"); add_optional_topic("camera_trigger"); + add_optional_topic("can_interface_status", 10); add_topic("cellular_status", 200); add_topic("commander_state"); add_topic("config_overrides"); From 5f6dc1c5d09a117bdeb4bda715d934de316c39ad Mon Sep 17 00:00:00 2001 From: Eric Katzfey <53063038+katzfey@users.noreply.github.com> Date: Thu, 21 Mar 2024 17:53:34 -0700 Subject: [PATCH 14/53] uORB: SubscriptionBlocking purged the broken attempt to set the mutex protocol in constructor --- .../common/uORB/SubscriptionBlocking.hpp | 25 ------------------- 1 file changed, 25 deletions(-) diff --git a/platforms/common/uORB/SubscriptionBlocking.hpp b/platforms/common/uORB/SubscriptionBlocking.hpp index 7ec29e329b6e..5c5580d855cb 100644 --- a/platforms/common/uORB/SubscriptionBlocking.hpp +++ b/platforms/common/uORB/SubscriptionBlocking.hpp @@ -56,31 +56,6 @@ class SubscriptionBlocking : public SubscriptionCallback SubscriptionBlocking(const orb_metadata *meta, uint32_t interval_us = 0, uint8_t instance = 0) : SubscriptionCallback(meta, interval_us, instance) { - // pthread_mutexattr_init - pthread_mutexattr_t attr; - int ret_attr_init = pthread_mutexattr_init(&attr); - - if (ret_attr_init != 0) { - PX4_ERR("pthread_mutexattr_init failed, status=%d", ret_attr_init); - } - -#if defined(PTHREAD_PRIO_NONE) - // pthread_mutexattr_settype - // PTHREAD_PRIO_NONE not available on cygwin - int ret_mutexattr_settype = pthread_mutexattr_settype(&attr, PTHREAD_PRIO_NONE); - - if (ret_mutexattr_settype != 0) { - PX4_ERR("pthread_mutexattr_settype failed, status=%d", ret_mutexattr_settype); - } - -#endif // PTHREAD_PRIO_NONE - - // pthread_mutex_init - int ret_mutex_init = pthread_mutex_init(&_mutex, &attr); - - if (ret_mutex_init != 0) { - PX4_ERR("pthread_mutex_init failed, status=%d", ret_mutex_init); - } } virtual ~SubscriptionBlocking() From 82a1aa37dbfb060406ed72f28e511786010c8f5f Mon Sep 17 00:00:00 2001 From: Eric Katzfey <53063038+katzfey@users.noreply.github.com> Date: Thu, 21 Mar 2024 17:54:43 -0700 Subject: [PATCH 15/53] uORB: fix for uORB communicator, only send most recent data for new subscription (#22893) --- platforms/common/uORB/uORBDeviceNode.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/platforms/common/uORB/uORBDeviceNode.cpp b/platforms/common/uORB/uORBDeviceNode.cpp index e83b3f3e04e3..fd4ef60e63e0 100644 --- a/platforms/common/uORB/uORBDeviceNode.cpp +++ b/platforms/common/uORB/uORBDeviceNode.cpp @@ -412,7 +412,10 @@ int16_t uORB::DeviceNode::process_add_subscription() uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator(); if (_data != nullptr && ch != nullptr) { // _data will not be null if there is a publisher. - ch->send_message(_meta->o_name, _meta->o_size, _data); + // Only send the most recent data to initialize the remote end. + if (_data_valid) { + ch->send_message(_meta->o_name, _meta->o_size, _data + (_meta->o_size * ((_generation.load() - 1) % _meta->o_queue))); + } } return PX4_OK; From d0251b8688fd768727fe8c644ef2fabae168452c Mon Sep 17 00:00:00 2001 From: Thomas Frans <160142177+flyingthingsintothings@users.noreply.github.com> Date: Fri, 22 Mar 2024 01:56:20 +0100 Subject: [PATCH 16/53] add `.editorconfig` for consistent code style across editors (#22916) EditorConfig is a well-known convention to share style settings across different editors. Adding one will make it easier for new contributors or people who like to use a different editor to contribute. --- .editorconfig | 6 ++++++ 1 file changed, 6 insertions(+) create mode 100644 .editorconfig diff --git a/.editorconfig b/.editorconfig new file mode 100644 index 000000000000..87496c115e9e --- /dev/null +++ b/.editorconfig @@ -0,0 +1,6 @@ +root = true + +[*.{c,cpp,cc,h,hpp}] +indent_style = tab +tab_width = 8 +max_line_length = 120 From 2e12e14a23db3dc949c1004fc2290b4bcb05038d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Wed, 20 Mar 2024 08:47:02 +0100 Subject: [PATCH 17/53] boards/px4/fmu-v5x: remove sd_stress & reflect to reduce flash usage --- boards/px4/fmu-v5x/default.px4board | 1 - 1 file changed, 1 deletion(-) diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board index 4107d049e1d3..a4c2baf0dc37 100644 --- a/boards/px4/fmu-v5x/default.px4board +++ b/boards/px4/fmu-v5x/default.px4board @@ -102,7 +102,6 @@ CONFIG_SYSTEMCMDS_NSHTERM=y CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_PERF=y CONFIG_SYSTEMCMDS_REBOOT=y -CONFIG_SYSTEMCMDS_REFLECT=y CONFIG_SYSTEMCMDS_SD_BENCH=y CONFIG_SYSTEMCMDS_SYSTEM_TIME=y CONFIG_SYSTEMCMDS_TOP=y From bb9f4d42f30a98e76542e31f767d9d9e34671ba9 Mon Sep 17 00:00:00 2001 From: Thomas Frans Date: Wed, 20 Mar 2024 10:30:37 +0100 Subject: [PATCH 18/53] gps: fix incorrect task id in module startup --- src/drivers/gps/gps.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index 4ed29a8c6e35..fcbd5a0c8384 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -1406,7 +1406,7 @@ int GPS::task_spawn(int argc, char *argv[], Instance instance) entry_point, (char *const *)argv); if (task_id < 0) { - task_id = -1; + _task_id = -1; return -errno; } From 69028f37a91b48add269ef699101922e52410446 Mon Sep 17 00:00:00 2001 From: Eric Katzfey <53063038+katzfey@users.noreply.github.com> Date: Thu, 21 Mar 2024 18:00:23 -0700 Subject: [PATCH 19/53] New platform independent Serial interface (#21723) --- boards/modalai/fc-v2/default.px4board | 2 +- boards/modalai/voxl2-slpi/default.px4board | 1 + platforms/common/CMakeLists.txt | 1 + platforms/common/Serial.cpp | 138 ++++++ .../include/px4_platform_common/Serial.hpp | 97 +++++ .../px4_platform_common/SerialCommon.hpp | 70 ++++ .../common/include/px4_platform_common/time.h | 13 +- platforms/nuttx/src/px4/common/SerialImpl.cpp | 394 ++++++++++++++++++ .../src/px4/common/include/SerialImpl.hpp | 104 +++++ .../nuttx/src/px4/common/px4_layer.cmake | 2 + .../src/px4/common/px4_protected_layers.cmake | 2 + platforms/posix/include/SerialImpl.hpp | 103 +++++ platforms/posix/src/px4/common/CMakeLists.txt | 2 + platforms/posix/src/px4/common/SerialImpl.cpp | 387 +++++++++++++++++ platforms/qurt/CMakeLists.txt | 1 - platforms/qurt/include/SerialImpl.hpp | 108 +++++ platforms/qurt/src/px4/CMakeLists.txt | 1 + platforms/qurt/src/px4/SerialImpl.cpp | 326 +++++++++++++++ platforms/qurt/src/px4/drv_hrt.cpp | 2 +- src/drivers/gps/gps.cpp | 325 +++++++-------- 20 files changed, 1902 insertions(+), 177 deletions(-) create mode 100644 platforms/common/Serial.cpp create mode 100644 platforms/common/include/px4_platform_common/Serial.hpp create mode 100644 platforms/common/include/px4_platform_common/SerialCommon.hpp create mode 100644 platforms/nuttx/src/px4/common/SerialImpl.cpp create mode 100644 platforms/nuttx/src/px4/common/include/SerialImpl.hpp create mode 100644 platforms/posix/include/SerialImpl.hpp create mode 100644 platforms/posix/src/px4/common/SerialImpl.cpp create mode 100644 platforms/qurt/include/SerialImpl.hpp create mode 100644 platforms/qurt/src/px4/SerialImpl.cpp diff --git a/boards/modalai/fc-v2/default.px4board b/boards/modalai/fc-v2/default.px4board index be01cfa93415..c4e7d3649597 100644 --- a/boards/modalai/fc-v2/default.px4board +++ b/boards/modalai/fc-v2/default.px4board @@ -60,7 +60,7 @@ CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y -CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y +# CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y diff --git a/boards/modalai/voxl2-slpi/default.px4board b/boards/modalai/voxl2-slpi/default.px4board index 73e75dd7bcb0..b6ce6133fcdf 100644 --- a/boards/modalai/voxl2-slpi/default.px4board +++ b/boards/modalai/voxl2-slpi/default.px4board @@ -4,6 +4,7 @@ CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y +CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y diff --git a/platforms/common/CMakeLists.txt b/platforms/common/CMakeLists.txt index a0bafe7d59de..cb0721fe6911 100644 --- a/platforms/common/CMakeLists.txt +++ b/platforms/common/CMakeLists.txt @@ -52,6 +52,7 @@ add_library(px4_platform STATIC shutdown.cpp spi.cpp pab_manifest.c + Serial.cpp ${SRCS} ) target_link_libraries(px4_platform prebuild_targets px4_work_queue) diff --git a/platforms/common/Serial.cpp b/platforms/common/Serial.cpp new file mode 100644 index 000000000000..2f93a66a6ebf --- /dev/null +++ b/platforms/common/Serial.cpp @@ -0,0 +1,138 @@ +/**************************************************************************** + * + * Copyright (C) 2023 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 + +namespace device +{ + +Serial::Serial(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits, + FlowControl flowcontrol) : + _impl(port, baudrate, bytesize, parity, stopbits, flowcontrol) +{ + // If no baudrate was specified then set it to a reasonable default value + if (baudrate == 0) { + (void) _impl.setBaudrate(9600); + } +} + +Serial::~Serial() +{ +} + +bool Serial::open() +{ + return _impl.open(); +} + +bool Serial::isOpen() const +{ + return _impl.isOpen(); +} + +bool Serial::close() +{ + return _impl.close(); +} + +ssize_t Serial::read(uint8_t *buffer, size_t buffer_size) +{ + return _impl.read(buffer, buffer_size); +} + +ssize_t Serial::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us) +{ + return _impl.readAtLeast(buffer, buffer_size, character_count, timeout_us); +} + +ssize_t Serial::write(const void *buffer, size_t buffer_size) +{ + return _impl.write(buffer, buffer_size); +} + +uint32_t Serial::getBaudrate() const +{ + return _impl.getBaudrate(); +} + +bool Serial::setBaudrate(uint32_t baudrate) +{ + return _impl.setBaudrate(baudrate); +} + +ByteSize Serial::getBytesize() const +{ + return _impl.getBytesize(); +} + +bool Serial::setBytesize(ByteSize bytesize) +{ + return _impl.setBytesize(bytesize); +} + +Parity Serial::getParity() const +{ + return _impl.getParity(); +} + +bool Serial::setParity(Parity parity) +{ + return _impl.setParity(parity); +} + +StopBits Serial::getStopbits() const +{ + return _impl.getStopbits(); +} + +bool Serial::setStopbits(StopBits stopbits) +{ + return _impl.setStopbits(stopbits); +} + +FlowControl Serial::getFlowcontrol() const +{ + return _impl.getFlowcontrol(); +} + +bool Serial::setFlowcontrol(FlowControl flowcontrol) +{ + return _impl.setFlowcontrol(flowcontrol); +} + +const char *Serial::getPort() const +{ + return _impl.getPort(); +} + +} // namespace device diff --git a/platforms/common/include/px4_platform_common/Serial.hpp b/platforms/common/include/px4_platform_common/Serial.hpp new file mode 100644 index 000000000000..ce02b5ac6308 --- /dev/null +++ b/platforms/common/include/px4_platform_common/Serial.hpp @@ -0,0 +1,97 @@ +/**************************************************************************** + * + * Copyright (C) 2023 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. + * + ****************************************************************************/ + +#pragma once + +#include + +#include + +using device::SerialConfig::ByteSize; +using device::SerialConfig::Parity; +using device::SerialConfig::StopBits; +using device::SerialConfig::FlowControl; + +namespace device __EXPORT +{ + +class Serial +{ +public: + Serial(const char *port, uint32_t baudrate = 57600, + ByteSize bytesize = ByteSize::EightBits, Parity parity = Parity::None, + StopBits stopbits = StopBits::One, FlowControl flowcontrol = FlowControl::Disabled); + virtual ~Serial(); + + // Open sets up the port and gets it configured based on desired configuration + bool open(); + bool isOpen() const; + + bool close(); + + ssize_t read(uint8_t *buffer, size_t buffer_size); + ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0); + + ssize_t write(const void *buffer, size_t buffer_size); + + // If port is already open then the following configuration functions + // will reconfigure the port. If the port is not yet open then they will + // simply store the configuration in preparation for the port to be opened. + + uint32_t getBaudrate() const; + bool setBaudrate(uint32_t baudrate); + + ByteSize getBytesize() const; + bool setBytesize(ByteSize bytesize); + + Parity getParity() const; + bool setParity(Parity parity); + + StopBits getStopbits() const; + bool setStopbits(StopBits stopbits); + + FlowControl getFlowcontrol() const; + bool setFlowcontrol(FlowControl flowcontrol); + + const char *getPort() const; + +private: + // Disable copy constructors + Serial(const Serial &); + Serial &operator=(const Serial &); + + // platform implementation + SerialImpl _impl; +}; + +} // namespace device diff --git a/platforms/common/include/px4_platform_common/SerialCommon.hpp b/platforms/common/include/px4_platform_common/SerialCommon.hpp new file mode 100644 index 000000000000..bbe9be0ad9fe --- /dev/null +++ b/platforms/common/include/px4_platform_common/SerialCommon.hpp @@ -0,0 +1,70 @@ +/**************************************************************************** + * + * Copyright (C) 2023 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. + * + ****************************************************************************/ + +#pragma once + +namespace device +{ +namespace SerialConfig +{ + + +// ByteSize: number of data bits +enum class ByteSize { + FiveBits = 5, + SixBits = 6, + SevenBits = 7, + EightBits = 8, +}; + +// Parity: enable parity checking +enum class Parity { + None = 0, + Odd = 1, + Even = 2, +}; + +// StopBits: number of stop bits +enum class StopBits { + One = 1, + Two = 2 +}; + +// FlowControl: enable flow control +enum class FlowControl { + Disabled = 0, + Enabled = 1, +}; + +} // namespace SerialConfig +} // namespace device diff --git a/platforms/common/include/px4_platform_common/time.h b/platforms/common/include/px4_platform_common/time.h index 1b4d8a27560c..d61e23c75cfb 100644 --- a/platforms/common/include/px4_platform_common/time.h +++ b/platforms/common/include/px4_platform_common/time.h @@ -13,11 +13,21 @@ __END_DECLS #define px4_clock_gettime system_clock_gettime #endif -#if defined(ENABLE_LOCKSTEP_SCHEDULER) +#if defined(ENABLE_LOCKSTEP_SCHEDULER) || defined(__PX4_QURT) __BEGIN_DECLS __EXPORT int px4_clock_settime(clockid_t clk_id, const struct timespec *tp); +__END_DECLS + +#else + +#define px4_clock_settime system_clock_settime +#endif + +#if defined(ENABLE_LOCKSTEP_SCHEDULER) + +__BEGIN_DECLS __EXPORT int px4_usleep(useconds_t usec); __EXPORT unsigned int px4_sleep(unsigned int seconds); __EXPORT int px4_pthread_cond_timedwait(pthread_cond_t *cond, @@ -27,7 +37,6 @@ __END_DECLS #else -#define px4_clock_settime system_clock_settime #define px4_usleep system_usleep #define px4_sleep system_sleep #define px4_pthread_cond_timedwait system_pthread_cond_timedwait diff --git a/platforms/nuttx/src/px4/common/SerialImpl.cpp b/platforms/nuttx/src/px4/common/SerialImpl.cpp new file mode 100644 index 000000000000..7490dd604cc4 --- /dev/null +++ b/platforms/nuttx/src/px4/common/SerialImpl.cpp @@ -0,0 +1,394 @@ +/**************************************************************************** + * + * Copyright (C) 2023 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 +#include // strncpy +#include +#include +#include +#include +#include +#include + +#define MODULE_NAME "SerialImpl" + +namespace device +{ + +SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits, + FlowControl flowcontrol) : + _baudrate(baudrate), + _bytesize(bytesize), + _parity(parity), + _stopbits(stopbits), + _flowcontrol(flowcontrol) +{ + if (port) { + strncpy(_port, port, sizeof(_port) - 1); + _port[sizeof(_port) - 1] = '\0'; + + } else { + _port[0] = 0; + } +} + +SerialImpl::~SerialImpl() +{ + if (isOpen()) { + close(); + } +} + +bool SerialImpl::validateBaudrate(uint32_t baudrate) +{ + return ((baudrate == 9600) || + (baudrate == 19200) || + (baudrate == 38400) || + (baudrate == 57600) || + (baudrate == 115200) || + (baudrate == 230400) || + (baudrate == 460800) || + (baudrate == 921600)); +} + +bool SerialImpl::configure() +{ + /* process baud rate */ + int speed; + + if (! validateBaudrate(_baudrate)) { + PX4_ERR("ERR: unknown baudrate: %lu", _baudrate); + return false; + } + + switch (_baudrate) { + case 9600: speed = B9600; break; + + case 19200: speed = B19200; break; + + case 38400: speed = B38400; break; + + case 57600: speed = B57600; break; + + case 115200: speed = B115200; break; + + case 230400: speed = B230400; break; + +#ifndef B460800 +#define B460800 460800 +#endif + + case 460800: speed = B460800; break; + +#ifndef B921600 +#define B921600 921600 +#endif + + case 921600: speed = B921600; break; + + default: + PX4_ERR("ERR: unknown baudrate: %lu", _baudrate); + return false; + } + + struct termios uart_config; + + int termios_state; + + /* fill the struct for the new configuration */ + if ((termios_state = tcgetattr(_serial_fd, &uart_config)) < 0) { + PX4_ERR("ERR: %d (tcgetattr)", termios_state); + return false; + } + + /* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */ + + // + // Input flags - Turn off input processing + // + // convert break to null byte, no CR to NL translation, + // no NL to CR translation, don't mark parity errors or breaks + // no input parity check, don't strip high bit off, + // no XON/XOFF software flow control + // + uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | + INLCR | PARMRK | INPCK | ISTRIP | IXON); + + // + // Output flags - Turn off output processing + // + // no CR to NL translation, no NL to CR-NL translation, + // no NL to CR translation, no column 0 CR suppression, + // no Ctrl-D suppression, no fill characters, no case mapping, + // no local output processing + // + // config.c_oflag &= ~(OCRNL | ONLCR | ONLRET | + // ONOCR | ONOEOT| OFILL | OLCUC | OPOST); + uart_config.c_oflag = 0; + + // + // No line processing + // + // echo off, echo newline off, canonical mode off, + // extended input processing off, signal chars off + // + uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG); + + /* no parity, one stop bit, disable flow control */ + uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS); + + /* set baud rate */ + if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { + PX4_ERR("ERR: %d (cfsetispeed)", termios_state); + return false; + } + + if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { + PX4_ERR("ERR: %d (cfsetospeed)", termios_state); + return false; + } + + if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) { + PX4_ERR("ERR: %d (tcsetattr)", termios_state); + return false; + } + + return true; +} + +bool SerialImpl::open() +{ + if (isOpen()) { + return true; + } + + // Open the serial port + int serial_fd = ::open(_port, O_RDWR | O_NOCTTY); + + if (serial_fd < 0) { + PX4_ERR("failed to open %s err: %d", _port, errno); + return false; + } + + _serial_fd = serial_fd; + + // Configure the serial port + if (! configure()) { + PX4_ERR("failed to configure %s err: %d", _port, errno); + return false; + } + + _open = true; + + return _open; +} + +bool SerialImpl::isOpen() const +{ + return _open; +} + +bool SerialImpl::close() +{ + + if (_serial_fd >= 0) { + ::close(_serial_fd); + } + + _serial_fd = -1; + _open = false; + + return true; +} + +ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size) +{ + if (!_open) { + PX4_ERR("Cannot read from serial device until it has been opened"); + return -1; + } + + int ret = ::read(_serial_fd, buffer, buffer_size); + + if (ret < 0) { + PX4_DEBUG("%s read error %d", _port, ret); + } + + return ret; +} + +ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us) +{ + if (!_open) { + PX4_ERR("Cannot readAtLeast from serial device until it has been opened"); + return -1; + } + + if (buffer_size < character_count) { + PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__); + return -1; + } + + const hrt_abstime start_time_us = hrt_absolute_time(); + int total_bytes_read = 0; + + while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) { + // Poll for incoming UART data. + pollfd fds[1]; + fds[0].fd = _serial_fd; + fds[0].events = POLLIN; + + hrt_abstime remaining_time = timeout_us - hrt_elapsed_time(&start_time_us); + + if (remaining_time <= 0) { break; } + + int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), remaining_time); + + if (ret > 0) { + if (fds[0].revents & POLLIN) { + const unsigned sleeptime = character_count * 1000000 / (_baudrate / 10); + + int err = 0; + int bytes_available = 0; + err = ::ioctl(_serial_fd, FIONREAD, (unsigned long)&bytes_available); + + if (err != 0 || bytes_available < (int)character_count) { + px4_usleep(sleeptime); + } + + ret = read(&buffer[total_bytes_read], buffer_size - total_bytes_read); + + if (ret > 0) { + total_bytes_read += ret; + } + + } else { + PX4_ERR("Got a poll error"); + return -1; + } + } + } + + return total_bytes_read; +} + +ssize_t SerialImpl::write(const void *buffer, size_t buffer_size) +{ + if (!_open) { + PX4_ERR("Cannot write to serial device until it has been opened"); + return -1; + } + + int written = ::write(_serial_fd, buffer, buffer_size); + ::fsync(_serial_fd); + + if (written < 0) { + PX4_ERR("%s write error %d", _port, written); + } + + return written; +} + +const char *SerialImpl::getPort() const +{ + return _port; +} + +uint32_t SerialImpl::getBaudrate() const +{ + return _baudrate; +} + +bool SerialImpl::setBaudrate(uint32_t baudrate) +{ + if (! validateBaudrate(baudrate)) { + PX4_ERR("ERR: invalid baudrate: %lu", baudrate); + return false; + } + + // check if already configured + if ((baudrate == _baudrate) && _open) { + return true; + } + + _baudrate = baudrate; + + // process baud rate change now if port is already open + if (_open) { + return configure(); + } + + return true; +} + +ByteSize SerialImpl::getBytesize() const +{ + return _bytesize; +} + +bool SerialImpl::setBytesize(ByteSize bytesize) +{ + return bytesize == ByteSize::EightBits; +} + +Parity SerialImpl::getParity() const +{ + return _parity; +} + +bool SerialImpl::setParity(Parity parity) +{ + return parity == Parity::None; +} + +StopBits SerialImpl::getStopbits() const +{ + return _stopbits; +} + +bool SerialImpl::setStopbits(StopBits stopbits) +{ + return stopbits == StopBits::One; +} + +FlowControl SerialImpl::getFlowcontrol() const +{ + return _flowcontrol; +} + +bool SerialImpl::setFlowcontrol(FlowControl flowcontrol) +{ + return flowcontrol == FlowControl::Disabled; +} + +} // namespace device diff --git a/platforms/nuttx/src/px4/common/include/SerialImpl.hpp b/platforms/nuttx/src/px4/common/include/SerialImpl.hpp new file mode 100644 index 000000000000..58d41bf759c9 --- /dev/null +++ b/platforms/nuttx/src/px4/common/include/SerialImpl.hpp @@ -0,0 +1,104 @@ +/**************************************************************************** + * + * Copyright (C) 2023 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. + * + ****************************************************************************/ + +#pragma once + +#include +#include + +#include + +using device::SerialConfig::ByteSize; +using device::SerialConfig::Parity; +using device::SerialConfig::StopBits; +using device::SerialConfig::FlowControl; + +namespace device +{ + +class SerialImpl +{ +public: + + SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits, + FlowControl flowcontrol); + virtual ~SerialImpl(); + + bool open(); + bool isOpen() const; + + bool close(); + + ssize_t read(uint8_t *buffer, size_t buffer_size); + ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0); + + ssize_t write(const void *buffer, size_t buffer_size); + + const char *getPort() const; + + uint32_t getBaudrate() const; + bool setBaudrate(uint32_t baudrate); + + ByteSize getBytesize() const; + bool setBytesize(ByteSize bytesize); + + Parity getParity() const; + bool setParity(Parity parity); + + StopBits getStopbits() const; + bool setStopbits(StopBits stopbits); + + FlowControl getFlowcontrol() const; + bool setFlowcontrol(FlowControl flowcontrol); + +private: + + int _serial_fd{-1}; + + bool _open{false}; + + char _port[32] {}; + + uint32_t _baudrate{0}; + + ByteSize _bytesize{ByteSize::EightBits}; + Parity _parity{Parity::None}; + StopBits _stopbits{StopBits::One}; + FlowControl _flowcontrol{FlowControl::Disabled}; + + bool validateBaudrate(uint32_t baudrate); + bool configure(); + +}; + +} // namespace device diff --git a/platforms/nuttx/src/px4/common/px4_layer.cmake b/platforms/nuttx/src/px4/common/px4_layer.cmake index 69fd1a007da9..9199a9528997 100644 --- a/platforms/nuttx/src/px4/common/px4_layer.cmake +++ b/platforms/nuttx/src/px4/common/px4_layer.cmake @@ -3,6 +3,8 @@ add_library(px4_layer ${KERNEL_SRCS} cdc_acm_check.cpp + ${PX4_SOURCE_DIR}/platforms/common/Serial.cpp + SerialImpl.cpp ) target_link_libraries(px4_layer diff --git a/platforms/nuttx/src/px4/common/px4_protected_layers.cmake b/platforms/nuttx/src/px4/common/px4_protected_layers.cmake index 9c57b488b6d3..a1c6ebc39175 100644 --- a/platforms/nuttx/src/px4/common/px4_protected_layers.cmake +++ b/platforms/nuttx/src/px4/common/px4_protected_layers.cmake @@ -15,6 +15,8 @@ add_library(px4_layer usr_board_ctrl.c usr_hrt.cpp usr_mcu_version.cpp + ${PX4_SOURCE_DIR}/platforms/common/Serial.cpp + SerialImpl.cpp ) target_link_libraries(px4_layer diff --git a/platforms/posix/include/SerialImpl.hpp b/platforms/posix/include/SerialImpl.hpp new file mode 100644 index 000000000000..efc95d7d517a --- /dev/null +++ b/platforms/posix/include/SerialImpl.hpp @@ -0,0 +1,103 @@ +/**************************************************************************** + * + * Copyright (C) 2023 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. + * + ****************************************************************************/ + +#pragma once + +#include +#include + +#include + +using device::SerialConfig::ByteSize; +using device::SerialConfig::Parity; +using device::SerialConfig::StopBits; +using device::SerialConfig::FlowControl; + +namespace device +{ + +class SerialImpl +{ +public: + + SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits, + FlowControl flowcontrol); + virtual ~SerialImpl(); + + bool open(); + bool isOpen() const; + + bool close(); + + ssize_t read(uint8_t *buffer, size_t buffer_size); + ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0); + + ssize_t write(const void *buffer, size_t buffer_size); + + const char *getPort() const; + + uint32_t getBaudrate() const; + bool setBaudrate(uint32_t baudrate); + + ByteSize getBytesize() const; + bool setBytesize(ByteSize bytesize); + + Parity getParity() const; + bool setParity(Parity parity); + + StopBits getStopbits() const; + bool setStopbits(StopBits stopbits); + + FlowControl getFlowcontrol() const; + bool setFlowcontrol(FlowControl flowcontrol); + +private: + + int _serial_fd{-1}; + + bool _open{false}; + + char _port[32] {}; + + uint32_t _baudrate{0}; + + ByteSize _bytesize{ByteSize::EightBits}; + Parity _parity{Parity::None}; + StopBits _stopbits{StopBits::One}; + FlowControl _flowcontrol{FlowControl::Disabled}; + + bool validateBaudrate(uint32_t baudrate); + bool configure(); +}; + +} // namespace device diff --git a/platforms/posix/src/px4/common/CMakeLists.txt b/platforms/posix/src/px4/common/CMakeLists.txt index 34b65cdf44aa..90d4a77992bb 100644 --- a/platforms/posix/src/px4/common/CMakeLists.txt +++ b/platforms/posix/src/px4/common/CMakeLists.txt @@ -46,6 +46,8 @@ add_library(px4_layer drv_hrt.cpp cpuload.cpp print_load.cpp + ${PX4_SOURCE_DIR}/platforms/common/Serial.cpp + SerialImpl.cpp ) target_compile_definitions(px4_layer PRIVATE MODULE_NAME="px4") target_compile_options(px4_layer PRIVATE -Wno-cast-align) # TODO: fix and enable diff --git a/platforms/posix/src/px4/common/SerialImpl.cpp b/platforms/posix/src/px4/common/SerialImpl.cpp new file mode 100644 index 000000000000..79e3422aedf2 --- /dev/null +++ b/platforms/posix/src/px4/common/SerialImpl.cpp @@ -0,0 +1,387 @@ +/**************************************************************************** + * + * Copyright (C) 2023 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 +#include // strncpy +#include +#include +#include +#include +#include +#include + +namespace device +{ + +SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits, + FlowControl flowcontrol) : + _baudrate(baudrate), + _bytesize(bytesize), + _parity(parity), + _stopbits(stopbits), + _flowcontrol(flowcontrol) +{ + if (port) { + strncpy(_port, port, sizeof(_port) - 1); + _port[sizeof(_port) - 1] = '\0'; + + } else { + _port[0] = 0; + } +} + +SerialImpl::~SerialImpl() +{ + if (isOpen()) { + close(); + } +} + +bool SerialImpl::validateBaudrate(uint32_t baudrate) +{ + return ((baudrate == 9600) || + (baudrate == 19200) || + (baudrate == 38400) || + (baudrate == 57600) || + (baudrate == 115200) || + (baudrate == 230400) || + (baudrate == 460800) || + (baudrate == 921600)); +} + +bool SerialImpl::configure() +{ + /* process baud rate */ + int speed; + + if (! validateBaudrate(_baudrate)) { + PX4_ERR("ERR: unknown baudrate: %u", _baudrate); + return false; + } + + switch (_baudrate) { + case 9600: speed = B9600; break; + + case 19200: speed = B19200; break; + + case 38400: speed = B38400; break; + + case 57600: speed = B57600; break; + + case 115200: speed = B115200; break; + + case 230400: speed = B230400; break; + +#ifndef B460800 +#define B460800 460800 +#endif + + case 460800: speed = B460800; break; + +#ifndef B921600 +#define B921600 921600 +#endif + + case 921600: speed = B921600; break; + + default: + PX4_ERR("ERR: unknown baudrate: %d", _baudrate); + return false; + } + + struct termios uart_config; + + int termios_state; + + /* fill the struct for the new configuration */ + if ((termios_state = tcgetattr(_serial_fd, &uart_config)) < 0) { + PX4_ERR("ERR: %d (tcgetattr)", termios_state); + return false; + } + + /* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */ + + // + // Input flags - Turn off input processing + // + // convert break to null byte, no CR to NL translation, + // no NL to CR translation, don't mark parity errors or breaks + // no input parity check, don't strip high bit off, + // no XON/XOFF software flow control + // + uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | + INLCR | PARMRK | INPCK | ISTRIP | IXON); + + // + // Output flags - Turn off output processing + // + // no CR to NL translation, no NL to CR-NL translation, + // no NL to CR translation, no column 0 CR suppression, + // no Ctrl-D suppression, no fill characters, no case mapping, + // no local output processing + // + // config.c_oflag &= ~(OCRNL | ONLCR | ONLRET | + // ONOCR | ONOEOT| OFILL | OLCUC | OPOST); + uart_config.c_oflag = 0; + + // + // No line processing + // + // echo off, echo newline off, canonical mode off, + // extended input processing off, signal chars off + // + uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG); + + /* no parity, one stop bit, disable flow control */ + uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS); + + /* set baud rate */ + if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { + PX4_ERR("ERR: %d (cfsetispeed)", termios_state); + return false; + } + + if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { + PX4_ERR("ERR: %d (cfsetospeed)", termios_state); + return false; + } + + if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) { + PX4_ERR("ERR: %d (tcsetattr)", termios_state); + return false; + } + + return true; +} + +bool SerialImpl::open() +{ + if (isOpen()) { + return true; + } + + // Open the serial port + int serial_fd = ::open(_port, O_RDWR | O_NOCTTY); + + if (serial_fd < 0) { + PX4_ERR("failed to open %s err: %d", _port, errno); + return false; + } + + _serial_fd = serial_fd; + + // Configure the serial port + if (! configure()) { + PX4_ERR("failed to configure %s err: %d", _port, errno); + return false; + } + + _open = true; + + return _open; +} + +bool SerialImpl::isOpen() const +{ + return _open; +} + +bool SerialImpl::close() +{ + + if (_serial_fd >= 0) { + ::close(_serial_fd); + } + + _serial_fd = -1; + _open = false; + + return true; +} + +ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size) +{ + if (!_open) { + PX4_ERR("Cannot read from serial device until it has been opened"); + return -1; + } + + int ret = ::read(_serial_fd, buffer, buffer_size); + + if (ret < 0) { + PX4_DEBUG("%s read error %d", _port, ret); + + } + + return ret; +} + +ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us) +{ + if (!_open) { + PX4_ERR("Cannot readAtLeast from serial device until it has been opened"); + return -1; + } + + if (buffer_size < character_count) { + PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__); + return -1; + } + + const hrt_abstime start_time_us = hrt_absolute_time(); + int total_bytes_read = 0; + + while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) { + // Poll for incoming UART data. + pollfd fds[1]; + fds[0].fd = _serial_fd; + fds[0].events = POLLIN; + + hrt_abstime remaining_time = timeout_us - hrt_elapsed_time(&start_time_us); + + if (remaining_time <= 0) { break; } + + int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), remaining_time); + + if (ret > 0) { + if (fds[0].revents & POLLIN) { + const unsigned sleeptime = character_count * 1000000 / (_baudrate / 10); + px4_usleep(sleeptime); + + ret = read(&buffer[total_bytes_read], buffer_size - total_bytes_read); + + if (ret > 0) { + total_bytes_read += ret; + } + + } else { + PX4_ERR("Got a poll error"); + return -1; + } + } + } + + return total_bytes_read; +} + +ssize_t SerialImpl::write(const void *buffer, size_t buffer_size) +{ + if (!_open) { + PX4_ERR("Cannot write to serial device until it has been opened"); + return -1; + } + + int written = ::write(_serial_fd, buffer, buffer_size); + ::fsync(_serial_fd); + + if (written < 0) { + PX4_ERR("%s write error %d", _port, written); + + } + + return written; +} + +const char *SerialImpl::getPort() const +{ + return _port; +} + +uint32_t SerialImpl::getBaudrate() const +{ + return _baudrate; +} + +bool SerialImpl::setBaudrate(uint32_t baudrate) +{ + if (! validateBaudrate(baudrate)) { + PX4_ERR("ERR: invalid baudrate: %u", baudrate); + return false; + } + + // check if already configured + if ((baudrate == _baudrate) && _open) { + return true; + } + + _baudrate = baudrate; + + // process baud rate change now if port is already open + if (_open) { + return configure(); + } + + return true; +} + +ByteSize SerialImpl::getBytesize() const +{ + return _bytesize; +} + +bool SerialImpl::setBytesize(ByteSize bytesize) +{ + return bytesize == ByteSize::EightBits; +} + +Parity SerialImpl::getParity() const +{ + return _parity; +} + +bool SerialImpl::setParity(Parity parity) +{ + return parity == Parity::None; +} + +StopBits SerialImpl::getStopbits() const +{ + return _stopbits; +} + +bool SerialImpl::setStopbits(StopBits stopbits) +{ + return stopbits == StopBits::One; +} + +FlowControl SerialImpl::getFlowcontrol() const +{ + return _flowcontrol; +} + +bool SerialImpl::setFlowcontrol(FlowControl flowcontrol) +{ + return flowcontrol == FlowControl::Disabled; +} + +} // namespace device diff --git a/platforms/qurt/CMakeLists.txt b/platforms/qurt/CMakeLists.txt index d85f3fcb7bff..0e9757a5d1a9 100644 --- a/platforms/qurt/CMakeLists.txt +++ b/platforms/qurt/CMakeLists.txt @@ -50,5 +50,4 @@ add_library(px4 SHARED target_link_libraries(px4 modules__muorb__slpi ${module_libraries} - px4_layer ) diff --git a/platforms/qurt/include/SerialImpl.hpp b/platforms/qurt/include/SerialImpl.hpp new file mode 100644 index 000000000000..1b98d3bb401b --- /dev/null +++ b/platforms/qurt/include/SerialImpl.hpp @@ -0,0 +1,108 @@ +/**************************************************************************** + * + * Copyright (C) 2023 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. + * + ****************************************************************************/ + +#pragma once + +#include + +#include + +using device::SerialConfig::ByteSize; +using device::SerialConfig::Parity; +using device::SerialConfig::StopBits; +using device::SerialConfig::FlowControl; + +namespace device +{ + +class SerialImpl +{ +public: + + SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits, + FlowControl flowcontrol); + virtual ~SerialImpl(); + + bool open(); + bool isOpen() const; + + bool close(); + + ssize_t read(uint8_t *buffer, size_t buffer_size); + ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0); + + ssize_t write(const void *buffer, size_t buffer_size); + + const char *getPort() const; + bool setPort(const char *port); + + uint32_t getBaudrate() const; + bool setBaudrate(uint32_t baudrate); + + ByteSize getBytesize() const; + bool setBytesize(ByteSize bytesize); + + Parity getParity() const; + bool setParity(Parity parity); + + StopBits getStopbits() const; + bool setStopbits(StopBits stopbits); + + FlowControl getFlowcontrol() const; + bool setFlowcontrol(FlowControl flowcontrol); + +private: + + int _serial_fd{-1}; + + bool _open{false}; + + char _port[32] {}; + + uint32_t _baudrate{0}; + + ByteSize _bytesize{ByteSize::EightBits}; + Parity _parity{Parity::None}; + StopBits _stopbits{StopBits::One}; + FlowControl _flowcontrol{FlowControl::Disabled}; + + bool validateBaudrate(uint32_t baudrate); + + // Mutex used to lock the read functions + //pthread_mutex_t read_mutex; + + // Mutex used to lock the write functions + //pthread_mutex_t write_mutex; +}; + +} // namespace device diff --git a/platforms/qurt/src/px4/CMakeLists.txt b/platforms/qurt/src/px4/CMakeLists.txt index e685b8d42acf..8a25322755a9 100644 --- a/platforms/qurt/src/px4/CMakeLists.txt +++ b/platforms/qurt/src/px4/CMakeLists.txt @@ -38,6 +38,7 @@ set(QURT_LAYER_SRCS px4_qurt_impl.cpp main.cpp qurt_log.cpp + SerialImpl.cpp ) add_library(px4_layer diff --git a/platforms/qurt/src/px4/SerialImpl.cpp b/platforms/qurt/src/px4/SerialImpl.cpp new file mode 100644 index 000000000000..ec0fb73fce3a --- /dev/null +++ b/platforms/qurt/src/px4/SerialImpl.cpp @@ -0,0 +1,326 @@ +/**************************************************************************** + * + * Copyright (C) 2023 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 +#include // strncpy +#include +#include +#include + +namespace device +{ + +SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits, + FlowControl flowcontrol) : + _baudrate(baudrate), + _bytesize(bytesize), + _parity(parity), + _stopbits(stopbits), + _flowcontrol(flowcontrol) +{ + if (port) { + strncpy(_port, port, sizeof(_port) - 1); + _port[sizeof(_port) - 1] = '\0'; + + } else { + _port[0] = 0; + } +} + +SerialImpl::~SerialImpl() +{ + if (isOpen()) { + close(); + } +} + +bool SerialImpl::validateBaudrate(uint32_t baudrate) +{ + if ((baudrate != 9600) && + (baudrate != 38400) && + (baudrate != 57600) && + (baudrate != 115200) && + (baudrate != 230400) && + (baudrate != 250000) && + (baudrate != 420000) && + (baudrate != 460800) && + (baudrate != 921600) && + (baudrate != 1000000) && + (baudrate != 1843200) && + (baudrate != 2000000)) { + return false; + } + + return true; +} + +bool SerialImpl::open() +{ + // There's no harm in calling open multiple times on the same port. + // In fact, that's the only way to change the baudrate + + _open = false; + _serial_fd = -1; + + if (! validateBaudrate(_baudrate)) { + PX4_ERR("Invalid baudrate: %u", _baudrate); + return false; + } + + if (_bytesize != ByteSize::EightBits) { + PX4_ERR("Qurt platform only supports ByteSize::EightBits"); + return false; + } + + if (_parity != Parity::None) { + PX4_ERR("Qurt platform only supports Parity::None"); + return false; + } + + if (_stopbits != StopBits::One) { + PX4_ERR("Qurt platform only supports StopBits::One"); + return false; + } + + if (_flowcontrol != FlowControl::Disabled) { + PX4_ERR("Qurt platform only supports FlowControl::Disabled"); + return false; + } + + // qurt_uart_open will check validity of port and baudrate + int serial_fd = qurt_uart_open(_port, _baudrate); + + if (serial_fd < 0) { + PX4_ERR("failed to open %s, fd returned: %d", _port, serial_fd); + return false; + + } else { + PX4_INFO("Successfully opened UART %s with baudrate %u", _port, _baudrate); + } + + _serial_fd = serial_fd; + _open = true; + + return _open; +} + +bool SerialImpl::isOpen() const +{ + return _open; +} + +bool SerialImpl::close() +{ + // No close defined for qurt uart yet + // if (_serial_fd >= 0) { + // qurt_uart_close(_serial_fd); + // } + + _serial_fd = -1; + _open = false; + + return true; +} + +ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size) +{ + if (!_open) { + PX4_ERR("Cannot read from serial device until it has been opened"); + return -1; + } + + int ret_read = qurt_uart_read(_serial_fd, (char *) buffer, buffer_size, 500); + + if (ret_read < 0) { + PX4_DEBUG("%s read error %d", _port, ret_read); + + } + + return ret_read; +} + +ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us) +{ + if (!_open) { + PX4_ERR("Cannot readAtLeast from serial device until it has been opened"); + return -1; + } + + if (buffer_size < character_count) { + PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__); + return -1; + } + + const hrt_abstime start_time_us = hrt_absolute_time(); + int total_bytes_read = 0; + + while (total_bytes_read < (int) character_count) { + + if (timeout_us > 0) { + const uint64_t elapsed_us = hrt_elapsed_time(&start_time_us); + + if (elapsed_us >= timeout_us) { + // If there was a partial read but not enough to satisfy the minimum then they will be lost + // but this really should never happen when everything is working normally. + // PX4_WARN("%s timeout %d bytes read (%llu us elapsed)", __FUNCTION__, total_bytes_read, elapsed_us); + // Or, instead of returning an error, should we return the number of bytes read (assuming it is greater than zero)? + return total_bytes_read; + } + } + + int current_bytes_read = read(&buffer[total_bytes_read], buffer_size - total_bytes_read); + + if (current_bytes_read < 0) { + // Again, if there was a partial read but not enough to satisfy the minimum then they will be lost + // but this really should never happen when everything is working normally. + PX4_ERR("%s failed to read uart", __FUNCTION__); + // Or, instead of returning an error, should we return the number of bytes read (assuming it is greater than zero)? + return -1; + } + + // Current bytes read could be zero + total_bytes_read += current_bytes_read; + + // If we have at least reached our desired minimum number of characters + // then we can return now + if (total_bytes_read >= (int) character_count) { + return total_bytes_read; + } + + // Wait a set amount of time before trying again or the remaining time + // until the timeout if we are getting close + const uint64_t elapsed_us = hrt_elapsed_time(&start_time_us); + int64_t time_until_timeout = timeout_us - elapsed_us; + uint64_t time_to_sleep = 5000; + + if ((time_until_timeout >= 0) && + (time_until_timeout < (int64_t) time_to_sleep)) { + time_to_sleep = time_until_timeout; + } + + px4_usleep(time_to_sleep); + } + + return -1; +} + +ssize_t SerialImpl::write(const void *buffer, size_t buffer_size) +{ + if (!_open) { + PX4_ERR("Cannot write to serial device until it has been opened"); + return -1; + } + + int ret_write = qurt_uart_write(_serial_fd, (const char *) buffer, buffer_size); + + if (ret_write < 0) { + PX4_ERR("%s write error %d", _port, ret_write); + + } + + return ret_write; +} + +const char *SerialImpl::getPort() const +{ + return _port; +} + +uint32_t SerialImpl::getBaudrate() const +{ + return _baudrate; +} + +bool SerialImpl::setBaudrate(uint32_t baudrate) +{ + if (! validateBaudrate(baudrate)) { + PX4_ERR("Invalid baudrate: %u", baudrate); + return false; + } + + // check if already configured + if (baudrate == _baudrate) { + return true; + } + + _baudrate = baudrate; + + // process baud rate change now if port is already open + if (_open) { + return open(); + } + + return true; +} + +ByteSize SerialImpl::getBytesize() const +{ + return _bytesize; +} + +bool SerialImpl::setBytesize(ByteSize bytesize) +{ + return bytesize == ByteSize::EightBits; +} + +Parity SerialImpl::getParity() const +{ + return _parity; +} + +bool SerialImpl::setParity(Parity parity) +{ + return parity == Parity::None; +} + +StopBits SerialImpl::getStopbits() const +{ + return _stopbits; +} + +bool SerialImpl::setStopbits(StopBits stopbits) +{ + return stopbits == StopBits::One; +} + +FlowControl SerialImpl::getFlowcontrol() const +{ + return _flowcontrol; +} + +bool SerialImpl::setFlowcontrol(FlowControl flowcontrol) +{ + return flowcontrol == FlowControl::Disabled; +} + +} // namespace device diff --git a/platforms/qurt/src/px4/drv_hrt.cpp b/platforms/qurt/src/px4/drv_hrt.cpp index 8bb9546a01db..2ef152083249 100644 --- a/platforms/qurt/src/px4/drv_hrt.cpp +++ b/platforms/qurt/src/px4/drv_hrt.cpp @@ -81,7 +81,7 @@ static void hrt_unlock() px4_sem_post(&_hrt_lock); } -int px4_clock_settime(clockid_t clk_id, struct timespec *tp) +int px4_clock_settime(clockid_t clk_id, const struct timespec *tp) { return 0; } diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index fcbd5a0c8384..766be323d719 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -45,7 +45,6 @@ #include #endif -#include #include #include @@ -57,6 +56,8 @@ #include #include #include +#include +#include #include #include #include @@ -81,6 +82,7 @@ #include #endif /* __PX4_LINUX */ +using namespace device; using namespace time_literals; #define TIMEOUT_1HZ 1300 //!< Timeout time in mS, 1000 mS (1Hz) + 300 mS delta for error @@ -169,7 +171,10 @@ class GPS : public ModuleBase, public device::Device void reset_if_scheduled(); private: - int _serial_fd{-1}; ///< serial interface to GPS +#ifdef __PX4_LINUX + int _spi_fd {-1}; ///< SPI interface to GPS +#endif + Serial *_uart = nullptr; ///< UART interface to GPS unsigned _baudrate{0}; ///< current baudrate const unsigned _configured_baudrate{0}; ///< configured baudrate (0=auto-detect) char _port[20] {}; ///< device / serial port path @@ -329,8 +334,11 @@ GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interfac char c = _port[strlen(_port) - 1]; // last digit of path (eg /dev/ttyS2) set_device_bus(c - 48); // sub 48 to convert char to integer +#ifdef __PX4_LINUX + } else if (_interface == GPSHelper::Interface::SPI) { set_device_bus_type(device::Device::DeviceBusType::DeviceBusType_SPI); +#endif } if (_mode == gps_driver_mode_t::None) { @@ -403,10 +411,23 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user) return num_read; } - case GPSCallbackType::writeDeviceData: - gps->dumpGpsData((uint8_t *)data1, (size_t)data2, gps_dump_comm_mode_t::Full, true); + case GPSCallbackType::writeDeviceData: { + gps->dumpGpsData((uint8_t *)data1, (size_t)data2, gps_dump_comm_mode_t::Full, true); + + int ret = 0; + + if (gps->_uart) { + ret = gps->_uart->write((void *) data1, (size_t) data2); + +#ifdef __PX4_LINUX + + } else if (gps->_spi_fd >= 0) { + ret = ::write(gps->_spi_fd, data1, (size_t)data2); +#endif + } - return ::write(gps->_serial_fd, data1, (size_t)data2); + return ret; + } case GPSCallbackType::setBaudrate: return gps->setBaudrate(data2); @@ -449,72 +470,64 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user) int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout) { + int ret = 0; + const unsigned character_count = 32; // minimum bytes that we want to read + const int max_timeout = 50; + int timeout_adjusted = math::min(max_timeout, timeout); + handleInjectDataTopic(); -#if !defined(__PX4_QURT) + if ((_interface == GPSHelper::Interface::UART) && (_uart)) { + ret = _uart->readAtLeast(buf, buf_length, character_count, timeout_adjusted); - /* For non QURT, use the usual polling. */ +// SPI is only supported on LInux +#if defined(__PX4_LINUX) - //Poll only for the serial data. In the same thread we also need to handle orb messages, - //so ideally we would poll on both, the serial fd and orb subscription. Unfortunately the - //two pollings use different underlying mechanisms (at least under posix), which makes this - //impossible. Instead we limit the maximum polling interval and regularly check for new orb - //messages. - //FIXME: add a unified poll() API - const int max_timeout = 50; + } else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) { - pollfd fds[1]; - fds[0].fd = _serial_fd; - fds[0].events = POLLIN; - - int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), math::min(max_timeout, timeout)); - - if (ret > 0) { - /* if we have new data from GPS, go handle it */ - if (fds[0].revents & POLLIN) { - /* - * We are here because poll says there is some data, so this - * won't block even on a blocking device. But don't read immediately - * by 1-2 bytes, wait for some more data to save expensive read() calls. - * If we have all requested data available, read it without waiting. - * If more bytes are available, we'll go back to poll() again. - */ - const unsigned character_count = 32; // minimum bytes that we want to read - unsigned baudrate = _baudrate == 0 ? 115200 : _baudrate; - const unsigned sleeptime = character_count * 1000000 / (baudrate / 10); + //Poll only for the SPI data. In the same thread we also need to handle orb messages, + //so ideally we would poll on both, the SPI fd and orb subscription. Unfortunately the + //two pollings use different underlying mechanisms (at least under posix), which makes this + //impossible. Instead we limit the maximum polling interval and regularly check for new orb + //messages. + //FIXME: add a unified poll() API -#ifdef __PX4_NUTTX - int err = 0; - int bytes_available = 0; - err = ::ioctl(_serial_fd, FIONREAD, (unsigned long)&bytes_available); + pollfd fds[1]; + fds[0].fd = _spi_fd; + fds[0].events = POLLIN; + + ret = poll(fds, sizeof(fds) / sizeof(fds[0]), timeout_adjusted); + + if (ret > 0) { + /* if we have new data from GPS, go handle it */ + if (fds[0].revents & POLLIN) { + /* + * We are here because poll says there is some data, so this + * won't block even on a blocking device. But don't read immediately + * by 1-2 bytes, wait for some more data to save expensive read() calls. + * If we have all requested data available, read it without waiting. + * If more bytes are available, we'll go back to poll() again. + */ + unsigned baudrate = _baudrate == 0 ? 115200 : _baudrate; + const unsigned sleeptime = character_count * 1000000 / (baudrate / 10); - if (err != 0 || bytes_available < (int)character_count) { px4_usleep(sleeptime); - } -#else - px4_usleep(sleeptime); -#endif + ret = ::read(_spi_fd, buf, buf_length); - ret = ::read(_serial_fd, buf, buf_length); + if (ret > 0) { + _num_bytes_read += ret; + } - if (ret > 0) { - _num_bytes_read += ret; + } else { + ret = -1; } - - } else { - ret = -1; } + +#endif } return ret; - -#else - /* For QURT, just use read for now, since this doesn't block, we need to slow it down - * just a bit. */ - px4_usleep(10000); - return ::read(_serial_fd, buf, buf_length); -#endif } void GPS::handleInjectDataTopic() @@ -583,105 +596,38 @@ bool GPS::injectData(uint8_t *data, size_t len) { dumpGpsData(data, len, gps_dump_comm_mode_t::Full, true); - size_t written = ::write(_serial_fd, data, len); - ::fsync(_serial_fd); - return written == len; -} - -int GPS::setBaudrate(unsigned baud) -{ - /* process baud rate */ - int speed; - - switch (baud) { - case 9600: speed = B9600; break; - - case 19200: speed = B19200; break; - - case 38400: speed = B38400; break; - - case 57600: speed = B57600; break; - - case 115200: speed = B115200; break; - - case 230400: speed = B230400; break; + size_t written = 0; -#ifndef B460800 -#define B460800 460800 -#endif + if ((_interface == GPSHelper::Interface::UART) && (_uart)) { + written = _uart->write((const void *) data, len); - case 460800: speed = B460800; break; +#ifdef __PX4_LINUX -#ifndef B921600 -#define B921600 921600 + } else if (_interface == GPSHelper::Interface::SPI) { + written = ::write(_spi_fd, data, len); + ::fsync(_spi_fd); #endif - - case 921600: speed = B921600; break; - - default: - PX4_ERR("ERR: unknown baudrate: %d", baud); - return -EINVAL; } - struct termios uart_config; - - int termios_state; - - /* fill the struct for the new configuration */ - tcgetattr(_serial_fd, &uart_config); - - /* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */ - - // - // Input flags - Turn off input processing - // - // convert break to null byte, no CR to NL translation, - // no NL to CR translation, don't mark parity errors or breaks - // no input parity check, don't strip high bit off, - // no XON/XOFF software flow control - // - uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | - INLCR | PARMRK | INPCK | ISTRIP | IXON); - // - // Output flags - Turn off output processing - // - // no CR to NL translation, no NL to CR-NL translation, - // no NL to CR translation, no column 0 CR suppression, - // no Ctrl-D suppression, no fill characters, no case mapping, - // no local output processing - // - // config.c_oflag &= ~(OCRNL | ONLCR | ONLRET | - // ONOCR | ONOEOT| OFILL | OLCUC | OPOST); - uart_config.c_oflag = 0; - - // - // No line processing - // - // echo off, echo newline off, canonical mode off, - // extended input processing off, signal chars off - // - uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG); - - /* no parity, one stop bit, disable flow control */ - uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS); - - /* set baud rate */ - if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { - GPS_ERR("ERR: %d (cfsetispeed)", termios_state); - return -1; - } + return written == len; +} - if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { - GPS_ERR("ERR: %d (cfsetospeed)", termios_state); - return -1; - } +int GPS::setBaudrate(unsigned baud) +{ + if (_interface == GPSHelper::Interface::UART) { + if ((_uart) && (_uart->setBaudrate(baud))) { + return 0; + } + +#ifdef __PX4_LINUX - if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) { - GPS_ERR("ERR: %d (tcsetattr)", termios_state); - return -1; + } else if (_interface == GPSHelper::Interface::SPI) { + // Can't set the baudrate on a SPI port but just return a success + return 0; +#endif } - return 0; + return -1; } void GPS::initializeCommunicationDump() @@ -840,31 +786,58 @@ GPS::run() _helper = nullptr; } - if (_serial_fd < 0) { - /* open the serial port */ - _serial_fd = ::open(_port, O_RDWR | O_NOCTTY); + if ((_interface == GPSHelper::Interface::UART) && (_uart == nullptr)) { + + // Create the UART port instance + _uart = new Serial(_port); + + if (_uart == nullptr) { + PX4_ERR("Error creating serial device %s", _port); + px4_sleep(1); + continue; + } + } + + if ((_interface == GPSHelper::Interface::UART) && (! _uart->isOpen())) { + // Configure the desired baudrate if one was specified by the user. + // Otherwise the default baudrate will be used. + if (_configured_baudrate) { + if (! _uart->setBaudrate(_configured_baudrate)) { + PX4_ERR("Error setting baudrate to %u on %s", _configured_baudrate, _port); + px4_sleep(1); + continue; + } + } - if (_serial_fd < 0) { - PX4_ERR("failed to open %s err: %d", _port, errno); + // Open the UART. If this is successful then the UART is ready to use. + if (! _uart->open()) { + PX4_ERR("Error opening serial device %s", _port); px4_sleep(1); continue; } #ifdef __PX4_LINUX - if (_interface == GPSHelper::Interface::SPI) { - int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi) - int status_value = ::ioctl(_serial_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed); + } else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd < 0)) { + _spi_fd = ::open(_port, O_RDWR | O_NOCTTY); - if (status_value < 0) { - PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno); - } + if (_spi_fd < 0) { + PX4_ERR("failed to open SPI port %s err: %d", _port, errno); + px4_sleep(1); + continue; + } - status_value = ::ioctl(_serial_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed); + int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi) + int status_value = ::ioctl(_spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed); - if (status_value < 0) { - PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno); - } + if (status_value < 0) { + PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno); + } + + status_value = ::ioctl(_spi_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed); + + if (status_value < 0) { + PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno); } #endif /* __PX4_LINUX */ @@ -1056,9 +1029,17 @@ GPS::run() } } - if (_serial_fd >= 0) { - ::close(_serial_fd); - _serial_fd = -1; + if ((_interface == GPSHelper::Interface::UART) && (_uart)) { + (void) _uart->close(); + delete _uart; + _uart = nullptr; + +#ifdef __PX4_LINUX + + } else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) { + ::close(_spi_fd); + _spi_fd = -1; +#endif } if (_mode_auto) { @@ -1477,12 +1458,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance) break; case 'i': - if (!strcmp(myoptarg, "spi")) { - interface = GPSHelper::Interface::SPI; - - } else if (!strcmp(myoptarg, "uart")) { + if (!strcmp(myoptarg, "uart")) { interface = GPSHelper::Interface::UART; - +#ifdef __PX4_LINUX + } else if (!strcmp(myoptarg, "spi")) { + interface = GPSHelper::Interface::SPI; +#endif } else { PX4_ERR("unknown interface: %s", myoptarg); error_flag = true; @@ -1490,12 +1471,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance) break; case 'j': - if (!strcmp(myoptarg, "spi")) { - interface_secondary = GPSHelper::Interface::SPI; - - } else if (!strcmp(myoptarg, "uart")) { + if (!strcmp(myoptarg, "uart")) { interface_secondary = GPSHelper::Interface::UART; - +#ifdef __PX4_LINUX + } else if (!strcmp(myoptarg, "spi")) { + interface_secondary = GPSHelper::Interface::SPI; +#endif } else { PX4_ERR("unknown interface for secondary: %s", myoptarg); error_flag = true; From c024ea396a6065e1281b82877b0b7ba5f94aa41d Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Fri, 22 Mar 2024 15:17:03 -0400 Subject: [PATCH 20/53] boards/px4/fmu-v5x: remove legacy rover_pos_control to reduce flash usage --- boards/px4/fmu-v5x/default.px4board | 1 - 1 file changed, 1 deletion(-) diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board index a4c2baf0dc37..2bede96763c0 100644 --- a/boards/px4/fmu-v5x/default.px4board +++ b/boards/px4/fmu-v5x/default.px4board @@ -81,7 +81,6 @@ CONFIG_MODULES_NAVIGATOR=y CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y CONFIG_MODULES_PAYLOAD_DELIVERER=y CONFIG_MODULES_RC_UPDATE=y -CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y From 4a553938fb6bc7a853b83d175544fff26b404f68 Mon Sep 17 00:00:00 2001 From: Eric Katzfey <53063038+katzfey@users.noreply.github.com> Date: Fri, 22 Mar 2024 12:24:51 -0700 Subject: [PATCH 21/53] VOXL2: HRT updates for synchronization with Qurt time (#22881) - Added offset to Posix hrt time to account for synchronization with Qurt hrt time - Added new Kconfig to configure synchronization of HRT timestamps on VOXL2 - Moved voxl2 libfc sensor library submodule from muorb module to boards directory - Added check to make sure hrt_elapsed_time can never be negative --- .gitmodules | 2 +- Tools/astyle/files_to_check_code_style.sh | 2 +- boards/modalai/voxl2/cmake/init.cmake | 34 +++++++++++++++++++ .../modalai/voxl2/cmake/link_libraries.cmake | 2 +- .../modalai/voxl2}/libfc-sensor-api | 0 boards/modalai/voxl2/scripts/build-deps.sh | 5 ++- platforms/posix/src/px4/common/drv_hrt.cpp | 29 ++++++++++++++++ src/drivers/drv_hrt.h | 11 +++++- src/modules/muorb/apps/CMakeLists.txt | 2 +- src/modules/muorb/apps/Kconfig | 8 +++++ 10 files changed, 87 insertions(+), 8 deletions(-) create mode 100644 boards/modalai/voxl2/cmake/init.cmake rename {src/modules/muorb/apps => boards/modalai/voxl2}/libfc-sensor-api (100%) diff --git a/.gitmodules b/.gitmodules index e91cf2b63a14..e443da19a290 100644 --- a/.gitmodules +++ b/.gitmodules @@ -81,5 +81,5 @@ url = https://github.com/PX4/PX4-gazebo-models.git branch = main [submodule "boards/modalai/voxl2/libfc-sensor-api"] - path = src/modules/muorb/apps/libfc-sensor-api + path = boards/modalai/voxl2/libfc-sensor-api url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git diff --git a/Tools/astyle/files_to_check_code_style.sh b/Tools/astyle/files_to_check_code_style.sh index e0cc5693edb3..734d6f5323d5 100755 --- a/Tools/astyle/files_to_check_code_style.sh +++ b/Tools/astyle/files_to_check_code_style.sh @@ -30,5 +30,5 @@ exec find boards msg src platforms test \ -path src/lib/cdrstream/cyclonedds -prune -o \ -path src/lib/cdrstream/rosidl -prune -o \ -path src/modules/zenoh/zenoh-pico -prune -o \ - -path src/modules/muorb/apps/libfc-sensor-api -prune -o \ + -path boards/modalai/voxl2/libfc-sensor-api -prune -o \ -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN diff --git a/boards/modalai/voxl2/cmake/init.cmake b/boards/modalai/voxl2/cmake/init.cmake new file mode 100644 index 000000000000..e5a4daad5f8b --- /dev/null +++ b/boards/modalai/voxl2/cmake/init.cmake @@ -0,0 +1,34 @@ +############################################################################ +# +# Copyright (c) 2024 ModalAI, Inc. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +include_directories(${PX4_BOARD_DIR}/libfc-sensor-api/inc) \ No newline at end of file diff --git a/boards/modalai/voxl2/cmake/link_libraries.cmake b/boards/modalai/voxl2/cmake/link_libraries.cmake index f250f52e211b..e0b09beb7038 100644 --- a/boards/modalai/voxl2/cmake/link_libraries.cmake +++ b/boards/modalai/voxl2/cmake/link_libraries.cmake @@ -1,7 +1,7 @@ # Link against the public stub version of the proprietary fc sensor library target_link_libraries(px4 PRIVATE - ${PX4_SOURCE_DIR}/src//modules/muorb/apps/libfc-sensor-api/build/libfc_sensor.so + ${PX4_BOARD_DIR}/libfc-sensor-api/build/libfc_sensor.so px4_layer ${module_libraries} ) diff --git a/src/modules/muorb/apps/libfc-sensor-api b/boards/modalai/voxl2/libfc-sensor-api similarity index 100% rename from src/modules/muorb/apps/libfc-sensor-api rename to boards/modalai/voxl2/libfc-sensor-api diff --git a/boards/modalai/voxl2/scripts/build-deps.sh b/boards/modalai/voxl2/scripts/build-deps.sh index b76cd0d7fa79..fe7f85486888 100755 --- a/boards/modalai/voxl2/scripts/build-deps.sh +++ b/boards/modalai/voxl2/scripts/build-deps.sh @@ -1,10 +1,9 @@ #!/bin/bash -cd src/modules/muorb/apps/libfc-sensor-api +cd boards/modalai/voxl2/libfc-sensor-api rm -fR build mkdir build cd build CC=/home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc cmake .. make -cd ../../../../../.. - +cd ../../../../.. diff --git a/platforms/posix/src/px4/common/drv_hrt.cpp b/platforms/posix/src/px4/common/drv_hrt.cpp index 9634511bf3fc..b510229bc0cf 100644 --- a/platforms/posix/src/px4/common/drv_hrt.cpp +++ b/platforms/posix/src/px4/common/drv_hrt.cpp @@ -51,6 +51,11 @@ #include #include "hrt_work.h" +// Voxl2 board specific API definitions to get time offset +#if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP) +#include "fc_sensor.h" +#endif + #if defined(ENABLE_LOCKSTEP_SCHEDULER) #include static LockstepScheduler lockstep_scheduler {true}; @@ -107,6 +112,29 @@ hrt_abstime hrt_absolute_time() #else // defined(ENABLE_LOCKSTEP_SCHEDULER) struct timespec ts; px4_clock_gettime(CLOCK_MONOTONIC, &ts); + +# if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP) + hrt_abstime temp_abstime = ts_to_abstime(&ts); + int apps_time_offset = fc_sensor_get_time_offset(); + + if (apps_time_offset < 0) { + hrt_abstime temp_offset = -apps_time_offset; + + if (temp_offset >= temp_abstime) { + temp_abstime = 0; + + } else { + temp_abstime -= temp_offset; + } + + } else { + temp_abstime += (hrt_abstime) apps_time_offset; + } + + ts.tv_sec = temp_abstime / 1000000; + ts.tv_nsec = (temp_abstime % 1000000) * 1000; +# endif // defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP) + return ts_to_abstime(&ts); #endif // defined(ENABLE_LOCKSTEP_SCHEDULER) } @@ -449,6 +477,7 @@ int px4_clock_gettime(clockid_t clk_id, struct timespec *tp) #endif // defined(ENABLE_LOCKSTEP_SCHEDULER) return system_clock_gettime(clk_id, tp); + } #if defined(ENABLE_LOCKSTEP_SCHEDULER) diff --git a/src/drivers/drv_hrt.h b/src/drivers/drv_hrt.h index 3e295abfc949..bb62da0189c3 100644 --- a/src/drivers/drv_hrt.h +++ b/src/drivers/drv_hrt.h @@ -162,7 +162,16 @@ static inline void abstime_to_ts(struct timespec *ts, hrt_abstime abstime) */ static inline hrt_abstime hrt_elapsed_time(const hrt_abstime *then) { - return hrt_absolute_time() - *then; + hrt_abstime now = hrt_absolute_time(); + + // Cannot allow a negative elapsed time as this would appear + // to be a huge positive elapsed time when represented as an + // unsigned value! + if (*then > now) { + return 0; + } + + return now - *then; } /** diff --git a/src/modules/muorb/apps/CMakeLists.txt b/src/modules/muorb/apps/CMakeLists.txt index 5a608bec5301..532ada62413b 100644 --- a/src/modules/muorb/apps/CMakeLists.txt +++ b/src/modules/muorb/apps/CMakeLists.txt @@ -39,7 +39,7 @@ px4_add_module( INCLUDES ../test ../aggregator - libfc-sensor-api/inc + ${PX4_BOARD_DIR}/libfc-sensor-api/inc SRCS uORBAppsProtobufChannel.cpp muorb_main.cpp diff --git a/src/modules/muorb/apps/Kconfig b/src/modules/muorb/apps/Kconfig index 21969d591d13..f0afac8b6204 100644 --- a/src/modules/muorb/apps/Kconfig +++ b/src/modules/muorb/apps/Kconfig @@ -4,3 +4,11 @@ menuconfig MODULES_MUORB_APPS depends on PLATFORM_POSIX ---help--- Enable support for muorb apps + + + config MUORB_APPS_SYNC_TIMESTAMP + bool "Sync timestamp with external processor" + depends on MODULES_MUORB_APPS + default y + help + causes HRT timestamp to use an externally calculated offset for synchronization From bcbae86b9f869414866238a939232c5771e0f695 Mon Sep 17 00:00:00 2001 From: Thomas Frans Date: Fri, 22 Mar 2024 14:53:49 +0100 Subject: [PATCH 22/53] code: add more style options in `.editorconfig` --- .editorconfig | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/.editorconfig b/.editorconfig index 87496c115e9e..50a87fd83923 100644 --- a/.editorconfig +++ b/.editorconfig @@ -1,6 +1,14 @@ root = true -[*.{c,cpp,cc,h,hpp}] +[*] +insert_final_newline = false + +[{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}] indent_style = tab tab_width = 8 +# Not in the official standard, but supported by many editors max_line_length = 120 + +[*.yaml] +indent_style = space +indent_size = 2 From 999a71c4ddc53080875272fcef2c2f0c184d2777 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 26 Feb 2024 11:38:48 +0100 Subject: [PATCH 23/53] px4io: don't output on disabled PWM pins Same logic as on the FMU PWM updateOutputs() in PWMOut.cpp --- src/drivers/px4io/px4io.cpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index bd6b5d1f3192..e98a9c837d55 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -364,6 +364,13 @@ PX4IO::~PX4IO() bool PX4IO::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated) { + for (size_t i = 0; i < num_outputs; i++) { + if (!_mixing_output.isFunctionSet(i)) { + // do not run any signal on disabled channels + outputs[i] = 0; + } + } + if (!_test_fmu_fail) { /* output to the servos */ io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, outputs, num_outputs); From 1096384a38fa3c0bc5c991d6f7a9145bd8550f98 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 26 Feb 2024 12:00:55 +0100 Subject: [PATCH 24/53] px4iofirmware: don't switch to disarmed or failsafe value on disabled PWM outputs If the output is set to 0 then the FMU had this channel disabled/no function mapped to it. In that case we do not want to suddenly start outputing failsafe or disarmed signals. --- .../ark/fmu-v6x/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes .../extras/cubepilot_io-v2_default.bin | Bin 39920 -> 39928 bytes .../extras/cubepilot_io-v2_default.bin | Bin 39920 -> 39928 bytes .../durandal-v1/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes .../pix32v5/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes .../mro/x21-777/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes boards/mro/x21/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes .../px4/fmu-v2/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes .../px4/fmu-v3/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes .../fmu-v4pro/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes .../px4/fmu-v5/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes .../px4/fmu-v5x/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes .../px4/fmu-v6c/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes .../px4/fmu-v6x/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes src/modules/px4iofirmware/mixer.cpp | 12 ++++++++---- 15 files changed, 8 insertions(+), 4 deletions(-) diff --git a/boards/ark/fmu-v6x/extras/px4_io-v2_default.bin b/boards/ark/fmu-v6x/extras/px4_io-v2_default.bin index 957f0f13a12e8eb8a7979955f29ad98d82433933..5a0796406fc11c3476448b5284c5c519cb6a711d 100755 GIT binary patch delta 2593 zcmYjT3se;675?u&hnKLfl+_Kg%L;Zh7N$~G)XxZuT{!un9jE@gGM=5B1&?gsI|B|9p|s$M8qO$RK{myw5up4=~W! z6eC_UQf`2O4@teC0Z;mPVKih@qdmy7!08uE%*Rt*Vu)KIT#-od(ez^(izQWp$~^wm zc&Zdy=nDH(kLQxc^joV^2&4z>rMA5e-v*7Tp)F#E?-5-?IqG*th%o7uLU<^7)+vN8 z2?Vo51aN_H#dY4OqJ@t=m1;^X-}kFvecHZxOxK6=CSC*K3!0p{1$NPMnc?71?`KBp zmb!ZTiRHCp3pzL&ly%nQOYGz;hM2C=@3ZV)SDX^K~;((DkZqqW%q z9#7DjIM0^|v^6^r$NlTb+QT57h*h(+1G(#!v zUs(k!Y3Zseh^GUqs%CzacDwCbzoK~O3mv!Qkycro;nmZ^9n~m%!F15-65n#0%)h~< zL)^xDM5uKU%bCX-riL~b1O@K2_TV&j;6%60%e~&hE!E`qws7^D#l72X+vxoQf3IJs z>xXu1F?1Di6%-1Cwr@_;m$h)U>}$1!+n8qPI{zY3uP-~f{}9{Iwx|`Nn4W}+xYicV zs8;rx%*FWZ{jMU;K14R_1(SMN>iDZJaVNH;(7HS=R#JFD91{_YEcGZt{qJ@6lj5d6 z2<7`+;w~3NdG|!HS!qkGKShV(-PTx1Ptfcw|LG+@NGZ703GMYbBXXo~KP-{Vfwm&< zt~9$*FZlT$!3y+{$Te574n^%?B0`}9%(GH!B;w~1=em-tYLiPWcFE2~tqB#D_Im0r zH0DMv3}b&LDU2|K2$v)#QtYvC$F6D^+Sd6{NHLUv@cRx6cT@XAZ-i|cD{E$} ztQtG89Wna$BJMlQ&0Z2RWueg?#>R3)Xr`N2`_D0=+c@TQIW1g+_KRL7IKcW6uW6-agfh0Y#^BqiSjmIL$4HHM`vTnIjE(1>x$Qo-2fet{eoS^`miU? 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Also when rebooting with a parameters reset or new airframe with no mapped outputs it would previously keep outputting PWM with the disarmed value of the new airframe e.g. 1000us which is a safety hazard because servos could break the physical limit of the model or miscalibrated ESCs spinning motors. --- src/lib/mixer_module/mixer_module.cpp | 5 ++++- src/lib/mixer_module/mixer_module.hpp | 1 + src/lib/mixer_module/mixer_module_tests.cpp | 8 ++++++-- 3 files changed, 11 insertions(+), 3 deletions(-) diff --git a/src/lib/mixer_module/mixer_module.cpp b/src/lib/mixer_module/mixer_module.cpp index dc5f791af22e..ee75bcf9fa0e 100644 --- a/src/lib/mixer_module/mixer_module.cpp +++ b/src/lib/mixer_module/mixer_module.cpp @@ -455,7 +455,8 @@ bool MixingOutput::update() } } - if (!all_disabled) { + // Send output if any function mapped or one last disabling sample + if (!all_disabled || !_was_all_disabled) { if (!_armed.armed && !_armed.manual_lockdown) { _actuator_test.overrideValues(outputs, _max_num_outputs); } @@ -463,6 +464,8 @@ bool MixingOutput::update() limitAndUpdateOutputs(outputs, has_updates); } + _was_all_disabled = all_disabled; + return true; } diff --git a/src/lib/mixer_module/mixer_module.hpp b/src/lib/mixer_module/mixer_module.hpp index c791feb10333..3deaa54aa42f 100644 --- a/src/lib/mixer_module/mixer_module.hpp +++ b/src/lib/mixer_module/mixer_module.hpp @@ -288,6 +288,7 @@ class MixingOutput : public ModuleParams hrt_abstime _lowrate_schedule_interval{300_ms}; ActuatorTest _actuator_test{_function_assignment}; uint32_t _reversible_mask{0}; ///< per-output bits. If set, the output is configured to be reversible (motors only) + bool _was_all_disabled{false}; uORB::SubscriptionCallbackWorkItem *_subscription_callback{nullptr}; ///< current scheduling callback diff --git a/src/lib/mixer_module/mixer_module_tests.cpp b/src/lib/mixer_module/mixer_module_tests.cpp index ef48f3e3f217..3901a1c85de9 100644 --- a/src/lib/mixer_module/mixer_module_tests.cpp +++ b/src/lib/mixer_module/mixer_module_tests.cpp @@ -191,11 +191,15 @@ TEST_F(MixerModuleTest, basic) mixing_output.setAllMaxValues(MAX_VALUE); EXPECT_EQ(test_module.num_updates, 0); - // all functions disabled: not expected to get an update + // all functions disabled: expect to get one single update to process disabling the output signal mixing_output.update(); mixing_output.updateSubscriptions(false); mixing_output.update(); - EXPECT_EQ(test_module.num_updates, 0); + EXPECT_EQ(test_module.num_updates, 1); + mixing_output.update(); + mixing_output.updateSubscriptions(false); + mixing_output.update(); + EXPECT_EQ(test_module.num_updates, 1); test_module.reset(); // configure motor, ensure all still disarmed From fa1885af238e94c089941d789f514901f0a8562e Mon Sep 17 00:00:00 2001 From: enesavcu Date: Tue, 26 Mar 2024 18:11:32 +0300 Subject: [PATCH 26/53] Signal generator (#22666) Add option to generate sine chirp signals for fixed-wing system identification --- .../fw_autotune_attitude_control.cpp | 50 ++++++++++++++---- .../fw_autotune_attitude_control.hpp | 14 ++++- .../fw_autotune_attitude_control_params.c | 51 +++++++++++++++++++ 3 files changed, 104 insertions(+), 11 deletions(-) diff --git a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp index 7f6e5b9c10c8..5e63924d3b57 100644 --- a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp +++ b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp @@ -620,22 +620,52 @@ void FwAutotuneAttitudeControl::saveGainsToParams() const Vector3f FwAutotuneAttitudeControl::getIdentificationSignal() { - if (_steps_counter > _max_steps) { - _signal_sign = (_signal_sign == 1) ? 0 : 1; - _steps_counter = 0; - if (_max_steps > 1) { - _max_steps--; - } else { - _max_steps = 5; + const hrt_abstime now = hrt_absolute_time(); + const float t = static_cast(now - _state_start_time) * 1e-6f; + float signal = 0.0f; + + switch (_param_fw_sysid_signal_type.get()) { + case static_cast(SignalType::kStep): { + if (_steps_counter > _max_steps) { + _signal_sign = (_signal_sign == 1) ? 0 : 1; + _steps_counter = 0; + + if (_max_steps > 1) { + _max_steps--; + + } else { + _max_steps = 5; + } + } + + _steps_counter++; + signal = float(_signal_sign); } - } + break; + + case static_cast(SignalType::kLinearSineSweep): { - _steps_counter++; + signal = signal_generator::getLinearSineSweep(_param_fw_at_sysid_f0.get(), + _param_fw_at_sysid_f1.get(), + _param_fw_sysid_time.get(), t); + } + break; + + case static_cast(SignalType::kLogSineSweep): { + signal = signal_generator::getLogSineSweep(_param_fw_at_sysid_f0.get(), _param_fw_at_sysid_f1.get(), + _param_fw_sysid_time.get(), t); + } + break; + + default: + signal = 0.f; + break; + } - const float signal = float(_signal_sign) * _param_fw_at_sysid_amp.get(); + signal *= _param_fw_at_sysid_amp.get(); Vector3f rate_sp{}; float signal_scaled = 0.f; diff --git a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.hpp b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.hpp index 9be5f5559664..4350724eed43 100644 --- a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.hpp +++ b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.hpp @@ -44,6 +44,7 @@ #include #include #include +#include #include #include #include @@ -64,6 +65,12 @@ using namespace time_literals; +enum class SignalType : uint8_t { + kStep = 0, + kLinearSineSweep, + kLogSineSweep +}; + class FwAutotuneAttitudeControl : public ModuleBase, public ModuleParams, public px4::WorkItem { @@ -204,7 +211,12 @@ class FwAutotuneAttitudeControl : public ModuleBase, (ParamFloat) _param_fw_yr_p, (ParamFloat) _param_fw_yr_i, (ParamFloat) _param_fw_yr_ff, - (ParamFloat) _param_fw_y_rmax + (ParamFloat) _param_fw_y_rmax, + + (ParamFloat) _param_fw_at_sysid_f0, + (ParamFloat) _param_fw_at_sysid_f1, + (ParamFloat) _param_fw_sysid_time, + (ParamInt) _param_fw_sysid_signal_type ) static constexpr float _publishing_dt_s = 100e-3f; diff --git a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c index 13609dbbb187..eb10036631b6 100644 --- a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c +++ b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c @@ -121,3 +121,54 @@ PARAM_DEFINE_INT32(FW_AT_AXES, 3); * @group Autotune */ PARAM_DEFINE_INT32(FW_AT_MAN_AUX, 0); + +/** + * Start frequency of the injected signal + * + * Can be set lower or higher than the end frequency + * + * @min 0.1 + * @max 30.0 + * @decimal 1 + * @unit Hz + * @group Autotune + */ +PARAM_DEFINE_FLOAT(FW_AT_SYSID_F0, 1.f); + +/** + * End frequency of the injected signal + * + * Can be set lower or higher than the start frequency + * + * @min 0.1 + * @max 30.0 + * @decimal 1 + * @unit Hz + * @group Autotune + */ +PARAM_DEFINE_FLOAT(FW_AT_SYSID_F1, 20.f); + +/** + * Maneuver time for each axis + * + * Duration of the input signal sent on each axis during system identification + * + * @min 5 + * @max 120 + * @decimal 0 + * @unit s + * @group Autotune + */ +PARAM_DEFINE_FLOAT(FW_AT_SYSID_TIME, 10.f); + +/** + * Input signal type + * + * Type of signal used during system identification to excite the system. + * + * @value 0 Step + * @value 1 Linear sine sweep + * @value 2 Logarithmic sine sweep + * @group Autotune + */ +PARAM_DEFINE_INT32(FW_AT_SYSID_TYPE, 0); From 8ade2e5f2d220f3999930d87392ebcd7bb0c4f57 Mon Sep 17 00:00:00 2001 From: Eric Katzfey Date: Tue, 26 Mar 2024 16:28:22 -0700 Subject: [PATCH 27/53] Add SYS_AUTOSTART touch in voxl-px4-start --- boards/modalai/voxl2/target/voxl-px4-start | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/boards/modalai/voxl2/target/voxl-px4-start b/boards/modalai/voxl2/target/voxl-px4-start index 5a9149f225a2..4b0c132cfcfc 100755 --- a/boards/modalai/voxl2/target/voxl-px4-start +++ b/boards/modalai/voxl2/target/voxl-px4-start @@ -106,8 +106,10 @@ qshell rgbled_ncp5623c start -X -b 1 -f 400 -a 56 # We do not change the value of SYS_AUTOCONFIG but if it does not # show up as used then it is not reported to QGC and we get a -# missing parameter error. +# missing parameter error. Also, we don't use SYS_AUTOSTART but QGC +# complains about it as well. param touch SYS_AUTOCONFIG +param touch SYS_AUTOSTART # ESC driver if [ "$ESC" == "VOXL_ESC" ]; then From 3aac8f36e666a880a800a4a64aba8a8b1c46d4dc Mon Sep 17 00:00:00 2001 From: jamming Date: Wed, 27 Mar 2024 07:49:11 +0800 Subject: [PATCH 28/53] boards/holybro/kakuteh7: fix icm42688p IMU - the mass-produced kakuteH7 did not use ICM20689 IMU --- boards/holybro/kakuteh7/src/spi.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/boards/holybro/kakuteh7/src/spi.cpp b/boards/holybro/kakuteh7/src/spi.cpp index 1ff5b7f35c1c..e0f4db0edd6e 100644 --- a/boards/holybro/kakuteh7/src/spi.cpp +++ b/boards/holybro/kakuteh7/src/spi.cpp @@ -43,7 +43,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}), }), initSPIBus(SPI::Bus::SPI4, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}), + initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}), initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}), initSPIDevice(DRV_IMU_DEVTYPE_BMI270, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}), }), From 749f88b62b57f5e855ac3434351d1abee7317eba Mon Sep 17 00:00:00 2001 From: "murata,katsutoshi" Date: Wed, 27 Mar 2024 08:50:57 +0900 Subject: [PATCH 29/53] ekf2: gps control lazily check yaw_failure() only after in_air --- src/modules/ekf2/EKF/gps_control.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/ekf2/EKF/gps_control.cpp b/src/modules/ekf2/EKF/gps_control.cpp index 03cf0a326f28..8e5e0bff91b4 100644 --- a/src/modules/ekf2/EKF/gps_control.cpp +++ b/src/modules/ekf2/EKF/gps_control.cpp @@ -123,8 +123,8 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed) bool do_vel_pos_reset = shouldResetGpsFusion(); - if (isYawFailure() - && _control_status.flags.in_air + if (_control_status.flags.in_air + && isYawFailure() && isTimedOut(_time_last_hor_vel_fuse, _params.EKFGSF_reset_delay) && (_time_last_hor_vel_fuse > _time_last_on_ground_us)) { do_vel_pos_reset = tryYawEmergencyReset(); From 868a884131b580279fad5a50309b9768c2bab16f Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Wed, 27 Mar 2024 16:29:56 +1300 Subject: [PATCH 30/53] fw_att_control: bitwise and should be logical and (#22933) Signed-off-by: Julian Oes --- src/modules/fw_att_control/FixedwingAttitudeControl.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp index 7de353c8f977..be4aaf9b23e4 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp @@ -92,7 +92,7 @@ FixedwingAttitudeControl::vehicle_manual_poll(const float yaw_body) // Always copy the new manual setpoint, even if it wasn't updated, to fill the actuators with valid values if (_manual_control_setpoint_sub.copy(&_manual_control_setpoint)) { - if (!_vcontrol_mode.flag_control_climb_rate_enabled & _vcontrol_mode.flag_control_attitude_enabled) { + if (!_vcontrol_mode.flag_control_climb_rate_enabled && _vcontrol_mode.flag_control_attitude_enabled) { // STABILIZED mode generate the attitude setpoint from manual user inputs @@ -479,4 +479,4 @@ fw_att_control is the fixed wing attitude controller. extern "C" __EXPORT int fw_att_control_main(int argc, char *argv[]) { return FixedwingAttitudeControl::main(argc, argv); -} +} \ No newline at end of file From 4c5f084445c5054b028e31f577f5d5a8cdd2cab2 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 27 Mar 2024 16:22:53 +0100 Subject: [PATCH 31/53] Battery parameters: clarify empty, full voltage description --- src/lib/battery/module.yaml | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/src/lib/battery/module.yaml b/src/lib/battery/module.yaml index 44f379002870..27723a7a4b63 100644 --- a/src/lib/battery/module.yaml +++ b/src/lib/battery/module.yaml @@ -7,12 +7,12 @@ parameters: definitions: BAT${i}_V_EMPTY: description: - short: Empty cell voltage (5C load) + short: Empty cell voltage long: | - Defines the voltage where a single cell of battery 1 is considered empty. - The voltage should be chosen before the steep dropoff to 2.8V. A typical - lithium battery can only be discharged down to 10% before it drops off - to a voltage level damaging the cells. + Defines the voltage where a single cell of the battery is considered empty. + The voltage should be chosen above the steep dropoff at 3.5V. A typical + lithium battery can only be discharged under high load down to 10% before + it drops off to a voltage level damaging the cells. type: float unit: V @@ -25,10 +25,10 @@ parameters: BAT${i}_V_CHARGED: description: - short: Full cell voltage (5C load) + short: Full cell voltage long: | - Defines the voltage where a single cell of battery 1 is considered full - under a mild load. This will never be the nominal voltage of 4.2V + Defines the voltage where a single cell of the battery is considered full. + For a more accurate estimate set this below the nominal voltage of e.g. 4.2V type: float unit: V @@ -44,7 +44,7 @@ parameters: short: Voltage drop per cell on full throttle long: | This implicitly defines the internal resistance - to maximum current ratio for battery 1 and assumes linearity. + to maximum current ratio for the battery and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT${i}_R_INTERNAL is set. From 6e86862b6a7d24b35ae1fd284602412e640824f7 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 27 Mar 2024 17:02:01 +0100 Subject: [PATCH 32/53] boards: unify comments for voltage deviders --- boards/diatone/mamba-f405-mk2/src/board_config.h | 3 +-- boards/matek/h743-mini/src/board_config.h | 4 +--- boards/matek/h743/src/board_config.h | 4 +--- boards/sky-drones/smartap-airlink/src/board_config.h | 2 +- 4 files changed, 4 insertions(+), 9 deletions(-) diff --git a/boards/diatone/mamba-f405-mk2/src/board_config.h b/boards/diatone/mamba-f405-mk2/src/board_config.h index 7c2b17d84db4..3c5f0e9830b9 100644 --- a/boards/diatone/mamba-f405-mk2/src/board_config.h +++ b/boards/diatone/mamba-f405-mk2/src/board_config.h @@ -74,8 +74,7 @@ #define ADC_BATTERY_CURRENT_CHANNEL 13 #define ADC_RC_RSSI_CHANNEL 12 -/* Define Battery 1 Voltage Divider and A per V - */ +/* Define Battery Voltage Divider and A per V */ #define BOARD_BATTERY1_V_DIV (11.12f) #define BOARD_BATTERY1_A_PER_V (31.f) diff --git a/boards/matek/h743-mini/src/board_config.h b/boards/matek/h743-mini/src/board_config.h index 151d6b59c5e5..e47444085a4e 100644 --- a/boards/matek/h743-mini/src/board_config.h +++ b/boards/matek/h743-mini/src/board_config.h @@ -102,9 +102,7 @@ (1 << ADC_RSSI_IN_CHANNEL)) -/* Define Battery 1 Voltage Divider and A per V - */ - +/* Define Battery Voltage Divider and A per V */ #define BOARD_BATTERY1_V_DIV (11.0f) /* measured with the provided PM board */ #define BOARD_BATTERY1_A_PER_V (40.0f) #define BOARD_BATTERY2_V_DIV (11.0f) /* measured with the provided PM board */ diff --git a/boards/matek/h743/src/board_config.h b/boards/matek/h743/src/board_config.h index 151d6b59c5e5..e47444085a4e 100644 --- a/boards/matek/h743/src/board_config.h +++ b/boards/matek/h743/src/board_config.h @@ -102,9 +102,7 @@ (1 << ADC_RSSI_IN_CHANNEL)) -/* Define Battery 1 Voltage Divider and A per V - */ - +/* Define Battery Voltage Divider and A per V */ #define BOARD_BATTERY1_V_DIV (11.0f) /* measured with the provided PM board */ #define BOARD_BATTERY1_A_PER_V (40.0f) #define BOARD_BATTERY2_V_DIV (11.0f) /* measured with the provided PM board */ diff --git a/boards/sky-drones/smartap-airlink/src/board_config.h b/boards/sky-drones/smartap-airlink/src/board_config.h index 5b957e0694cc..158fece58c8a 100644 --- a/boards/sky-drones/smartap-airlink/src/board_config.h +++ b/boards/sky-drones/smartap-airlink/src/board_config.h @@ -196,7 +196,7 @@ */ #define DIRECT_PWM_OUTPUT_CHANNELS 8 -/* Define Battery 1 g Divider and A per V. */ +/* Define Battery Voltage Divider and A per V */ #define BOARD_BATTERY_V_DIV (13.653333333f) #define BOARD_BATTERY_A_PER_V (36.367515152f) From 3099eac2bae8365547f7bddbee305161f212d008 Mon Sep 17 00:00:00 2001 From: David Sidrane Date: Mon, 25 Mar 2024 06:17:30 -0700 Subject: [PATCH 33/53] NuttX with pr-h7-serial-logic-error backport --- platforms/nuttx/NuttX/nuttx | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/platforms/nuttx/NuttX/nuttx b/platforms/nuttx/NuttX/nuttx index 693b9e782535..61958c53056b 160000 --- a/platforms/nuttx/NuttX/nuttx +++ b/platforms/nuttx/NuttX/nuttx @@ -1 +1 @@ -Subproject commit 693b9e782535f12e6a4ab657c7a0c3bd92b45fb1 +Subproject commit 61958c53056b5c3fb828f18a097de57d9bed0fda From 0f9531a526525d83096cd65bacd20bf28d210127 Mon Sep 17 00:00:00 2001 From: Claudio Micheli Date: Mon, 18 Mar 2024 19:16:40 +0100 Subject: [PATCH 34/53] commander: improve failsafe messaging Signed-off-by: Claudio Micheli --- .../checks/rcAndDataLinkCheck.cpp | 2 +- src/modules/commander/failsafe/framework.cpp | 16 ++++++++-------- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/src/modules/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.cpp index 660a792f857a..9f09c2a645e4 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.cpp @@ -51,7 +51,7 @@ void RcAndDataLinkChecks::checkAndReport(const Context &context, Report &reporte if (!reporter.failsafeFlags().manual_control_signal_lost && _last_valid_manual_control_setpoint > 0) { - events::send(events::ID("commander_rc_lost"), {events::Log::Critical, events::LogInternal::Info}, + events::send(events::ID("commander_rc_lost"), {events::Log::Info, events::LogInternal::Info}, "Manual control lost"); } diff --git a/src/modules/commander/failsafe/framework.cpp b/src/modules/commander/failsafe/framework.cpp index 16a3678d81b5..5d581caea859 100644 --- a/src/modules/commander/failsafe/framework.cpp +++ b/src/modules/commander/failsafe/framework.cpp @@ -195,7 +195,7 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action events::send( events::ID("commander_failsafe_enter_generic_hold"), {events::Log::Critical, events::LogInternal::Warning}, - "Failsafe, triggering {2} in {3} seconds", mavlink_mode, failsafe_action, + "Failsafe activated: switching to {2} in {3} seconds", mavlink_mode, failsafe_action, (uint16_t) delay_s); } else { @@ -204,11 +204,11 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action events::send( events::ID("commander_failsafe_enter_hold"), {events::Log::Critical, events::LogInternal::Warning}, - "{4}, triggering {2} in {3} seconds", mavlink_mode, failsafe_action, + "{4}: switching to {2} in {3} seconds", mavlink_mode, failsafe_action, (uint16_t) delay_s, failsafe_cause); } - mavlink_log_critical(&_mavlink_log_pub, "Failsafe activated, entering Hold for %i seconds\t", delay_s); + mavlink_log_critical(&_mavlink_log_pub, "Failsafe activated: entering Hold for %i seconds\t", delay_s); } else { // no delay failsafe_action_t failsafe_action = (failsafe_action_t)action; @@ -222,16 +222,16 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action events::send( events::ID("commander_failsafe_enter_generic_warn"), {events::Log::Warning, events::LogInternal::Warning}, - "Failsafe warning triggered", mavlink_mode); + "Failsafe warning:", mavlink_mode); } else { /* EVENT * @type append_health_and_arming_messages */ - events::send( + events::send( events::ID("commander_failsafe_enter_generic"), {events::Log::Critical, events::LogInternal::Warning}, - "Failsafe, triggering {2}", mavlink_mode, failsafe_action); + "Failsafe activated: Autopilot disengaged", mavlink_mode); } } else { @@ -262,7 +262,7 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action events::send( events::ID("commander_failsafe_enter_warn"), {events::Log::Warning, events::LogInternal::Warning}, - "Failsafe warning triggered due to {2}", mavlink_mode, failsafe_cause); + "Failsafe warning: {2}", mavlink_mode, failsafe_cause); } @@ -272,7 +272,7 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action events::send( events::ID("commander_failsafe_enter"), {events::Log::Critical, events::LogInternal::Warning}, - "{3}, triggering {2}", mavlink_mode, failsafe_action, failsafe_cause); + "{3}: switching to {2}", mavlink_mode, failsafe_action, failsafe_cause); } } From 416b6a35a478482fe021b9261e15911338598d09 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 27 Mar 2024 19:23:32 +0100 Subject: [PATCH 35/53] failsafe framework: inform about failsafe action --- src/modules/commander/failsafe/framework.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/failsafe/framework.cpp b/src/modules/commander/failsafe/framework.cpp index 5d581caea859..9f88f85f3e8e 100644 --- a/src/modules/commander/failsafe/framework.cpp +++ b/src/modules/commander/failsafe/framework.cpp @@ -228,10 +228,10 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action /* EVENT * @type append_health_and_arming_messages */ - events::send( + events::send( events::ID("commander_failsafe_enter_generic"), {events::Log::Critical, events::LogInternal::Warning}, - "Failsafe activated: Autopilot disengaged", mavlink_mode); + "Failsafe activated: Autopilot disengaged, switching to {2}", mavlink_mode, failsafe_action); } } else { From ccdf0603931e513fb96f3f5b8a4240e51b7c3122 Mon Sep 17 00:00:00 2001 From: Eric Katzfey <53063038+katzfey@users.noreply.github.com> Date: Mon, 1 Apr 2024 09:27:59 -0700 Subject: [PATCH 36/53] Additions to the Serial UART API (#22953) - Added an empty constructor, setPort, and validatePort functions for Serial API - Changed GPS to not allocate Serial object dynamically - Moved access check on serial port name into the Serial API - Improved the Qurt platform validatePort Serial function to implement a more rigorous check. Added safety check to the setPort Serial function to make sure it isn't called after the port has been already opened. --- platforms/common/Serial.cpp | 14 +++++++ .../include/px4_platform_common/Serial.hpp | 3 ++ platforms/nuttx/src/px4/common/SerialImpl.cpp | 31 ++++++++++++-- .../src/px4/common/include/SerialImpl.hpp | 2 + platforms/posix/include/SerialImpl.hpp | 2 + platforms/posix/src/px4/common/SerialImpl.cpp | 31 ++++++++++++-- platforms/qurt/include/SerialImpl.hpp | 1 + platforms/qurt/src/px4/SerialImpl.cpp | 31 ++++++++++++-- src/drivers/gps/gps.cpp | 42 ++++++++----------- src/lib/drivers/device/qurt/uart.c | 21 ++++++++-- src/lib/drivers/device/qurt/uart.h | 1 + 11 files changed, 142 insertions(+), 37 deletions(-) diff --git a/platforms/common/Serial.cpp b/platforms/common/Serial.cpp index 2f93a66a6ebf..28e2d5986bd6 100644 --- a/platforms/common/Serial.cpp +++ b/platforms/common/Serial.cpp @@ -36,6 +36,10 @@ namespace device { +Serial::Serial() : + _impl(nullptr, 57600, ByteSize::EightBits, Parity::None, StopBits::One, FlowControl::Disabled) {} + + Serial::Serial(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits, FlowControl flowcontrol) : _impl(port, baudrate, bytesize, parity, stopbits, flowcontrol) @@ -135,4 +139,14 @@ const char *Serial::getPort() const return _impl.getPort(); } +bool Serial::validatePort(const char *port) +{ + return SerialImpl::validatePort(port); +} + +bool Serial::setPort(const char *port) +{ + return _impl.setPort(port); +} + } // namespace device diff --git a/platforms/common/include/px4_platform_common/Serial.hpp b/platforms/common/include/px4_platform_common/Serial.hpp index ce02b5ac6308..b38ae93f0ac2 100644 --- a/platforms/common/include/px4_platform_common/Serial.hpp +++ b/platforms/common/include/px4_platform_common/Serial.hpp @@ -48,6 +48,7 @@ namespace device __EXPORT class Serial { public: + Serial(); Serial(const char *port, uint32_t baudrate = 57600, ByteSize bytesize = ByteSize::EightBits, Parity parity = Parity::None, StopBits stopbits = StopBits::One, FlowControl flowcontrol = FlowControl::Disabled); @@ -83,6 +84,8 @@ class Serial FlowControl getFlowcontrol() const; bool setFlowcontrol(FlowControl flowcontrol); + static bool validatePort(const char *port); + bool setPort(const char *port); const char *getPort() const; private: diff --git a/platforms/nuttx/src/px4/common/SerialImpl.cpp b/platforms/nuttx/src/px4/common/SerialImpl.cpp index 7490dd604cc4..c5b659334443 100644 --- a/platforms/nuttx/src/px4/common/SerialImpl.cpp +++ b/platforms/nuttx/src/px4/common/SerialImpl.cpp @@ -53,9 +53,8 @@ SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, P _stopbits(stopbits), _flowcontrol(flowcontrol) { - if (port) { - strncpy(_port, port, sizeof(_port) - 1); - _port[sizeof(_port) - 1] = '\0'; + if (validatePort(port)) { + setPort(port); } else { _port[0] = 0; @@ -192,6 +191,11 @@ bool SerialImpl::open() return true; } + if (!validatePort(_port)) { + PX4_ERR("Invalid port %s", _port); + return false; + } + // Open the serial port int serial_fd = ::open(_port, O_RDWR | O_NOCTTY); @@ -324,6 +328,27 @@ const char *SerialImpl::getPort() const return _port; } +bool SerialImpl::validatePort(const char *port) +{ + return (port && (access(port, R_OK | W_OK) == 0)); +} + +bool SerialImpl::setPort(const char *port) +{ + if (_open) { + PX4_ERR("Cannot set port after port has already been opened"); + return false; + } + + if (validatePort(port)) { + strncpy(_port, port, sizeof(_port) - 1); + _port[sizeof(_port) - 1] = '\0'; + return true; + } + + return false; +} + uint32_t SerialImpl::getBaudrate() const { return _baudrate; diff --git a/platforms/nuttx/src/px4/common/include/SerialImpl.hpp b/platforms/nuttx/src/px4/common/include/SerialImpl.hpp index 58d41bf759c9..28d838354ec0 100644 --- a/platforms/nuttx/src/px4/common/include/SerialImpl.hpp +++ b/platforms/nuttx/src/px4/common/include/SerialImpl.hpp @@ -65,6 +65,8 @@ class SerialImpl ssize_t write(const void *buffer, size_t buffer_size); const char *getPort() const; + static bool validatePort(const char *port); + bool setPort(const char *port); uint32_t getBaudrate() const; bool setBaudrate(uint32_t baudrate); diff --git a/platforms/posix/include/SerialImpl.hpp b/platforms/posix/include/SerialImpl.hpp index efc95d7d517a..d5688834e314 100644 --- a/platforms/posix/include/SerialImpl.hpp +++ b/platforms/posix/include/SerialImpl.hpp @@ -65,6 +65,8 @@ class SerialImpl ssize_t write(const void *buffer, size_t buffer_size); const char *getPort() const; + static bool validatePort(const char *port); + bool setPort(const char *port); uint32_t getBaudrate() const; bool setBaudrate(uint32_t baudrate); diff --git a/platforms/posix/src/px4/common/SerialImpl.cpp b/platforms/posix/src/px4/common/SerialImpl.cpp index 79e3422aedf2..739796e6a172 100644 --- a/platforms/posix/src/px4/common/SerialImpl.cpp +++ b/platforms/posix/src/px4/common/SerialImpl.cpp @@ -51,9 +51,8 @@ SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, P _stopbits(stopbits), _flowcontrol(flowcontrol) { - if (port) { - strncpy(_port, port, sizeof(_port) - 1); - _port[sizeof(_port) - 1] = '\0'; + if (validatePort(port)) { + setPort(port); } else { _port[0] = 0; @@ -190,6 +189,11 @@ bool SerialImpl::open() return true; } + if (!validatePort(_port)) { + PX4_ERR("Invalid port %s", _port); + return false; + } + // Open the serial port int serial_fd = ::open(_port, O_RDWR | O_NOCTTY); @@ -317,6 +321,27 @@ const char *SerialImpl::getPort() const return _port; } +bool SerialImpl::validatePort(const char *port) +{ + return (port && (access(port, R_OK | W_OK) == 0)); +} + +bool SerialImpl::setPort(const char *port) +{ + if (_open) { + PX4_ERR("Cannot set port after port has already been opened"); + return false; + } + + if (validatePort(port)) { + strncpy(_port, port, sizeof(_port) - 1); + _port[sizeof(_port) - 1] = '\0'; + return true; + } + + return false; +} + uint32_t SerialImpl::getBaudrate() const { return _baudrate; diff --git a/platforms/qurt/include/SerialImpl.hpp b/platforms/qurt/include/SerialImpl.hpp index 1b98d3bb401b..91bbde046454 100644 --- a/platforms/qurt/include/SerialImpl.hpp +++ b/platforms/qurt/include/SerialImpl.hpp @@ -65,6 +65,7 @@ class SerialImpl const char *getPort() const; bool setPort(const char *port); + static bool validatePort(const char *port); uint32_t getBaudrate() const; bool setBaudrate(uint32_t baudrate); diff --git a/platforms/qurt/src/px4/SerialImpl.cpp b/platforms/qurt/src/px4/SerialImpl.cpp index ec0fb73fce3a..287064b760ad 100644 --- a/platforms/qurt/src/px4/SerialImpl.cpp +++ b/platforms/qurt/src/px4/SerialImpl.cpp @@ -48,9 +48,8 @@ SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, P _stopbits(stopbits), _flowcontrol(flowcontrol) { - if (port) { - strncpy(_port, port, sizeof(_port) - 1); - _port[sizeof(_port) - 1] = '\0'; + if (validatePort(port)) { + setPort(port); } else { _port[0] = 0; @@ -117,6 +116,11 @@ bool SerialImpl::open() return false; } + if (!validatePort(_port)) { + PX4_ERR("Invalid port %s", _port); + return false; + } + // qurt_uart_open will check validity of port and baudrate int serial_fd = qurt_uart_open(_port, _baudrate); @@ -256,6 +260,27 @@ const char *SerialImpl::getPort() const return _port; } +bool SerialImpl::validatePort(const char *port) +{ + return (qurt_uart_get_port(port) >= 0); +} + +bool SerialImpl::setPort(const char *port) +{ + if (_open) { + PX4_ERR("Cannot set port after port has already been opened"); + return false; + } + + if (validatePort(port)) { + strncpy(_port, port, sizeof(_port) - 1); + _port[sizeof(_port) - 1] = '\0'; + return true; + } + + return false; +} + uint32_t SerialImpl::getBaudrate() const { return _baudrate; diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index 766be323d719..aa8b8d7543f5 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -174,7 +174,7 @@ class GPS : public ModuleBase, public device::Device #ifdef __PX4_LINUX int _spi_fd {-1}; ///< SPI interface to GPS #endif - Serial *_uart = nullptr; ///< UART interface to GPS + Serial _uart {}; ///< UART interface to GPS unsigned _baudrate{0}; ///< current baudrate const unsigned _configured_baudrate{0}; ///< configured baudrate (0=auto-detect) char _port[20] {}; ///< device / serial port path @@ -416,8 +416,8 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user) int ret = 0; - if (gps->_uart) { - ret = gps->_uart->write((void *) data1, (size_t) data2); + if (gps->_interface == GPSHelper::Interface::UART) { + ret = gps->_uart.write((void *) data1, (size_t) data2); #ifdef __PX4_LINUX @@ -477,8 +477,8 @@ int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout) handleInjectDataTopic(); - if ((_interface == GPSHelper::Interface::UART) && (_uart)) { - ret = _uart->readAtLeast(buf, buf_length, character_count, timeout_adjusted); + if (_interface == GPSHelper::Interface::UART) { + ret = _uart.readAtLeast(buf, buf_length, character_count, timeout_adjusted); // SPI is only supported on LInux #if defined(__PX4_LINUX) @@ -598,8 +598,8 @@ bool GPS::injectData(uint8_t *data, size_t len) size_t written = 0; - if ((_interface == GPSHelper::Interface::UART) && (_uart)) { - written = _uart->write((const void *) data, len); + if (_interface == GPSHelper::Interface::UART) { + written = _uart.write((const void *) data, len); #ifdef __PX4_LINUX @@ -615,7 +615,7 @@ bool GPS::injectData(uint8_t *data, size_t len) int GPS::setBaudrate(unsigned baud) { if (_interface == GPSHelper::Interface::UART) { - if ((_uart) && (_uart->setBaudrate(baud))) { + if (_uart.setBaudrate(baud)) { return 0; } @@ -786,23 +786,19 @@ GPS::run() _helper = nullptr; } - if ((_interface == GPSHelper::Interface::UART) && (_uart == nullptr)) { + if ((_interface == GPSHelper::Interface::UART) && (! _uart.isOpen())) { - // Create the UART port instance - _uart = new Serial(_port); - - if (_uart == nullptr) { - PX4_ERR("Error creating serial device %s", _port); + // Configure UART port + if (!_uart.setPort(_port)) { + PX4_ERR("Error configuring serial device on port %s", _port); px4_sleep(1); continue; } - } - if ((_interface == GPSHelper::Interface::UART) && (! _uart->isOpen())) { // Configure the desired baudrate if one was specified by the user. // Otherwise the default baudrate will be used. if (_configured_baudrate) { - if (! _uart->setBaudrate(_configured_baudrate)) { + if (! _uart.setBaudrate(_configured_baudrate)) { PX4_ERR("Error setting baudrate to %u on %s", _configured_baudrate, _port); px4_sleep(1); continue; @@ -810,7 +806,7 @@ GPS::run() } // Open the UART. If this is successful then the UART is ready to use. - if (! _uart->open()) { + if (! _uart.open()) { PX4_ERR("Error opening serial device %s", _port); px4_sleep(1); continue; @@ -1029,10 +1025,8 @@ GPS::run() } } - if ((_interface == GPSHelper::Interface::UART) && (_uart)) { - (void) _uart->close(); - delete _uart; - _uart = nullptr; + if (_interface == GPSHelper::Interface::UART) { + (void) _uart.close(); #ifdef __PX4_LINUX @@ -1528,7 +1522,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance) GPS *gps = nullptr; if (instance == Instance::Main) { - if (device_name && (access(device_name, R_OK|W_OK) == 0)) { + if (Serial::validatePort(device_name)) { gps = new GPS(device_name, mode, interface, instance, baudrate_main); } else { @@ -1551,7 +1545,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance) } } } else { // secondary instance - if (device_name_secondary && (access(device_name_secondary, R_OK|W_OK) == 0)) { + if (Serial::validatePort(device_name_secondary)) { gps = new GPS(device_name_secondary, mode, interface_secondary, instance, baudrate_secondary); } else { diff --git a/src/lib/drivers/device/qurt/uart.c b/src/lib/drivers/device/qurt/uart.c index 798d20534443..ca1d0f66c740 100644 --- a/src/lib/drivers/device/qurt/uart.c +++ b/src/lib/drivers/device/qurt/uart.c @@ -25,19 +25,32 @@ void configure_uart_callbacks(open_uart_func_t open_func, } } -int qurt_uart_open(const char *dev, speed_t speed) +int qurt_uart_get_port(const char *dev) { - if (_callbacks_configured) { + if (dev != NULL) { // Convert device string into a uart port number char *endptr = NULL; - uint8_t port_number = (uint8_t) strtol(dev, &endptr, 10); + int port_number = strtol(dev, &endptr, 10); if ((port_number == 0) && (endptr == dev)) { PX4_ERR("Could not convert %s into a valid uart port number", dev); return -1; + + } else { + return port_number; } + } + + return -1; +} + +int qurt_uart_open(const char *dev, speed_t speed) +{ + int port_number = qurt_uart_get_port(dev); + + if (_callbacks_configured && (port_number >= 0)) { - return _open_uart(port_number, speed); + return _open_uart((uint8_t) port_number, speed); } else { PX4_ERR("Cannot open uart until callbacks have been configured"); diff --git a/src/lib/drivers/device/qurt/uart.h b/src/lib/drivers/device/qurt/uart.h index 03055961898f..d1632fe6a2c8 100644 --- a/src/lib/drivers/device/qurt/uart.h +++ b/src/lib/drivers/device/qurt/uart.h @@ -7,6 +7,7 @@ extern "C" { #include #include +int qurt_uart_get_port(const char *dev); int qurt_uart_open(const char *dev, speed_t speed); int qurt_uart_write(int fd, const char *buf, size_t len); int qurt_uart_read(int fd, char *buf, size_t len, uint32_t timeout_us); From 71b074b23491f7e9f310a9ba6d0ae50908a91461 Mon Sep 17 00:00:00 2001 From: Eric Katzfey <53063038+katzfey@users.noreply.github.com> Date: Mon, 1 Apr 2024 15:33:37 -0700 Subject: [PATCH 37/53] Qurt termios decoy (#22954) * Added decoy termios support to Qurt so that ghst parser in RC library can be used. No termios is actually needed but has to be there for the parser to work --- boards/modalai/voxl2-slpi/src/CMakeLists.txt | 2 +- platforms/qurt/include/termios.h | 343 +++++++++++++++++-- platforms/qurt/unresolved_symbols.c | 19 + 3 files changed, 332 insertions(+), 32 deletions(-) diff --git a/boards/modalai/voxl2-slpi/src/CMakeLists.txt b/boards/modalai/voxl2-slpi/src/CMakeLists.txt index bb35ef068a33..6ccb1facf6c5 100644 --- a/boards/modalai/voxl2-slpi/src/CMakeLists.txt +++ b/boards/modalai/voxl2-slpi/src/CMakeLists.txt @@ -47,7 +47,7 @@ add_library(drivers_board add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller) add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in) # add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc) -# add_subdirectory(${PX4_BOARD_DIR}/src/drivers/ghst_rc) +add_subdirectory(${PX4_BOARD_DIR}/src/drivers/ghst_rc) add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_hitl) # add_subdirectory(${PX4_BOARD_DIR}/src/drivers/dsp_sbus) add_subdirectory(${PX4_BOARD_DIR}/src/drivers/elrs_led) diff --git a/platforms/qurt/include/termios.h b/platforms/qurt/include/termios.h index d36d80ee9388..2e59ca1815bb 100644 --- a/platforms/qurt/include/termios.h +++ b/platforms/qurt/include/termios.h @@ -1,37 +1,318 @@ /**************************************************************************** + * include/termios.h * - * Copyright (C) 2022 ModalAI, Inc. 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. + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +#ifndef __INCLUDE_TERMIOS_H +#define __INCLUDE_TERMIOS_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include + +/**************************************************************************** + * Pre-processor Definitions ****************************************************************************/ -// This file prevents a missing header file error but since Qurt doesn't support -// termios the actual code will still need to be changed for Qurt +/* Terminal input modes (c_iflag in the termios structure) */ + +#define IGNBRK (1 << 0) /* Bit 0: Ignore break condition */ +#define BRKINT (1 << 1) /* Bit 1: Signal interrupt on break */ +#define IGNPAR (1 << 2) /* Bit 2: Ignore characters with parity errors */ +#define PARMRK (1 << 3) /* Bit 3: Mark parity errors */ +#define INPCK (1 << 4) /* Bit 4: Enable input parity check */ +#define ISTRIP (1 << 5) /* Bit 5: Strip character */ +#define INLCR (1 << 6) /* Bit 6: Map NL to CR on input */ +#define IGNCR (1 << 7) /* Bit 7: Ignore CR */ +#define ICRNL (1 << 8) /* Bit 8: Map CR to NL on input */ +#define IUCLC (1 << 9) /* Bit 9: Map upper-case to lower-case on input (LEGACY) */ +#define IXON (1 << 10) /* Bit 10: Enable start/stop output control */ +#define IXANY (1 << 11) /* Bit 11: Enable any character to restart output */ +#define IXOFF (1 << 12) /* Bit 12: Enable start/stop input control */ + +/* Terminal output modes (c_oflag in the termios structure) */ + +#define OPOST (1 << 0) /* Bit 0: Post-process output */ +#define OLCUC (1 << 1) /* Bit 1: Map lower-case to upper-case on output (LEGACY) */ +#define ONLCR (1 << 2) /* Bit 2: Map NL to CR-NL on output */ +#define OCRNL (1 << 3) /* Bit 3: Map CR to NL on output */ +#define ONOCR (1 << 4) /* Bit 4: No CR output at column 0 */ +#define ONLRET (1 << 5) /* Bit 5: NL performs CR function */ +#define OFILL (1 << 6) /* Bit 6: Use fill characters for delay */ +#define NLDLY (1 << 8) /* Bit 8: Select newline delays: */ +# define NL0 (0 << 8) /* Newline character type 0 */ +# define NL1 (1 << 8) /* Newline character type 1 */ +#define CRDLY (3 << 9) /* Bits 9-10: Select carriage-return delays: */ +# define CR0 (0 << 9) /* Carriage-return delay type 0 */ +# define CR1 (1 << 9) /* Carriage-return delay type 1 */ +# define CR2 (2 << 9) /* Carriage-return delay type 2 */ +# define CR3 (3 << 9) /* Carriage-return delay type 3 */ +#define TABDLY (3 << 11) /* Bits 11-12: Select horizontal-tab delays: */ +# define TAB0 (0 << 11) /* Horizontal-tab delay type 0 */ +# define TAB1 (1 << 11) /* Horizontal-tab delay type 1 */ +# define TAB2 (2 << 11) /* Horizontal-tab delay type 2 */ +# define TAB3 (3 << 11) /* Expand tabs to spaces */ +#define BSDLY (1 << 13) /* Bit 13: Select backspace delays: */ +# define BS0 (0 << 13) /* Backspace-delay type 0 */ +# define BS1 (1 << 13) /* Backspace-delay type 1 */ +#define VTDLY (1 << 14) /* Bit 14: Select vertical-tab delays: */ +# define VT0 (0 << 14) /* Vertical-tab delay type 0 */ +# define VT1 (1 << 14) /* Vertical-tab delay type 1 */ +#define FFDLY (1 << 15) /* Bit 15: Select form-feed delays: */ +# define FF0 (0 << 15) /* Form-feed delay type 0 */ +# define FF1 (1 << 15) /* Form-feed delay type 1 */ + +/* Control Modes (c_cflag in the termios structure) */ + +#define CSIZE (3 << 4) /* Bits 4-5: Character size: */ +# define CS5 (0 << 4) /* 5 bits */ +# define CS6 (1 << 4) /* 6 bits */ +# define CS7 (2 << 4) /* 7 bits */ +# define CS8 (3 << 4) /* 8 bits */ +#define CSTOPB (1 << 6) /* Bit 6: Send two stop bits, else one */ +#define CREAD (1 << 7) /* Bit 7: Enable receiver */ +#define PARENB (1 << 8) /* Bit 8: Parity enable */ +#define PARODD (1 << 9) /* Bit 9: Odd parity, else even */ +#define HUPCL (1 << 10) /* Bit 10: Hang up on last close */ +#define CLOCAL (1 << 11) /* Bit 11: Ignore modem status lines */ +#define CCTS_OFLOW (1 << 29) /* Bit 29: CTS flow control of output */ +#define CRTS_IFLOW (1u << 31) /* Bit 31: RTS flow control of input */ +#define CRTSCTS (CCTS_OFLOW | CRTS_IFLOW) + +/* Local Modes (c_lflag in the termios structure) */ + +#define ISIG (1 << 0) /* Bit 0: Enable signals */ +#define ICANON (1 << 1) /* Bit 1: Canonical input (erase and kill processing) */ +#define XCASE (1 << 2) /* Bit 2: Canonical upper/lower presentation (LEGACY) */ +#define ECHO (1 << 3) /* Bit 3: Enable echo */ +#define ECHOE (1 << 4) /* Bit 4: Echo erase character as error correcting backspace */ +#define ECHOK (1 << 5) /* Bit 5: Echo KILL */ +#define ECHONL (1 << 6) /* Bit 6: Echo NL */ +#define NOFLSH (1 << 7) /* Bit 7: Disable flush after interrupt or quit */ +#define TOSTOP (1 << 8) /* Bit 8: Send SIGTTOU for background output */ +#define IEXTEN (1 << 15) /* Bit 15: Enable extended input character processing */ + +/* The following are subscript names for the termios c_cc array. + * + * Common characters: VINTR, VQUIT, VSTART, VSTOP, VSUSP + * + * VINTR: Interrupt character (Default ETX, Control-C) + * VQUIT: Quit character (Default FS, Control-\) + * VSTART: Start character (Default DC1, Control-Q) + * VSTOP: Stop character (Default DC3, Control-S) + * VSUSP: Suspend character (Default SUB, Control-Z) + * + * Canonical mode: Adds VEOF, VEOL, VERASE, VKILL + * + * VEOL: End-of-file character (Default SUB, Control-Z) + * VEOF: End-of-line character (Default NUL) + * VERASE: Erase character (Default DEL or BS, Control-H) + * VKILL: Kill character (Default NAK or BS, Control-U) + * + * Non-canonical mode: Adds VMIN, VTIME + * + * VMIN: Minimum number of characters for non-canonical read + * VTIME: Timeout in deciseconds for non-canonical read + */ + +#define VINTR 0 /* Bit 0: INTR character */ +#define VQUIT 1 /* Bit 1: QUIT character */ +#define VERASE 2 /* Bit 2: ERASE character (canonical mode) */ +#define VKILL 3 /* Bit 3: KILL character (canonical mode) */ +#define VEOF 4 /* Bit 4: EOF character (canonical mode) */ +#define VTIME 5 /* Bit 5: TIME value (non-canonical mode) */ +#define VMIN 6 /* Bit 6: MIN value (non-canonical mode) */ +#define VSTART 8 /* Bit 8: START character */ +#define VSTOP 9 /* Bit 9: STOP character */ +#define VSUSP 10 /* Bit 10: SUSP character */ +#define VEOL 11 /* Bit 11: EOL character (canonical mode) */ +#define NCCS 12 /* Bit 12: Size of the array c_cc for control characters */ + +/* Baud Rate Selection. These are instances of type speed_t. Values of + * 38400 and below are specified by POSIX; values above 38400 are sometimes + * referred to as extended values and most values appear in most termios.h + * implementations. + */ + +#define B0 0000000 /* Hang up */ +#define B50 0000001 /* 50 baud */ +#define B75 0000002 /* 75 baud */ +#define B110 0000003 /* 110 baud */ +#define B134 0000004 /* 134.5 baud */ +#define B150 0000005 /* 150 baud */ +#define B200 0000006 /* 200 baud */ +#define B300 0000007 /* 300 baud */ +#define B600 0000010 /* 600 baud */ +#define B1200 0000011 /* 1,200 baud */ +#define B1800 0000012 /* 1,800 baud */ +#define B2400 0000013 /* 2,400 baud */ +#define B4800 0000014 /* 4,800 baud */ +#define B9600 0000015 /* 9,600 baud */ +#define B19200 0000016 /* 19,200 baud */ +#define B38400 0000017 /* 38,400 baud */ + +#define B57600 0010001 /* 57,600 baud */ +#define B115200 0010002 /* 115,200 baud */ +#define B230400 0010003 /* 230,400 baud */ +#define B460800 0010004 /* 460,800 baud */ +#define B500000 0010005 /* 500,000 baud */ +#define B576000 0010006 /* 576,000 baud */ +#define B921600 0010007 /* 921,600 baud */ +#define B1000000 0010010 /* 1,000,000 baud */ +#define B1152000 0010011 /* 1,152,000 baud */ +#define B1500000 0010012 /* 1,500,000 baud */ +#define B2000000 0010013 /* 2,000,000 baud */ +#define B2500000 0010014 /* 2,500,000 baud */ +#define B3000000 0010015 /* 3,000,000 baud */ +#define B3500000 0010016 /* 3,500,000 baud */ +#define B4000000 0010017 /* 4,000,000 baud */ + +/* Attribute Selection (used with tcsetattr()) */ + +#define TCSANOW 0 /* Change attributes immediately */ +#define TCSADRAIN 1 /* Change attributes when output has drained */ +#define TCSAFLUSH 2 /* Change attributes when output has drained; + * also flush pending input */ + +/* Line Control (used with tcflush()) */ + +#define TCIFLUSH 0 /* Flush pending input */ +#define TCOFLUSH 1 /* Flush untransmitted output */ +#define TCIOFLUSH 2 /* Flush both pending input and untransmitted + * output */ + +/* Constants for use with tcflow() */ + +#define TCOOFF 0 /* Suspend output */ +#define TCOON 1 /* Restart output */ +#define TCIOFF 2 /* Transmit a STOP character, intended to + * suspend input data */ +#define TCION 3 /* Transmit a START character, intended to + * restart input data */ + +/**************************************************************************** + * Public Type Definitions + ****************************************************************************/ + +/* Baud rate selection */ + +typedef unsigned long speed_t; /* Used for terminal baud rates */ + +/* Types used within the termios structure */ + +typedef unsigned int tcflag_t; /* Used for terminal modes */ +typedef unsigned char cc_t; /* Used for terminal special characters */ + +/* The termios structure */ + +struct termios { + /* Exposed fields defined by POSIX */ + + tcflag_t c_iflag; /* Input modes */ + tcflag_t c_oflag; /* Output modes */ + tcflag_t c_cflag; /* Control modes */ + tcflag_t c_lflag; /* Local modes */ + cc_t c_cc[NCCS]; /* Control chars */ + + /* Implementation specific fields. For portability reasons, these fields + * should not be accessed directly, but rather through only through the + * cf[set|get][o|i]speed() POSIX interfaces. + */ + + speed_t c_speed; /* Input/output speed (non-POSIX) */ +}; + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +#ifdef __cplusplus +#define EXTERN extern "C" +extern "C" +{ +#else +#define EXTERN extern +#endif + +/* The cfgetspeed() function is a non-POSIX function will extract the baud + * from the termios structure to which the termiosp argument points. NuttX + * does not control input/output baud independently. Both must be the same. + * The POSIX standard interfaces, cfigetispeed() and cfigetospeed() are + * supported by simply defining them to be cfgetspeed(). + * The return value is baud value(9600). + */ + +speed_t cfgetspeed(const struct termios *termiosp); +#define cfgetispeed(termiosp) cfgetspeed(termiosp) +#define cfgetospeed(termiosp) cfgetspeed(termiosp) + +/* The cfsetspeed() function is a non-POSIX function that sets the baud + * stored in the structure pointed to by termiosp to speed. NuttX does + * not control input/output baud independently. Both must be the same. + * The POSIX standard interfaces, cfigetispeed() and cfigetospeed() are + * supported by simply defining them to be cfsetspeed(). + * Speed could be baud value(9600) or could be baud mask(B9600). + */ + +int cfsetspeed(struct termios *termiosp, speed_t speed); +#define cfsetispeed(termiosp,speed) cfsetspeed(termiosp,speed) +#define cfsetospeed(termiosp,speed) cfsetspeed(termiosp,speed) + +/* The cfmakeraw() function is a non-POSIX function that sets the terminal + * to something like the "raw" mode. + */ + +void cfmakeraw(struct termios *termiosp); + +/* Wait for transmission of output */ + +int tcdrain(int fd); + +/* Suspend or restart the transmission or reception of data */ + +int tcflow(int fd, int action); + +/* Flush non-transmitted output data, non-read input data or both */ + +int tcflush(int fd, int cmd); + +/* Get the parameters associated with the terminal */ + +int tcgetattr(int fd, struct termios *termiosp); + +/* Get process group ID for session leader for controlling terminal */ + +pid_t tcgetsid(int fd); + +/* Send a "break" for a specific duration */ + +int tcsendbreak(int fd, int duration); + +/* Set the parameters associated with the terminal */ + +int tcsetattr(int fd, int options, const struct termios *termiosp); + +#undef EXTERN +#ifdef __cplusplus +} +#endif -typedef unsigned int speed_t; +#endif /* __INCLUDE_TERMIOS_H */ diff --git a/platforms/qurt/unresolved_symbols.c b/platforms/qurt/unresolved_symbols.c index 0d5ef43d5882..820ea1f4c40b 100644 --- a/platforms/qurt/unresolved_symbols.c +++ b/platforms/qurt/unresolved_symbols.c @@ -2,6 +2,7 @@ #include #include #include +#include __attribute__((visibility("default"))) void free(void *ptr) { @@ -31,3 +32,21 @@ __attribute__((visibility("default"))) int nanosleep(const struct timespec *req, PX4_ERR("Undefined nanosleep called"); return -1; } + +__attribute__((visibility("default"))) int tcgetattr(int fd, struct termios *termiosp) +{ + PX4_ERR("Undefined tcgetattr called"); + return -1; +} + +__attribute__((visibility("default"))) int cfsetspeed(struct termios *termiosp, speed_t speed) +{ + PX4_ERR("Undefined cfsetspeed called"); + return -1; +} + +__attribute__((visibility("default"))) int tcsetattr(int fd, int options, const struct termios *termiosp) +{ + PX4_ERR("Undefined tcsetattr called"); + return -1; +} From 0283dc245939b6e0217a69bb8a4b10552c7f0fd9 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Tue, 2 Apr 2024 13:46:53 +1300 Subject: [PATCH 38/53] gps: fix Septentrino serial read (#22936) For Septententrino we seem to sometimes fill the buffer pretty full. If we ask for too much, readAtLeast will fail completely and make the GPS discovery logic fall over. Therefore, let's not ask for too much and just read what we can given the available buffer. Signed-off-by: Julian Oes --- src/drivers/gps/gps.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index aa8b8d7543f5..fe6f82ec7fbc 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -471,14 +471,14 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user) int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout) { int ret = 0; - const unsigned character_count = 32; // minimum bytes that we want to read + const size_t character_count = 32; // minimum bytes that we want to read const int max_timeout = 50; int timeout_adjusted = math::min(max_timeout, timeout); handleInjectDataTopic(); if (_interface == GPSHelper::Interface::UART) { - ret = _uart.readAtLeast(buf, buf_length, character_count, timeout_adjusted); + ret = _uart.readAtLeast(buf, buf_length, math::min(character_count, buf_length), timeout_adjusted); // SPI is only supported on LInux #if defined(__PX4_LINUX) @@ -1560,4 +1560,4 @@ int gps_main(int argc, char *argv[]) { return GPS::main(argc, argv); -} +} \ No newline at end of file From 461b146ba8bea4ec3da70d2eb85734272852f93c Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Sun, 31 Mar 2024 20:44:57 +0200 Subject: [PATCH 39/53] drivers: barometer: ms5837 fix compilation error Fixes MS5837.cpp:343:29: error: 'T' was not declared in this scope by using last temperature instead --- src/drivers/barometer/invensense/icp10100/Kconfig | 5 ----- src/drivers/barometer/invensense/icp10111/Kconfig | 6 ------ src/drivers/barometer/ms5837/MS5837.cpp | 2 +- 3 files changed, 1 insertion(+), 12 deletions(-) delete mode 100644 src/drivers/barometer/invensense/icp10100/Kconfig delete mode 100644 src/drivers/barometer/invensense/icp10111/Kconfig diff --git a/src/drivers/barometer/invensense/icp10100/Kconfig b/src/drivers/barometer/invensense/icp10100/Kconfig deleted file mode 100644 index 2f883bccd420..000000000000 --- a/src/drivers/barometer/invensense/icp10100/Kconfig +++ /dev/null @@ -1,5 +0,0 @@ -menuconfig DRIVERS_BAROMETER_INVENSENSE_ICP10100 - bool "icp10100" - default n - ---help--- - Enable support for icp10100 diff --git a/src/drivers/barometer/invensense/icp10111/Kconfig b/src/drivers/barometer/invensense/icp10111/Kconfig deleted file mode 100644 index 1681c07d3831..000000000000 --- a/src/drivers/barometer/invensense/icp10111/Kconfig +++ /dev/null @@ -1,6 +0,0 @@ -menuconfig DRIVERS_BAROMETER_INVENSENSE_ICP10111 - bool "icp10100" - default n - ---help--- - Enable support for icp10111 - diff --git a/src/drivers/barometer/ms5837/MS5837.cpp b/src/drivers/barometer/ms5837/MS5837.cpp index 7041d886d937..00382070dedf 100644 --- a/src/drivers/barometer/ms5837/MS5837.cpp +++ b/src/drivers/barometer/ms5837/MS5837.cpp @@ -340,7 +340,7 @@ int MS5837::_collect() sensor_baro.timestamp_sample = timestamp_sample; sensor_baro.device_id = get_device_id(); sensor_baro.pressure = P; - sensor_baro.temperature = T; + sensor_baro.temperature = _last_temperature; sensor_baro.error_count = perf_event_count(_comms_errors); sensor_baro.timestamp = hrt_absolute_time(); _sensor_baro_pub.publish(sensor_baro); From daee37d377197d3469fd45512f1aacaeca391dd9 Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Sun, 31 Mar 2024 20:57:32 +0200 Subject: [PATCH 40/53] drivers: tap_esc: fix Werror=maybe-uninitialized compilation --- src/drivers/tap_esc/tap_esc_uploader.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/drivers/tap_esc/tap_esc_uploader.cpp b/src/drivers/tap_esc/tap_esc_uploader.cpp index 03b3b84c5056..350e366b7347 100644 --- a/src/drivers/tap_esc/tap_esc_uploader.cpp +++ b/src/drivers/tap_esc/tap_esc_uploader.cpp @@ -163,7 +163,7 @@ int TAP_ESC_UPLOADER::upload_id(uint8_t esc_id, int32_t fw_size) /****************************************** * second: get device bootloader revision ******************************************/ - uint32_t bl_rev; + uint32_t bl_rev = 0; ret = get_device_info(esc_id, PROTO_GET_DEVICE, PROTO_DEVICE_BL_REV, bl_rev); if (ret == OK) { @@ -390,7 +390,7 @@ int TAP_ESC_UPLOADER::checkcrc(const char *filenames[]) return -EIO; } - uint32_t temp_revision; + uint32_t temp_revision = 0; /* get device bootloader revision */ ret = get_device_info(esc_id, PROTO_GET_DEVICE, PROTO_DEVICE_BL_REV, temp_revision); @@ -1098,7 +1098,7 @@ int TAP_ESC_UPLOADER::verify_crc(uint8_t esc_id, size_t fw_size_local) uint32_t sum = 0; uint32_t bytes_read = 0; uint32_t crc = 0; - uint32_t fw_size_remote; + uint32_t fw_size_remote = 0; uint8_t fill_blank = 0xff; file_buf = new uint8_t[PROG_MULTI_MAX]; From 54f044c04ab6bf26db69f518b004f38433581212 Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Sun, 31 Mar 2024 21:16:32 +0200 Subject: [PATCH 41/53] examples: matlab_csv_serial: fix compilation Update uORB definition and sprintf float formatting --- src/examples/matlab_csv_serial/matlab_csv_serial.c | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/src/examples/matlab_csv_serial/matlab_csv_serial.c b/src/examples/matlab_csv_serial/matlab_csv_serial.c index 0ef2ab28af70..b7ccbd014335 100644 --- a/src/examples/matlab_csv_serial/matlab_csv_serial.c +++ b/src/examples/matlab_csv_serial/matlab_csv_serial.c @@ -41,6 +41,7 @@ */ #include +#include #include #include #include @@ -48,7 +49,6 @@ #include #include #include -#include #include #include #include @@ -60,6 +60,9 @@ #include #include +#include +#include + __EXPORT int matlab_csv_serial_main(int argc, char *argv[]); static bool thread_should_exit = false; /**< Daemon exit flag */ static bool thread_running = false; /**< Daemon status flag */ @@ -221,9 +224,9 @@ int matlab_csv_serial_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(sensor_gyro), gyro1_sub, &gyro1); // write out on accel 0, but collect for all other sensors as they have updates - dprintf(serial_fd, "%llu,%d,%d,%d,%d,%d,%d\n", accel0.timestamp, (int)accel0.x_raw, (int)accel0.y_raw, - (int)accel0.z_raw, - (int)accel1.x_raw, (int)accel1.y_raw, (int)accel1.z_raw); + dprintf(serial_fd, "%"PRId64",%d,%d,%d,%d,%d,%d\n", accel0.timestamp, (int)accel0.x, (int)accel0.y, + (int)accel0.z, + (int)accel1.x, (int)accel1.y, (int)accel1.z); } } From 05badb5d761c53162b8daa055200439eba38f2a2 Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Sun, 31 Mar 2024 21:17:16 +0200 Subject: [PATCH 42/53] systemcmds: microbench: %s doesn't except nullptr use "null" instead --- src/systemcmds/microbench/microbench_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/systemcmds/microbench/microbench_main.cpp b/src/systemcmds/microbench/microbench_main.cpp index f56dbd6a2c68..56e441cc0936 100644 --- a/src/systemcmds/microbench/microbench_main.cpp +++ b/src/systemcmds/microbench/microbench_main.cpp @@ -69,7 +69,7 @@ const struct { {"microbench_matrix", test_microbench_matrix, 0}, {"microbench_uorb", test_microbench_uorb, 0}, - {nullptr, nullptr, 0} + {"null", nullptr, 0} }; #define NMICROBENCHMARKS (sizeof(microbenchmarks) / sizeof(microbenchmarks[0])) From 0c5b25efc52fd2fef22adb7e46d463cfac88d768 Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Sun, 31 Mar 2024 21:18:16 +0200 Subject: [PATCH 43/53] systemcmds: reflect: write return needs to be used for werror checks --- src/systemcmds/reflect/reflect.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/systemcmds/reflect/reflect.c b/src/systemcmds/reflect/reflect.c index 4ef393682deb..c74ae06a887e 100644 --- a/src/systemcmds/reflect/reflect.c +++ b/src/systemcmds/reflect/reflect.c @@ -121,7 +121,9 @@ reflect_main(int argc, char *argv[]) } if (n > 0) { - write(1, buf, n); + if (write(1, buf, n) < 0) { + return -1; + } } total += n; From 650ea6ef4aa29bafc9a923269c09cca26f2cf1ca Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Sun, 31 Mar 2024 21:18:49 +0200 Subject: [PATCH 44/53] drivers: transponder: don't free pre-allocated memory --- src/drivers/transponder/sagetech_mxs/SagetechMXS.cpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/drivers/transponder/sagetech_mxs/SagetechMXS.cpp b/src/drivers/transponder/sagetech_mxs/SagetechMXS.cpp index 379f651be9f5..b11f13f237ba 100644 --- a/src/drivers/transponder/sagetech_mxs/SagetechMXS.cpp +++ b/src/drivers/transponder/sagetech_mxs/SagetechMXS.cpp @@ -52,8 +52,6 @@ SagetechMXS::SagetechMXS(const char *port) : SagetechMXS::~SagetechMXS() { - free((char *)_port); - if (!(_fd < 0)) { close(_fd); } From 4889ac0ebbdf6e3445b6e57f217e08fc88bd574c Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Sun, 31 Mar 2024 21:19:27 +0200 Subject: [PATCH 45/53] drivers: uavcan: fix werror uninitialized error --- src/drivers/uavcan/uavcan_servers.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/drivers/uavcan/uavcan_servers.cpp b/src/drivers/uavcan/uavcan_servers.cpp index fa4b2aab10de..3d35ea523ed5 100644 --- a/src/drivers/uavcan/uavcan_servers.cpp +++ b/src/drivers/uavcan/uavcan_servers.cpp @@ -180,7 +180,7 @@ void UavcanServers::migrateFWFromRoot(const char *sd_path, const char *sd_root_p while ((dev_dirent = readdir(sd_root_dir)) != nullptr) { - uavcan_posix::FirmwareVersionChecker::AppDescriptor descriptor; + uavcan_posix::FirmwareVersionChecker::AppDescriptor descriptor{0}; // Looking for all uavcan.bin files. From 127d74f2e10e66c49053f5d018db86b9caf3d8ae Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Sun, 31 Mar 2024 21:20:06 +0200 Subject: [PATCH 46/53] drivers: vector: Fix PX4 SITL x86 compilation --- src/drivers/ins/vectornav/libvnc/include/vn/util.h | 4 ++++ src/drivers/ins/vectornav/libvnc/src/vn/protocol/spi.c | 2 -- src/drivers/ins/vectornav/libvnc/src/vn/xplat/event.c | 2 ++ src/drivers/ins/vectornav/libvnc/src/vn/xplat/time.c | 2 ++ 4 files changed, 8 insertions(+), 2 deletions(-) diff --git a/src/drivers/ins/vectornav/libvnc/include/vn/util.h b/src/drivers/ins/vectornav/libvnc/include/vn/util.h index 02388f41f08a..6da16dfd1c31 100644 --- a/src/drivers/ins/vectornav/libvnc/include/vn/util.h +++ b/src/drivers/ins/vectornav/libvnc/include/vn/util.h @@ -11,6 +11,10 @@ #include "vn/util/export.h" #include "vn/types.h" +#ifndef UNUSED +#define UNUSED(x) (void)(sizeof(x)) +#endif + #ifdef __cplusplus extern "C" { #endif diff --git a/src/drivers/ins/vectornav/libvnc/src/vn/protocol/spi.c b/src/drivers/ins/vectornav/libvnc/src/vn/protocol/spi.c index d162a2f9aa73..fefce9ba515b 100644 --- a/src/drivers/ins/vectornav/libvnc/src/vn/protocol/spi.c +++ b/src/drivers/ins/vectornav/libvnc/src/vn/protocol/spi.c @@ -2,8 +2,6 @@ #include #include "vn/util.h" -//#define UNUSED(x) (void)(sizeof(x)) - VnError VnSpi_genGenericCommand( char cmdId, char* buffer, diff --git a/src/drivers/ins/vectornav/libvnc/src/vn/xplat/event.c b/src/drivers/ins/vectornav/libvnc/src/vn/xplat/event.c index 958315b0421c..996fa4cd1baf 100644 --- a/src/drivers/ins/vectornav/libvnc/src/vn/xplat/event.c +++ b/src/drivers/ins/vectornav/libvnc/src/vn/xplat/event.c @@ -1,7 +1,9 @@ /* Enable IEEE Std 1003.1b-1993 functionality required for clock_gettime. */ #if defined(__linux__) || defined(__NUTTX__) /* Works for Ubuntu 15.10 */ +#ifndef _POSIX_C_SOURCE #define _POSIX_C_SOURCE 199309L +#endif #elif defined __CYGWIN__ /* Works for Cygwin 2.4.0 64-bit */ #define _POSIX_TIMERS 1 diff --git a/src/drivers/ins/vectornav/libvnc/src/vn/xplat/time.c b/src/drivers/ins/vectornav/libvnc/src/vn/xplat/time.c index f06d415de0c7..9548f8c65341 100644 --- a/src/drivers/ins/vectornav/libvnc/src/vn/xplat/time.c +++ b/src/drivers/ins/vectornav/libvnc/src/vn/xplat/time.c @@ -1,7 +1,9 @@ /* Enable IEEE Std 1003.1b-1993 functionality required for clock_gettime. */ #if defined(__linux__) || defined(__NUTTX__) /* Works for Ubuntu 15.10 */ +#ifndef _POSIX_C_SOURCE #define _POSIX_C_SOURCE 199309L +#endif #elif defined __CYGWIN__ /* Works for Cygwin 2.4.0 64-bit */ #define _POSIX_TIMERS 1 From fe8a5eae9936e5b35a6e5d006d1bfea9bb26191f Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Sun, 31 Mar 2024 21:20:38 +0200 Subject: [PATCH 47/53] drivers: bmi088_i2c: Enforce I2C driver can only be used when SPI version isn't selected Solves multiple references compilation errors --- src/drivers/imu/bosch/bmi088_i2c/Kconfig | 1 + 1 file changed, 1 insertion(+) diff --git a/src/drivers/imu/bosch/bmi088_i2c/Kconfig b/src/drivers/imu/bosch/bmi088_i2c/Kconfig index b4e48f2da9e8..763070403088 100644 --- a/src/drivers/imu/bosch/bmi088_i2c/Kconfig +++ b/src/drivers/imu/bosch/bmi088_i2c/Kconfig @@ -1,5 +1,6 @@ menuconfig DRIVERS_IMU_BOSCH_BMI088_I2C bool "bosch bmi088_i2c" default n + depends on !DRIVERS_IMU_BOSCH_BMI088 ---help--- Enable support for bosch bmi088_i2c From d5b66cac2c85412ac5e4ca8b5acbb37e9730734b Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Sun, 31 Mar 2024 21:21:42 +0200 Subject: [PATCH 48/53] drivers: cyphal: Fix ARM/x86 printf werror portability error --- src/drivers/cyphal/Subscribers/uORB/uorb_subscriber.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/drivers/cyphal/Subscribers/uORB/uorb_subscriber.hpp b/src/drivers/cyphal/Subscribers/uORB/uorb_subscriber.hpp index a80edf292d75..63498e8c676f 100644 --- a/src/drivers/cyphal/Subscribers/uORB/uorb_subscriber.hpp +++ b/src/drivers/cyphal/Subscribers/uORB/uorb_subscriber.hpp @@ -85,7 +85,7 @@ class uORB_over_UAVCAN_Subscriber : public UavcanDynamicPortSubscriber _uorb_pub.publish(*data); } else { - PX4_ERR("uORB over UAVCAN %s payload size mismatch got %d expected %d", + PX4_ERR("uORB over UAVCAN %s payload size mismatch got %zu expected %zu", _subj_sub._subject_name, receive.payload_size, get_payload_size(data)); } }; From 8817f59108d68fd60c0279fc4b7d86035223b8d4 Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Sun, 31 Mar 2024 21:24:02 +0200 Subject: [PATCH 49/53] v6x-rt: Split ITCM static and auto-generated functions --- .../scripts/itcm_functions_includes.ld | 72 ------------------- .../scripts/itcm_static_functions.ld | 72 +++++++++++++++++++ .../fmu-v6xrt/nuttx-config/scripts/script.ld | 1 + platforms/nuttx/CMakeLists.txt | 2 +- 4 files changed, 74 insertions(+), 73 deletions(-) create mode 100644 boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld diff --git a/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld b/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld index 5951ceed7742..60a76f97e1b9 100644 --- a/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld +++ b/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld @@ -1,65 +1,3 @@ -/* Static */ -*(.text.arm_ack_irq) -*(.text.arm_doirq) -*(.text.arm_svcall) -*(.text.arm_switchcontext) -*(.text.board_autoled_on) -*(.text.clock_timer) -*(.text.exception_common) -*(.text.hrt_absolute_time) -*(.text.hrt_tim_isr) -*(.text.imxrt_configwaitints) -*(.text.imxrt_dma_callback) -*(.text.imxrt_dmach_interrupt) -*(.text.imxrt_dmaterminate) -*(.text.imxrt_edma_interrupt) -*(.text.imxrt_endwait) -*(.text.imxrt_gpio3_16_31_interrupt) -*(.text.imxrt_interrupt) -*(.text.imxrt_lpi2c_isr) -*(.text.imxrt_recvdma) -*(.text.imxrt_tcd_free) -*(.text.imxrt_timerisr) -*(.text.imxrt_usbinterrupt) -*(.text.irq_dispatch) -*(.text.memcpy) -*(.text.nxsched_add_blocked) -*(.text.nxsched_add_prioritized) -*(.text.nxsched_add_readytorun) -*(.text.nxsched_get_files) -*(.text.nxsched_get_tcb) -*(.text.nxsched_merge_pending) -*(.text.nxsched_process_timer) -*(.text.nxsched_remove_blocked) -*(.text.nxsched_remove_readytorun) -*(.text.nxsched_resume_scheduler) -*(.text.nxsched_suspend_scheduler) -*(.text.nxsem_add_holder) -*(.text.nxsem_add_holder_tcb) -*(.text.nxsem_clockwait) -*(.text.nxsem_foreachholder) -*(.text.nxsem_freecount0holder) -*(.text.nxsem_freeholder) -*(.text.nxsem_post) -*(.text.nxsem_release_holder) -*(.text.nxsem_restore_baseprio) -*(.text.nxsem_tickwait) -*(.text.nxsem_timeout) -*(.text.nxsem_trywait) -*(.text.nxsem_wait) -*(.text.nxsem_wait_uninterruptible) -*(.text.nxsig_timedwait) -*(.text.sched_lock) -*(.text.sched_note_resume) -*(.text.sched_note_suspend) -*(.text.sched_unlock) -*(.text.sq_addafter) -*(.text.sq_addlast) -*(.text.sq_rem) -*(.text.sq_remafter) -*(.text.sq_remfirst) -*(.text.uart_connected) -*(.text.wd_timer) /* Auto-generated */ *(.text._ZN4uORB7Manager27orb_add_internal_subscriberE6ORB_IDhPj) *(.text._ZN13MavlinkStream6updateERKy) @@ -70,11 +8,9 @@ *(.text._ZN22MulticopterRateControl3RunEv.part.0) *(.text._ZN7Mavlink9task_mainEiPPc) *(.text._ZN7sensors22VehicleAngularVelocity3RunEv) -*(.text.memset) *(.text._ZN4uORB12Subscription9subscribeEv.part.0) *(.text._ZN4uORB7Manager13orb_data_copyEPvS1_Rjb) *(.text._ZN4uORB10DeviceNode5writeEP4filePKcj) -*(.text.strcmp) *(.text._ZN4uORB10DeviceNode7publishEPK12orb_metadataPvPKv) *(.text._ZN4uORB12DeviceMaster19getDeviceNodeLockedEPK12orb_metadatah) *(.text._Z12get_orb_meta6ORB_ID) @@ -82,15 +18,12 @@ *(.text._ZN3px49WorkQueue3RunEv) *(.text._ZN9ICM42688P11ProcessGyroERKyPKN20InvenSense_ICM42688P4FIFO4DATAEh) *(.text._ZN4EKF23RunEv) -*(.text.imxrt_lpspi_exchange) -*(.text.imxrt_dmach_xfrsetup) *(.text._ZN7sensors10VehicleIMU7PublishEv) *(.text._ZN4math17WelfordMeanVectorIfLj3EE6updateERKN6matrix6VectorIfLj3EEE) *(.text._ZN7sensors10VehicleIMU10UpdateGyroEv) *(.text._ZN9ICM42688P8FIFOReadERKyh) *(.text._ZN3Ekf20controlGravityFusionERKN9estimator9imuSampleE) *(.text._ZN16PX4Accelerometer10updateFIFOER19sensor_accel_fifo_s) -*(.text.up_block_task) *(.text._ZN7sensors22VehicleAngularVelocity19CalibrateAndPublishERKyRKN6matrix7Vector3IfEES7_) *(.text._ZN4uORB12Subscription10advertisedEv) *(.text._ZNK15AttitudeControl6updateERKN6matrix10QuaternionIfEE) @@ -99,7 +32,6 @@ *(.text._ZN4uORB12Subscription6updateEPv) *(.text._ZN12PX4Gyroscope10updateFIFOER18sensor_gyro_fifo_s) *(.text._ZN7sensors10VehicleIMU3RunEv) -*(.text.up_unblock_task) *(.text.__aeabi_l2f) *(.text._ZN39ControlAllocationSequentialDesaturation23computeDesaturationGainERKN6matrix6VectorIfLj16EEES4_) *(.text.pthread_mutex_timedlock) @@ -121,16 +53,12 @@ *(.text._ZN9ICM42688P7RunImplEv) *(.text._ZN4uORB12Subscription9subscribeEv) *(.text.param_get) -*(.text._do_memcpy) *(.text._ZN7sensors22VehicleAngularVelocity21SensorSelectionUpdateERKyb) *(.text._ZN3px49WorkQueue3AddEPNS_8WorkItemE) -*(.text.wd_start) -*(.text.hrt_call_enter) *(.text._ZN4EKF220PublishLocalPositionERKy) *(.text._mav_finalize_message_chan_send) *(.text._ZN3Ekf19fixCovarianceErrorsEb) *(.text._ZN7sensors22VehicleAngularVelocity16ParametersUpdateEb) -*(.text.ioctl) *(.text._ZN6events12SendProtocol6updateERKy) *(.text._ZN6device3SPI8transferEPhS1_j) *(.text._ZN27MavlinkStreamDistanceSensor4sendEv) diff --git a/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld b/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld new file mode 100644 index 000000000000..5d9cd8de738b --- /dev/null +++ b/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld @@ -0,0 +1,72 @@ +/* Static */ +*(.text.arm_ack_irq) +*(.text.arm_doirq) +*(.text.arm_svcall) +*(.text.arm_switchcontext) +*(.text.board_autoled_on) +*(.text.clock_timer) +*(.text.exception_common) +*(.text.hrt_absolute_time) +*(.text.hrt_call_enter) +*(.text.hrt_tim_isr) +*(.text.imxrt_configwaitints) +*(.text.imxrt_dma_callback) +*(.text.imxrt_dmach_interrupt) +*(.text.imxrt_dmach_xfrsetup) +*(.text.imxrt_dmaterminate) +*(.text.imxrt_edma_interrupt) +*(.text.imxrt_endwait) +*(.text.imxrt_gpio3_16_31_interrupt) +*(.text.imxrt_interrupt) +*(.text.imxrt_lpi2c_isr) +*(.text.imxrt_lpspi_exchange) +*(.text.imxrt_recvdma) +*(.text.imxrt_tcd_free) +*(.text.imxrt_timerisr) +*(.text.imxrt_usbinterrupt) +*(.text.irq_dispatch) +*(.text.ioctl) +*(.text.memcpy) +*(.text.memset) +*(.text.nxsched_add_blocked) +*(.text.nxsched_add_prioritized) +*(.text.nxsched_add_readytorun) +*(.text.nxsched_get_files) +*(.text.nxsched_get_tcb) +*(.text.nxsched_merge_pending) +*(.text.nxsched_process_timer) +*(.text.nxsched_remove_blocked) +*(.text.nxsched_remove_readytorun) +*(.text.nxsched_resume_scheduler) +*(.text.nxsched_suspend_scheduler) +*(.text.nxsem_add_holder) +*(.text.nxsem_add_holder_tcb) +*(.text.nxsem_clockwait) +*(.text.nxsem_foreachholder) +*(.text.nxsem_freecount0holder) +*(.text.nxsem_freeholder) +*(.text.nxsem_post) +*(.text.nxsem_release_holder) +*(.text.nxsem_restore_baseprio) +*(.text.nxsem_tickwait) +*(.text.nxsem_timeout) +*(.text.nxsem_trywait) +*(.text.nxsem_wait) +*(.text.nxsem_wait_uninterruptible) +*(.text.nxsig_timedwait) +*(.text.sched_lock) +*(.text.sched_note_resume) +*(.text.sched_note_suspend) +*(.text.sched_unlock) +*(.text.strcmp) +*(.text.sq_addafter) +*(.text.sq_addlast) +*(.text.sq_rem) +*(.text.sq_remafter) +*(.text.sq_remfirst) +*(.text.uart_connected) +*(.text.up_block_task) +*(.text.up_unblock_task) +*(.text.wd_timer) +*(.text.wd_start) +*(.text._do_memcpy) diff --git a/boards/px4/fmu-v6xrt/nuttx-config/scripts/script.ld b/boards/px4/fmu-v6xrt/nuttx-config/scripts/script.ld index dc05748b6adf..70d861f30ab2 100644 --- a/boards/px4/fmu-v6xrt/nuttx-config/scripts/script.ld +++ b/boards/px4/fmu-v6xrt/nuttx-config/scripts/script.ld @@ -83,6 +83,7 @@ SECTIONS _sitcmfuncs = ABSOLUTE(.); FILL(0xFF) . = 0x40 ; + INCLUDE "itcm_static_functions.ld" INCLUDE "itcm_functions_includes.ld" . = ALIGN(8); _eitcmfuncs = ABSOLUTE(.); diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt index 1ab6cdfe00f4..cd8385827e85 100644 --- a/platforms/nuttx/CMakeLists.txt +++ b/platforms/nuttx/CMakeLists.txt @@ -266,7 +266,7 @@ else() -fno-exceptions -fno-rtti -Wl,--script=${NUTTX_CONFIG_DIR_CYG}/scripts/${SCRIPT_PREFIX}script.ld - -L${NUTTX_CONFIG_DIR_CYG}/scripts/${SCRIPT_PREFIX} + -L${NUTTX_CONFIG_DIR_CYG}/scripts -Wl,-Map=${PX4_CONFIG}.map -Wl,--warn-common -Wl,--gc-sections From f082de5db7e37df39cad89b4ad9890a889db0ea5 Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Sun, 31 Mar 2024 21:25:45 +0200 Subject: [PATCH 50/53] kconfig: Add dependencies --- src/drivers/linux_pwm_out/Kconfig | 1 + src/drivers/px4io/Kconfig | 1 + src/drivers/uavcan/Kconfig | 1 + src/drivers/uavcannode/Kconfig | 1 + src/modules/simulation/Kconfig | 1 + src/systemcmds/bl_update/Kconfig | 1 + src/systemcmds/hardfault_log/Kconfig | 1 + src/systemcmds/io_bypass_control/Kconfig | 1 + src/systemcmds/mft/Kconfig | 1 + src/systemcmds/mtd/Kconfig | 1 + src/systemcmds/netman/Kconfig | 1 + src/systemcmds/nshterm/Kconfig | 1 + 12 files changed, 12 insertions(+) diff --git a/src/drivers/linux_pwm_out/Kconfig b/src/drivers/linux_pwm_out/Kconfig index d5728454da9e..ac7b54b2045a 100644 --- a/src/drivers/linux_pwm_out/Kconfig +++ b/src/drivers/linux_pwm_out/Kconfig @@ -1,5 +1,6 @@ menuconfig DRIVERS_LINUX_PWM_OUT bool "linux_pwm_out" default n + depends on PLATFORM_POSIX && !BOARD_TESTING ---help--- Enable support for linux_pwm_out diff --git a/src/drivers/px4io/Kconfig b/src/drivers/px4io/Kconfig index dd9b402249fa..16b114948578 100644 --- a/src/drivers/px4io/Kconfig +++ b/src/drivers/px4io/Kconfig @@ -1,5 +1,6 @@ menuconfig DRIVERS_PX4IO bool "px4io" default n + depends on platform_nuttx ---help--- Enable support for px4io diff --git a/src/drivers/uavcan/Kconfig b/src/drivers/uavcan/Kconfig index 1d91acb6221e..015894eb6ed0 100644 --- a/src/drivers/uavcan/Kconfig +++ b/src/drivers/uavcan/Kconfig @@ -1,6 +1,7 @@ menuconfig DRIVERS_UAVCAN bool "uavcan" default n + depends on PLATFORM_NUTTX ---help--- Enable support for uavcan diff --git a/src/drivers/uavcannode/Kconfig b/src/drivers/uavcannode/Kconfig index d20c2baf0624..9aa7073a5b0f 100644 --- a/src/drivers/uavcannode/Kconfig +++ b/src/drivers/uavcannode/Kconfig @@ -1,6 +1,7 @@ menuconfig DRIVERS_UAVCANNODE bool "uavcannode" default n + depends on BOARD_ROMFSROOT != "px4fmu_common" ---help--- Enable support for uavcannode diff --git a/src/modules/simulation/Kconfig b/src/modules/simulation/Kconfig index 569ab38c6ade..a417092ed94b 100644 --- a/src/modules/simulation/Kconfig +++ b/src/modules/simulation/Kconfig @@ -2,6 +2,7 @@ menu "Simulation" menuconfig COMMON_SIMULATION bool "Common simulation modules" default n + depends on PLATFORM_POSIX select MODULES_SIMULATION_BATTERY_SIMULATOR select MODULES_SIMULATION_PWM_OUT_SIM select MODULES_SIMULATION_SENSOR_AIRSPEED_SIM diff --git a/src/systemcmds/bl_update/Kconfig b/src/systemcmds/bl_update/Kconfig index f84e2f923efe..59e072f5b53c 100644 --- a/src/systemcmds/bl_update/Kconfig +++ b/src/systemcmds/bl_update/Kconfig @@ -1,6 +1,7 @@ menuconfig SYSTEMCMDS_BL_UPDATE bool "bl_update" default n + depends on PLATFORM_NUTTX ---help--- Enable support for bl_update diff --git a/src/systemcmds/hardfault_log/Kconfig b/src/systemcmds/hardfault_log/Kconfig index 50cfca75fca2..2c3908ed0de2 100644 --- a/src/systemcmds/hardfault_log/Kconfig +++ b/src/systemcmds/hardfault_log/Kconfig @@ -1,6 +1,7 @@ menuconfig SYSTEMCMDS_HARDFAULT_LOG bool "hardfault_log" default n + depends on PLATFORM_NUTTX ---help--- Enable support for hardfault_log diff --git a/src/systemcmds/io_bypass_control/Kconfig b/src/systemcmds/io_bypass_control/Kconfig index 4a50afd948ba..16c89bd13021 100644 --- a/src/systemcmds/io_bypass_control/Kconfig +++ b/src/systemcmds/io_bypass_control/Kconfig @@ -1,6 +1,7 @@ menuconfig SYSTEMCMDS_IO_BYPASS_CONTROL bool "IO Bypass control deamon" default n + depends on PLATFORM_NUTTX ---help--- Simple daemon that listens uORB actuator_outputs to control PWM output Useful for full offboard control using RTPS. diff --git a/src/systemcmds/mft/Kconfig b/src/systemcmds/mft/Kconfig index a104b1fd0dd3..554c9199fbfd 100644 --- a/src/systemcmds/mft/Kconfig +++ b/src/systemcmds/mft/Kconfig @@ -1,5 +1,6 @@ menuconfig SYSTEMCMDS_MFT bool "mft" default n + depends on PLATFORM_NUTTX ---help--- Enable support for mft diff --git a/src/systemcmds/mtd/Kconfig b/src/systemcmds/mtd/Kconfig index 661e8ee7f68e..dd01cfc3d21f 100644 --- a/src/systemcmds/mtd/Kconfig +++ b/src/systemcmds/mtd/Kconfig @@ -1,6 +1,7 @@ menuconfig SYSTEMCMDS_MTD bool "mtd" default n + depends on PLATFORM_NUTTX ---help--- Enable support for mtd diff --git a/src/systemcmds/netman/Kconfig b/src/systemcmds/netman/Kconfig index d2d122339793..60fa395f45ac 100644 --- a/src/systemcmds/netman/Kconfig +++ b/src/systemcmds/netman/Kconfig @@ -1,6 +1,7 @@ menuconfig SYSTEMCMDS_NETMAN bool "netman" default n + depends on PLATFORM_NUTTX ---help--- Enable support for netman diff --git a/src/systemcmds/nshterm/Kconfig b/src/systemcmds/nshterm/Kconfig index f9d20b0bfb72..3745b7bf238b 100644 --- a/src/systemcmds/nshterm/Kconfig +++ b/src/systemcmds/nshterm/Kconfig @@ -1,6 +1,7 @@ menuconfig SYSTEMCMDS_NSHTERM bool "nshterm" default n + depends on PLATFORM_NUTTX ---help--- Enable support for nshterm From 791d7894c82a2e112bbd18397087cb98adf1ab85 Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Sun, 31 Mar 2024 21:26:16 +0200 Subject: [PATCH 51/53] modules: zenoh: remove broken serial config and update topics --- src/modules/zenoh/Kconfig | 6 ------ src/modules/zenoh/Kconfig.topics | 35 ++++++++++++++++++++++++++++++++ 2 files changed, 35 insertions(+), 6 deletions(-) diff --git a/src/modules/zenoh/Kconfig b/src/modules/zenoh/Kconfig index d868dae392a0..904c03e2891d 100644 --- a/src/modules/zenoh/Kconfig +++ b/src/modules/zenoh/Kconfig @@ -12,12 +12,6 @@ if MODULES_ZENOH help Path to store network, publishers and subscribers configuration - config ZENOH_SERIAL - bool "Zenoh serial transport" - default n - help - Enables transport over serial (Not yet supported on NuttX/Linux) - config ZENOH_DEBUG int "Zenoh debug level" default 0 diff --git a/src/modules/zenoh/Kconfig.topics b/src/modules/zenoh/Kconfig.topics index 14866f5ebff6..58e5e522cda7 100644 --- a/src/modules/zenoh/Kconfig.topics +++ b/src/modules/zenoh/Kconfig.topics @@ -85,6 +85,10 @@ menu "Zenoh publishers/subscribers" bool "camera_trigger" default n + config ZENOH_PUBSUB_CAN_INTERFACE_STATUS + bool "can_interface_status" + default n + config ZENOH_PUBSUB_CELLULAR_STATUS bool "cellular_status" default n @@ -249,6 +253,10 @@ menu "Zenoh publishers/subscribers" bool "geofence_result" default n + config ZENOH_PUBSUB_GEOFENCE_STATUS + bool "geofence_status" + default n + config ZENOH_PUBSUB_GIMBAL_CONTROLS bool "gimbal_controls" default n @@ -465,6 +473,22 @@ menu "Zenoh publishers/subscribers" bool "orbit_status" default n + config ZENOH_PUBSUB_PARAMETER_RESET_REQUEST + bool "parameter_reset_request" + default n + + config ZENOH_PUBSUB_PARAMETER_SET_USED_REQUEST + bool "parameter_set_used_request" + default n + + config ZENOH_PUBSUB_PARAMETER_SET_VALUE_REQUEST + bool "parameter_set_value_request" + default n + + config ZENOH_PUBSUB_PARAMETER_SET_VALUE_RESPONSE + bool "parameter_set_value_response" + default n + config ZENOH_PUBSUB_PARAMETER_UPDATE bool "parameter_update" default n @@ -545,6 +569,10 @@ menu "Zenoh publishers/subscribers" bool "rpm" default n + config ZENOH_PUBSUB_RTL_STATUS + bool "rtl_status" + default n + config ZENOH_PUBSUB_RTL_TIME_ESTIMATE bool "rtl_time_estimate" default n @@ -851,6 +879,7 @@ config ZENOH_PUBSUB_ALL_SELECTION select ZENOH_PUBSUB_CAMERA_CAPTURE select ZENOH_PUBSUB_CAMERA_STATUS select ZENOH_PUBSUB_CAMERA_TRIGGER + select ZENOH_PUBSUB_CAN_INTERFACE_STATUS select ZENOH_PUBSUB_CELLULAR_STATUS select ZENOH_PUBSUB_COLLISION_CONSTRAINTS select ZENOH_PUBSUB_COLLISION_REPORT @@ -892,6 +921,7 @@ config ZENOH_PUBSUB_ALL_SELECTION select ZENOH_PUBSUB_FOLLOW_TARGET_STATUS select ZENOH_PUBSUB_GENERATOR_STATUS select ZENOH_PUBSUB_GEOFENCE_RESULT + select ZENOH_PUBSUB_GEOFENCE_STATUS select ZENOH_PUBSUB_GIMBAL_CONTROLS select ZENOH_PUBSUB_GIMBAL_DEVICE_ATTITUDE_STATUS select ZENOH_PUBSUB_GIMBAL_DEVICE_INFORMATION @@ -946,6 +976,10 @@ config ZENOH_PUBSUB_ALL_SELECTION select ZENOH_PUBSUB_ORB_TEST_LARGE select ZENOH_PUBSUB_ORB_TEST_MEDIUM select ZENOH_PUBSUB_ORBIT_STATUS + select ZENOH_PUBSUB_PARAMETER_RESET_REQUEST + select ZENOH_PUBSUB_PARAMETER_SET_USED_REQUEST + select ZENOH_PUBSUB_PARAMETER_SET_VALUE_REQUEST + select ZENOH_PUBSUB_PARAMETER_SET_VALUE_RESPONSE select ZENOH_PUBSUB_PARAMETER_UPDATE select ZENOH_PUBSUB_PING select ZENOH_PUBSUB_POSITION_CONTROLLER_LANDING_STATUS @@ -966,6 +1000,7 @@ config ZENOH_PUBSUB_ALL_SELECTION select ZENOH_PUBSUB_REGISTER_EXT_COMPONENT_REPLY select ZENOH_PUBSUB_REGISTER_EXT_COMPONENT_REQUEST select ZENOH_PUBSUB_RPM + select ZENOH_PUBSUB_RTL_STATUS select ZENOH_PUBSUB_RTL_TIME_ESTIMATE select ZENOH_PUBSUB_SATELLITE_INFO select ZENOH_PUBSUB_SENSOR_ACCEL From a9ba0acb2abbfc1cd8272f99d655fbc9cda55349 Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Sun, 31 Mar 2024 21:32:17 +0200 Subject: [PATCH 52/53] cmake: all allyes target for better CI coverage Currently only v6x-rt and SITL are supported But targets with label allyes will try to enable all kconfig symbols --- Tools/kconfig/allyesconfig.py | 126 +++++++++++ boards/px4/fmu-v6xrt/allyes.px4board | 1 + .../nuttx-config/scripts/allyes-script.ld | 197 ++++++++++++++++++ boards/px4/sitl/allyes.px4board | 0 cmake/kconfig.cmake | 12 +- 5 files changed, 335 insertions(+), 1 deletion(-) create mode 100644 Tools/kconfig/allyesconfig.py create mode 100644 boards/px4/fmu-v6xrt/allyes.px4board create mode 100644 boards/px4/fmu-v6xrt/nuttx-config/scripts/allyes-script.ld create mode 100644 boards/px4/sitl/allyes.px4board diff --git a/Tools/kconfig/allyesconfig.py b/Tools/kconfig/allyesconfig.py new file mode 100644 index 000000000000..889b659195ed --- /dev/null +++ b/Tools/kconfig/allyesconfig.py @@ -0,0 +1,126 @@ +#!/usr/bin/env python3 + +# Copyright (c) 2018-2019, Ulf Magnusson +# SPDX-License-Identifier: ISC + +""" +Writes a configuration file where as many symbols as possible are set to 'y'. + +The default output filename is '.config'. A different filename can be passed +in the KCONFIG_CONFIG environment variable. + +Usage for the Linux kernel: + + $ make [ARCH=] scriptconfig SCRIPT=Kconfiglib/allyesconfig.py +""" +import kconfiglib +import os + + +exception_list = [ + 'DRIVERS_BOOTLOADERS', # Only used for bootloader target + 'MODULES_PX4IOFIRMWARE', # Only needed for PX4IO firmware itself, maybe fix through dependencies + 'BOARD_LTO', # Experimental + 'BOARD_TESTING', # Don't build test suite + 'BOARD_CONSTRAINED_FLASH', # only used to reduce flash size + 'BOARD_NO_HELP', # only used to reduce flash size + 'BOARD_CONSTRAINED_MEMORY', # only used to reduce flash size + 'BOARD_EXTERNAL_METADATA', # only used to reduce flash size + 'BOARD_CRYPTO', # Specialized use + 'BOARD_PROTECTED', # Experimental for MPU use + 'DRIVERS_LIGHTS_RGBLED_PWM', # Only on specific boards, needs dependency fixing + 'DRIVERS_LIGHTS_NEOPIXEL', # Only on specific boards, needs dependency fixing + 'DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL', # Only on specific boards, needs dependency fixing + 'PARAM_PRIMARY', # Plainly broken + 'PARAM_REMOTE', # Plainly broken + 'DRIVERS_ACTUATORS_VOXL_ESC', # Dependency need fixing, requires VOXL_ESC_DEFAULT_XXX + 'DRIVERS_VOXL2_IO', # Dependency need fixing, requires VOXL2_IO_DEFAULT_XX + 'DRIVERS_BAROMETER_TCBP001TA', # Requires hardcoded PX4_SPI_BUS_BARO mapping + 'DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50', # Requires hardcoded PX4_SPI_BUS_BARO mapping + 'DRIVERS_DISTANCE_SENSOR_SRF05', # Requires hardcoded GPIO_ULTRASOUND + 'DRIVERS_PPS_CAPTURE', # Requires PPS GPIO config + 'DRIVERS_PWM_INPUT', # Requires PWM config + 'DRIVERS_TEST_PPM', # PIN config not portable + 'DRIVERS_TATTU_CAN', # Broken needs fixing + 'MODULES_REPLAY', # Fails on NuttX targets maybe force POSIX dependency? + 'SYSTEMCMDS_HIST', # This module can only be used on boards that enable BOARD_ENABLE_LOG_HISTORY + 'SYSTEMCMDS_GPIO', # PIN config not portable + 'SYSTEMCMDS_SHUTDOWN', # Needs dependency checking + 'EXAMPLES_DYN_HELLO', # NuttX doesn't support dynamic linking + 'SYSTEMCMDS_DYN', # NuttX doesn't support dynamic linking + 'DRIVERS_RPI_RC_IN', # RPI specific driver + 'SYSTEMCMDS_I2C_LAUNCHER', # undefined reference to `system', + 'MODULES_MUORB_APPS', # Weird QURT/Posix package doesn't work on x86 px4 sitl + 'MODULES_SIMULATION_SIMULATOR_SIH', # Causes compile errors +] + +exception_list_sitl = [ + 'DRIVERS_BAROMETER', # Fails I2C dependencies + 'COMMON_BAROMETERS', # Fails I2C dependencies + 'DRIVERS_ADC_BOARD_ADC', # Fails HW dependencies, I think this only works on NuttX + 'DRIVERS_CAMERA_CAPTURE', # GPIO config failure + 'DRIVERS_DSHOT', # No Posix driver, I think this only works on NuttX + 'DRIVERS_PWM_OUT', # No Posix driver, I think this only works on NuttX + 'COMMON', # Fails I2C dependencies + 'DRIVERS', # Fails I2C dependencies + 'SYSTEMCMDS_REBOOT', # Sitl can't reboot + 'MODULES_BATTERY_STATUS', # Sitl doesn't provide a power brick + 'SYSTEMCMDS_SERIAL_PASSTHRU', # Not supported in SITL + 'SYSTEMCMDS_SERIAL_TEST', # Not supported in SITL + 'SYSTEMCMDS_SD_STRESS', # Not supported in SITL + 'SYSTEMCMDS_SD_BENCH', # Not supported in SITL + 'SYSTEMCMDS_I2CDETECT', # Not supported in SITL + 'SYSTEMCMDS_DMESG', # Not supported in SITL + 'SYSTEMCMDS_USB_CONNECTED', # Not supported in SITL +] + +def main(): + kconf = kconfiglib.standard_kconfig(__doc__) + + + if 'BASE_DEFCONFIG' in os.environ: + kconf.load_config(os.environ['BASE_DEFCONFIG']) + + if 'MODEL' in os.environ: + if os.environ['MODEL'] == 'sitl': + for sym in kconf.unique_defined_syms: + if sym.name.startswith(tuple(exception_list_sitl)): + exception_list.append(sym.name) + + + # See allnoconfig.py + kconf.warn = False + + # Try to set all symbols to 'y'. Dependencies might truncate the value down + # later, but this will at least give the highest possible value. + # + # Assigning 0/1/2 to non-bool/tristate symbols has no effect (int/hex + # symbols still take a string, because they preserve formatting). + for sym in kconf.unique_defined_syms: + # Set choice symbols to 'm'. This value will be ignored for choices in + # 'y' mode (the "normal" mode), which will instead just get their + # default selection, but will set all symbols in m-mode choices to 'm', + # which is as high as they can go. + # + # Here's a convoluted example of how you might get an m-mode choice + # even during allyesconfig: + # + # choice + # tristate "weird choice" + # depends on m + if sym.name not in exception_list: + sym.set_value(1 if sym.choice else 2) + + # Set all choices to the highest possible mode + for choice in kconf.unique_choices: + choice.set_value(2) + + kconf.warn = True + + kconf.load_allconfig("allyes.config") + + print(kconf.write_config()) + + +if __name__ == "__main__": + main() diff --git a/boards/px4/fmu-v6xrt/allyes.px4board b/boards/px4/fmu-v6xrt/allyes.px4board new file mode 100644 index 000000000000..5f1bc9ab3d59 --- /dev/null +++ b/boards/px4/fmu-v6xrt/allyes.px4board @@ -0,0 +1 @@ +CONFIG_BOARD_LINKER_PREFIX="allyes" diff --git a/boards/px4/fmu-v6xrt/nuttx-config/scripts/allyes-script.ld b/boards/px4/fmu-v6xrt/nuttx-config/scripts/allyes-script.ld new file mode 100644 index 000000000000..2d4167f13819 --- /dev/null +++ b/boards/px4/fmu-v6xrt/nuttx-config/scripts/allyes-script.ld @@ -0,0 +1,197 @@ +/**************************************************************************** + * boards/px4/fmu-v6xrt/nuttx-config/scripts/script.ld + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/* Specify the memory areas */ + + /* Reallocate + * Final Configuration is + * No DTCM + * 512k OCRAM M7 (FlexRAM) (2038:0000-203f:ffff) + * 128k OCRAMM7 FlexRAM ECC (2036:0000-2037:ffff) + * 64k OCRAM2 ECC parity (2035:0000-2035:ffff) + * 64k OCRAM1 ECC parity (2034:0000-2034:ffff) + * 512k FlexRAM OCRAM2 (202C:0000-2033:ffff) + * 512k FlexRAM OCRAM1 (2024:0000-202B:ffff) + * 256k System OCRAM M4 (2020:0000-2023:ffff) + */ + +MEMORY +{ + flash (rx) : ORIGIN = 0x30020000, LENGTH = 4M-128K /* We have 64M but we do not want to wait to program it all */ + sram (rwx) : ORIGIN = 0x20240000, LENGTH = 2M-256k-512k + itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 256K /* TODO FlexRAM partition */ + dtcm (rwx) : ORIGIN = 0x20000000, LENGTH = 256K +} + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +EXTERN(g_flash_config) +EXTERN(g_image_vector_table) +EXTERN(g_boot_data) +EXTERN(board_get_manifest) +EXTERN(_bootdelay_signature) +EXTERN(imxrt_flexspi_initialize) + +ENTRY(__start) + +SECTIONS +{ + /* Image Vector Table and Boot Data for booting from external flash */ + + .boot_hdr : ALIGN(4) + { + FILL(0xff) + . = 0x400 ; + __boot_hdr_start__ = ABSOLUTE(.) ; + KEEP(*(.boot_hdr.conf)) + . = 0x1000 ; + KEEP(*(.boot_hdr.ivt)) + . = 0x1020 ; + KEEP(*(.boot_hdr.boot_data)) + . = 0x1030 ; + KEEP(*(.boot_hdr.dcd_data)) + __boot_hdr_end__ = ABSOLUTE(.) ; + . = 0x2000 ; + } >flash + + .vectors : + { + KEEP(*(.vectors)) + *(.text .text.__start) + } >flash + + .itcmfunc : + { + . = ALIGN(8); + _sitcmfuncs = ABSOLUTE(.); + FILL(0xFF) + . = 0x40 ; + INCLUDE "itcm_static_functions.ld" + . = ALIGN(8); + _eitcmfuncs = ABSOLUTE(.); + } > itcm AT > flash + + _fitcmfuncs = LOADADDR(.itcmfunc); + + /* The RAM vector table (if present) should lie at the beginning of SRAM */ + + .ram_vectors (COPY) : { + *(.ram_vectors) + } > dtcm + + .text : ALIGN(4) + { + _stext = ABSOLUTE(.); + *(.vectors) + . = ALIGN(32); + /* + This signature provides the bootloader with a way to delay booting + */ + _bootdelay_signature = ABSOLUTE(.); + FILL(0xffecc2925d7d05c5) + . += 8; + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + . = ALIGN(4096); + _etext = ABSOLUTE(.); + _srodata = ABSOLUTE(.); + *(.rodata .rodata.*) + . = ALIGN(4096); + _erodata = ABSOLUTE(.); + } > flash + + .init_section : + { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > flash + + .ARM.extab : + { + *(.ARM.extab*) + } > flash + + .ARM.exidx : + { + __exidx_start = ABSOLUTE(.); + *(.ARM.exidx*) + __exidx_end = ABSOLUTE(.); + } > flash + + _eronly = ABSOLUTE(.); + + .data : + { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + . = ALIGN(4); + _edata = ABSOLUTE(.); + } > sram AT > flash + + .ramfunc ALIGN(4): + { + _sramfuncs = ABSOLUTE(.); + *(.ramfunc .ramfunc.*) + _eramfuncs = ABSOLUTE(.); + } > sram AT > flash + + _framfuncs = LOADADDR(.ramfunc); + + .bss : + { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } + + _boot_loadaddr = ORIGIN(flash); + _boot_size = LENGTH(flash); + _ram_size = LENGTH(sram); + _sdtcm = ORIGIN(dtcm); + _edtcm = ORIGIN(dtcm) + LENGTH(dtcm); +} diff --git a/boards/px4/sitl/allyes.px4board b/boards/px4/sitl/allyes.px4board new file mode 100644 index 000000000000..e69de29bb2d1 diff --git a/cmake/kconfig.cmake b/cmake/kconfig.cmake index eb418bf6cc8c..7eaaa00d676c 100644 --- a/cmake/kconfig.cmake +++ b/cmake/kconfig.cmake @@ -25,6 +25,7 @@ set(COMMON_KCONFIG_ENV_SETTINGS TOOLCHAIN=${CMAKE_TOOLCHAIN_FILE} ARCHITECTURE=${CMAKE_SYSTEM_PROCESSOR} ROMFSROOT=${config_romfs_root} + BASE_DEFCONFIG=${BOARD_CONFIG} ) set(config_user_list) @@ -52,6 +53,15 @@ if(EXISTS ${BOARD_DEFCONFIG}) ) endif() + if(${LABEL} MATCHES "allyes") + message(AUTHOR_WARNING "allyes build: allyes is for CI coverage and not for use in production") + execute_process( + COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} + ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/allyesconfig.py + WORKING_DIRECTORY ${PX4_SOURCE_DIR} + ) + endif() + # Generate header file for C/C++ preprocessor execute_process( COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} @@ -438,7 +448,7 @@ if(${LABEL} MATCHES "default" OR ${LABEL} MATCHES "bootloader" OR ${LABEL} MATCH COMMAND_EXPAND_LISTS ) -else() +elseif(NOT ${LABEL} MATCHES "allyes") # All other configs except allyes which isn't configurable add_custom_target(boardconfig ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${MENUCONFIG_PATH} Kconfig COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH} From 8e6102651166191cafc59ed6b74a7b493a4e0a3f Mon Sep 17 00:00:00 2001 From: Eric Katzfey <53063038+katzfey@users.noreply.github.com> Date: Mon, 1 Apr 2024 19:09:13 -0700 Subject: [PATCH 53/53] Port CRSF RC driver to new Serial UART API (#22917) * Added implementations of Rx Tx swap and single wire for new UART API needed by CRSF driver * Added inverted mode to Serial interface API --- boards/modalai/voxl2-slpi/default.px4board | 1 + platforms/common/Serial.cpp | 33 ++++++ .../include/px4_platform_common/Serial.hpp | 11 ++ platforms/nuttx/src/px4/common/SerialImpl.cpp | 83 ++++++++++++++ .../src/px4/common/include/SerialImpl.hpp | 14 +++ .../src/px4/common/px4_protected_layers.cmake | 1 + platforms/posix/include/SerialImpl.hpp | 15 +++ platforms/posix/src/px4/common/SerialImpl.cpp | 82 ++++++++++++++ platforms/qurt/include/SerialImpl.hpp | 11 ++ platforms/qurt/src/px4/SerialImpl.cpp | 37 +++++++ src/drivers/rc/crsf_rc/CMakeLists.txt | 2 - src/drivers/rc/crsf_rc/CrsfParser.cpp | 35 +++--- src/drivers/rc/crsf_rc/CrsfRc.cpp | 103 +++++++++--------- src/drivers/rc/crsf_rc/CrsfRc.hpp | 6 +- 14 files changed, 361 insertions(+), 73 deletions(-) diff --git a/boards/modalai/voxl2-slpi/default.px4board b/boards/modalai/voxl2-slpi/default.px4board index b6ce6133fcdf..477ed59e73e5 100644 --- a/boards/modalai/voxl2-slpi/default.px4board +++ b/boards/modalai/voxl2-slpi/default.px4board @@ -11,6 +11,7 @@ CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y +CONFIG_DRIVERS_RC_CRSF_RC=y CONFIG_DRIVERS_QSHELL_QURT=y CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y diff --git a/platforms/common/Serial.cpp b/platforms/common/Serial.cpp index 28e2d5986bd6..9c957fde3747 100644 --- a/platforms/common/Serial.cpp +++ b/platforms/common/Serial.cpp @@ -84,6 +84,11 @@ ssize_t Serial::write(const void *buffer, size_t buffer_size) return _impl.write(buffer, buffer_size); } +void Serial::flush() +{ + return _impl.flush(); +} + uint32_t Serial::getBaudrate() const { return _impl.getBaudrate(); @@ -134,6 +139,34 @@ bool Serial::setFlowcontrol(FlowControl flowcontrol) return _impl.setFlowcontrol(flowcontrol); } +bool Serial::getSingleWireMode() const +{ + return _impl.getSingleWireMode(); +} +bool Serial::setSingleWireMode() +{ + return _impl.setSingleWireMode(); +} + +bool Serial::getSwapRxTxMode() const +{ + return _impl.getSwapRxTxMode(); +} +bool Serial::setSwapRxTxMode() +{ + return _impl.setSwapRxTxMode(); +} + +bool Serial::getInvertedMode() const +{ + return _impl.getInvertedMode(); +} + +bool Serial::setInvertedMode(bool enable) +{ + return _impl.setInvertedMode(enable); +} + const char *Serial::getPort() const { return _impl.getPort(); diff --git a/platforms/common/include/px4_platform_common/Serial.hpp b/platforms/common/include/px4_platform_common/Serial.hpp index b38ae93f0ac2..3a9b8b06663d 100644 --- a/platforms/common/include/px4_platform_common/Serial.hpp +++ b/platforms/common/include/px4_platform_common/Serial.hpp @@ -65,6 +65,8 @@ class Serial ssize_t write(const void *buffer, size_t buffer_size); + void flush(); + // If port is already open then the following configuration functions // will reconfigure the port. If the port is not yet open then they will // simply store the configuration in preparation for the port to be opened. @@ -84,6 +86,15 @@ class Serial FlowControl getFlowcontrol() const; bool setFlowcontrol(FlowControl flowcontrol); + bool getSingleWireMode() const; + bool setSingleWireMode(); + + bool getSwapRxTxMode() const; + bool setSwapRxTxMode(); + + bool getInvertedMode() const; + bool setInvertedMode(bool enable); + static bool validatePort(const char *port); bool setPort(const char *port); const char *getPort() const; diff --git a/platforms/nuttx/src/px4/common/SerialImpl.cpp b/platforms/nuttx/src/px4/common/SerialImpl.cpp index c5b659334443..2a09b2ae3521 100644 --- a/platforms/nuttx/src/px4/common/SerialImpl.cpp +++ b/platforms/nuttx/src/px4/common/SerialImpl.cpp @@ -214,6 +214,17 @@ bool SerialImpl::open() _open = true; + // Do pin operations after port has been opened + if (_single_wire_mode) { + setSingleWireMode(); + } + + if (_swap_rx_tx_mode) { + setSwapRxTxMode(); + } + + setInvertedMode(_inverted_mode); + return _open; } @@ -323,6 +334,13 @@ ssize_t SerialImpl::write(const void *buffer, size_t buffer_size) return written; } +void SerialImpl::flush() +{ + if (_open) { + tcflush(_serial_fd, TCIOFLUSH); + } +} + const char *SerialImpl::getPort() const { return _port; @@ -416,4 +434,69 @@ bool SerialImpl::setFlowcontrol(FlowControl flowcontrol) return flowcontrol == FlowControl::Disabled; } +bool SerialImpl::getSingleWireMode() const +{ + return _single_wire_mode; +} + +bool SerialImpl::setSingleWireMode() +{ +#if defined(TIOCSSINGLEWIRE) + + if (_open) { + ioctl(_serial_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED); + } + + _single_wire_mode = true; + return true; +#else + return false; +#endif // TIOCSSINGLEWIRE +} + +bool SerialImpl::getSwapRxTxMode() const +{ + return _swap_rx_tx_mode; +} + +bool SerialImpl::setSwapRxTxMode() +{ +#if defined(TIOCSSWAP) + + if (_open) { + ioctl(_serial_fd, TIOCSSWAP, SER_SWAP_ENABLED); + } + + _swap_rx_tx_mode = true; + return true; +#else + return false; +#endif // TIOCSSWAP +} + +bool SerialImpl::getInvertedMode() const +{ + return _inverted_mode; +} + +bool SerialImpl::setInvertedMode(bool enable) +{ +#if defined(TIOCSINVERT) + + if (_open) { + if (enable) { + ioctl(_serial_fd, TIOCSINVERT, SER_INVERT_ENABLED_RX | SER_INVERT_ENABLED_TX); + + } else { + ioctl(_serial_fd, TIOCSINVERT, 0); + } + } + + _inverted_mode = enable; + return true; +#else + return _inverted_mode == enable; +#endif // TIOCSINVERT +} + } // namespace device diff --git a/platforms/nuttx/src/px4/common/include/SerialImpl.hpp b/platforms/nuttx/src/px4/common/include/SerialImpl.hpp index 28d838354ec0..f92deba5ed3e 100644 --- a/platforms/nuttx/src/px4/common/include/SerialImpl.hpp +++ b/platforms/nuttx/src/px4/common/include/SerialImpl.hpp @@ -64,6 +64,8 @@ class SerialImpl ssize_t write(const void *buffer, size_t buffer_size); + void flush(); + const char *getPort() const; static bool validatePort(const char *port); bool setPort(const char *port); @@ -83,6 +85,15 @@ class SerialImpl FlowControl getFlowcontrol() const; bool setFlowcontrol(FlowControl flowcontrol); + bool getSingleWireMode() const; + bool setSingleWireMode(); + + bool getSwapRxTxMode() const; + bool setSwapRxTxMode(); + + bool getInvertedMode() const; + bool setInvertedMode(bool enable); + private: int _serial_fd{-1}; @@ -101,6 +112,9 @@ class SerialImpl bool validateBaudrate(uint32_t baudrate); bool configure(); + bool _single_wire_mode{false}; + bool _swap_rx_tx_mode{false}; + bool _inverted_mode{false}; }; } // namespace device diff --git a/platforms/nuttx/src/px4/common/px4_protected_layers.cmake b/platforms/nuttx/src/px4/common/px4_protected_layers.cmake index a1c6ebc39175..c55fe568d390 100644 --- a/platforms/nuttx/src/px4/common/px4_protected_layers.cmake +++ b/platforms/nuttx/src/px4/common/px4_protected_layers.cmake @@ -46,6 +46,7 @@ target_link_libraries(px4_layer add_library(px4_kernel_layer ${KERNEL_SRCS} + SerialImpl.cpp ) target_link_libraries(px4_kernel_layer diff --git a/platforms/posix/include/SerialImpl.hpp b/platforms/posix/include/SerialImpl.hpp index d5688834e314..f92deba5ed3e 100644 --- a/platforms/posix/include/SerialImpl.hpp +++ b/platforms/posix/include/SerialImpl.hpp @@ -64,6 +64,8 @@ class SerialImpl ssize_t write(const void *buffer, size_t buffer_size); + void flush(); + const char *getPort() const; static bool validatePort(const char *port); bool setPort(const char *port); @@ -83,6 +85,15 @@ class SerialImpl FlowControl getFlowcontrol() const; bool setFlowcontrol(FlowControl flowcontrol); + bool getSingleWireMode() const; + bool setSingleWireMode(); + + bool getSwapRxTxMode() const; + bool setSwapRxTxMode(); + + bool getInvertedMode() const; + bool setInvertedMode(bool enable); + private: int _serial_fd{-1}; @@ -100,6 +111,10 @@ class SerialImpl bool validateBaudrate(uint32_t baudrate); bool configure(); + + bool _single_wire_mode{false}; + bool _swap_rx_tx_mode{false}; + bool _inverted_mode{false}; }; } // namespace device diff --git a/platforms/posix/src/px4/common/SerialImpl.cpp b/platforms/posix/src/px4/common/SerialImpl.cpp index 739796e6a172..4c84e0078feb 100644 --- a/platforms/posix/src/px4/common/SerialImpl.cpp +++ b/platforms/posix/src/px4/common/SerialImpl.cpp @@ -212,6 +212,16 @@ bool SerialImpl::open() _open = true; + if (_single_wire_mode) { + setSingleWireMode(); + } + + if (_swap_rx_tx_mode) { + setSwapRxTxMode(); + } + + setInvertedMode(_inverted_mode); + return _open; } @@ -316,6 +326,13 @@ ssize_t SerialImpl::write(const void *buffer, size_t buffer_size) return written; } +void SerialImpl::flush() +{ + if (_open) { + tcflush(_serial_fd, TCIOFLUSH); + } +} + const char *SerialImpl::getPort() const { return _port; @@ -409,4 +426,69 @@ bool SerialImpl::setFlowcontrol(FlowControl flowcontrol) return flowcontrol == FlowControl::Disabled; } +bool SerialImpl::getSingleWireMode() const +{ + return _single_wire_mode; +} + +bool SerialImpl::setSingleWireMode() +{ +#if defined(TIOCSSINGLEWIRE) + + if (_open) { + ioctl(_serial_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED); + } + + _single_wire_mode = true; + return true; +#else + return false; +#endif // TIOCSSINGLEWIRE +} + +bool SerialImpl::getSwapRxTxMode() const +{ + return _swap_rx_tx_mode; +} + +bool SerialImpl::setSwapRxTxMode() +{ +#if defined(TIOCSSWAP) + + if (_open) { + ioctl(_serial_fd, TIOCSSWAP, SER_SWAP_ENABLED); + } + + _swap_rx_tx_mode = true; + return true; +#else + return false; +#endif // TIOCSSWAP +} + +bool SerialImpl::getInvertedMode() const +{ + return _inverted_mode; +} + +bool SerialImpl::setInvertedMode(bool enable) +{ +#if defined(TIOCSINVERT) + + if (_open) { + if (enable) { + ioctl(_serial_fd, TIOCSINVERT, SER_INVERT_ENABLED_RX | SER_INVERT_ENABLED_TX); + + } else { + ioctl(_serial_fd, TIOCSINVERT, 0); + } + } + + _inverted_mode = enable; + return true; +#else + return _inverted_mode == enable; +#endif // TIOCSINVERT +} + } // namespace device diff --git a/platforms/qurt/include/SerialImpl.hpp b/platforms/qurt/include/SerialImpl.hpp index 91bbde046454..39c3d63553d5 100644 --- a/platforms/qurt/include/SerialImpl.hpp +++ b/platforms/qurt/include/SerialImpl.hpp @@ -63,6 +63,8 @@ class SerialImpl ssize_t write(const void *buffer, size_t buffer_size); + void flush(); + const char *getPort() const; bool setPort(const char *port); static bool validatePort(const char *port); @@ -82,6 +84,15 @@ class SerialImpl FlowControl getFlowcontrol() const; bool setFlowcontrol(FlowControl flowcontrol); + bool getSingleWireMode() const; + bool setSingleWireMode(); + + bool getSwapRxTxMode() const; + bool setSwapRxTxMode(); + + bool getInvertedMode() const; + bool setInvertedMode(bool enable); + private: int _serial_fd{-1}; diff --git a/platforms/qurt/src/px4/SerialImpl.cpp b/platforms/qurt/src/px4/SerialImpl.cpp index 287064b760ad..1d0c20f00025 100644 --- a/platforms/qurt/src/px4/SerialImpl.cpp +++ b/platforms/qurt/src/px4/SerialImpl.cpp @@ -255,6 +255,11 @@ ssize_t SerialImpl::write(const void *buffer, size_t buffer_size) return ret_write; } +void SerialImpl::flush() +{ + // TODO: Flush not implemented yet on Qurt +} + const char *SerialImpl::getPort() const { return _port; @@ -348,4 +353,36 @@ bool SerialImpl::setFlowcontrol(FlowControl flowcontrol) return flowcontrol == FlowControl::Disabled; } +bool SerialImpl::getSingleWireMode() const +{ + return false; +} + +bool SerialImpl::setSingleWireMode() +{ + // Qurt platform does not support single wire mode + return false; +} + +bool SerialImpl::getSwapRxTxMode() const +{ + return false; +} + +bool SerialImpl::setSwapRxTxMode() +{ + // Qurt platform does not support swap rx tx mode + return false; +} + +bool SerialImpl::setInvertedMode(bool enable) +{ + // Qurt platform does not support inverted mode + return false == enable; +} +bool SerialImpl::getInvertedMode() const +{ + return false; +} + } // namespace device diff --git a/src/drivers/rc/crsf_rc/CMakeLists.txt b/src/drivers/rc/crsf_rc/CMakeLists.txt index ceb75310799a..a3ebb1a1ae87 100644 --- a/src/drivers/rc/crsf_rc/CMakeLists.txt +++ b/src/drivers/rc/crsf_rc/CMakeLists.txt @@ -46,6 +46,4 @@ px4_add_module( MODULE_CONFIG module.yaml - DEPENDS - rc ) diff --git a/src/drivers/rc/crsf_rc/CrsfParser.cpp b/src/drivers/rc/crsf_rc/CrsfParser.cpp index aa499db9f562..a81fe930f517 100644 --- a/src/drivers/rc/crsf_rc/CrsfParser.cpp +++ b/src/drivers/rc/crsf_rc/CrsfParser.cpp @@ -161,6 +161,8 @@ static float MapF(const float x, const float in_min, const float in_max, const f return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; } +#define CONSTRAIN_CHAN(x) ConstrainF(x, CRSF_CHANNEL_VALUE_MIN, CRSF_CHANNEL_VALUE_MAX) + static bool ProcessChannelData(const uint8_t *data, const uint32_t size, CrsfPacket_t *const new_packet) { uint32_t raw_channels[CRSF_CHANNEL_COUNT]; @@ -169,25 +171,24 @@ static bool ProcessChannelData(const uint8_t *data, const uint32_t size, CrsfPac new_packet->message_type = CRSF_MESSAGE_TYPE_RC_CHANNELS; // Decode channel data - raw_channels[0] = (data[0] | data[1] << 8) & 0x07FF; - raw_channels[1] = (data[1] >> 3 | data[2] << 5) & 0x07FF; - raw_channels[2] = (data[2] >> 6 | data[3] << 2 | data[4] << 10) & 0x07FF; - raw_channels[3] = (data[4] >> 1 | data[5] << 7) & 0x07FF; - raw_channels[4] = (data[5] >> 4 | data[6] << 4) & 0x07FF; - raw_channels[5] = (data[6] >> 7 | data[7] << 1 | data[8] << 9) & 0x07FF; - raw_channels[6] = (data[8] >> 2 | data[9] << 6) & 0x07FF; - raw_channels[7] = (data[9] >> 5 | data[10] << 3) & 0x07FF; - raw_channels[8] = (data[11] | data[12] << 8) & 0x07FF; - raw_channels[9] = (data[12] >> 3 | data[13] << 5) & 0x07FF; - raw_channels[10] = (data[13] >> 6 | data[14] << 2 | data[15] << 10) & 0x07FF; - raw_channels[11] = (data[15] >> 1 | data[16] << 7) & 0x07FF; - raw_channels[12] = (data[16] >> 4 | data[17] << 4) & 0x07FF; - raw_channels[13] = (data[17] >> 7 | data[18] << 1 | data[19] << 9) & 0x07FF; - raw_channels[14] = (data[19] >> 2 | data[20] << 6) & 0x07FF; - raw_channels[15] = (data[20] >> 5 | data[21] << 3) & 0x07FF; + raw_channels[0] = CONSTRAIN_CHAN((data[0] | data[1] << 8) & 0x07FF); + raw_channels[1] = CONSTRAIN_CHAN((data[1] >> 3 | data[2] << 5) & 0x07FF); + raw_channels[2] = CONSTRAIN_CHAN((data[2] >> 6 | data[3] << 2 | data[4] << 10) & 0x07FF); + raw_channels[3] = CONSTRAIN_CHAN((data[4] >> 1 | data[5] << 7) & 0x07FF); + raw_channels[4] = CONSTRAIN_CHAN((data[5] >> 4 | data[6] << 4) & 0x07FF); + raw_channels[5] = CONSTRAIN_CHAN((data[6] >> 7 | data[7] << 1 | data[8] << 9) & 0x07FF); + raw_channels[6] = CONSTRAIN_CHAN((data[8] >> 2 | data[9] << 6) & 0x07FF); + raw_channels[7] = CONSTRAIN_CHAN((data[9] >> 5 | data[10] << 3) & 0x07FF); + raw_channels[8] = CONSTRAIN_CHAN((data[11] | data[12] << 8) & 0x07FF); + raw_channels[9] = CONSTRAIN_CHAN((data[12] >> 3 | data[13] << 5) & 0x07FF); + raw_channels[10] = CONSTRAIN_CHAN((data[13] >> 6 | data[14] << 2 | data[15] << 10) & 0x07FF); + raw_channels[11] = CONSTRAIN_CHAN((data[15] >> 1 | data[16] << 7) & 0x07FF); + raw_channels[12] = CONSTRAIN_CHAN((data[16] >> 4 | data[17] << 4) & 0x07FF); + raw_channels[13] = CONSTRAIN_CHAN((data[17] >> 7 | data[18] << 1 | data[19] << 9) & 0x07FF); + raw_channels[14] = CONSTRAIN_CHAN((data[19] >> 2 | data[20] << 6) & 0x07FF); + raw_channels[15] = CONSTRAIN_CHAN((data[20] >> 5 | data[21] << 3) & 0x07FF); for (i = 0; i < CRSF_CHANNEL_COUNT; i++) { - raw_channels[i] = ConstrainF(raw_channels[i], CRSF_CHANNEL_VALUE_MIN, CRSF_CHANNEL_VALUE_MAX); new_packet->channel_data.channels[i] = MapF((float)raw_channels[i], CRSF_CHANNEL_VALUE_MIN, CRSF_CHANNEL_VALUE_MAX, 1000.0f, 2000.0f); } diff --git a/src/drivers/rc/crsf_rc/CrsfRc.cpp b/src/drivers/rc/crsf_rc/CrsfRc.cpp index dc30620e9831..42b61ea66ff6 100644 --- a/src/drivers/rc/crsf_rc/CrsfRc.cpp +++ b/src/drivers/rc/crsf_rc/CrsfRc.cpp @@ -35,8 +35,6 @@ #include "CrsfParser.hpp" #include "Crc8.hpp" -#include -#include #include #include @@ -118,76 +116,74 @@ void CrsfRc::Run() { if (should_exit()) { ScheduleClear(); - ::close(_rc_fd); - _rc_fd = -1; + + if (_uart) { + (void) _uart->close(); + delete _uart; + _uart = nullptr; + } + exit_and_cleanup(); return; } - if (_rc_fd < 0) { - _rc_fd = ::open(_device, O_RDWR | O_NONBLOCK); + if (_uart == nullptr) { + // Create the UART port instance + _uart = new Serial(_device); - if (_rc_fd >= 0) { - struct termios t; - - tcgetattr(_rc_fd, &t); - cfsetspeed(&t, CRSF_BAUDRATE); - t.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS); - t.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG); - t.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | INLCR | PARMRK | INPCK | ISTRIP | IXON); - t.c_oflag = 0; - tcsetattr(_rc_fd, TCSANOW, &t); + if (_uart == nullptr) { + PX4_ERR("Error creating serial device %s", _device); + px4_sleep(1); + return; + } + } - if (board_rc_swap_rxtx(_device)) { -#if defined(TIOCSSWAP) - ioctl(_rc_fd, TIOCSSWAP, SER_SWAP_ENABLED); -#endif // TIOCSSWAP - } + if (! _uart->isOpen()) { + // Configure the desired baudrate if one was specified by the user. + // Otherwise the default baudrate will be used. + if (! _uart->setBaudrate(CRSF_BAUDRATE)) { + PX4_ERR("Error setting baudrate to %u on %s", CRSF_BAUDRATE, _device); + px4_sleep(1); + return; + } - if (board_rc_singlewire(_device)) { - _is_singlewire = true; -#if defined(TIOCSSINGLEWIRE) - ioctl(_rc_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED); -#endif // TIOCSSINGLEWIRE - } + // Open the UART. If this is successful then the UART is ready to use. + if (! _uart->open()) { + PX4_ERR("Error opening serial device %s", _device); + px4_sleep(1); + return; + } - PX4_INFO("Crsf serial opened sucessfully"); + if (board_rc_swap_rxtx(_device)) { + _uart->setSwapRxTxMode(); + } - if (_is_singlewire) { - PX4_INFO("Crsf serial is single wire. Telemetry disabled"); - } + if (board_rc_singlewire(_device)) { + _is_singlewire = true; + _uart->setSingleWireMode(); + } - tcflush(_rc_fd, TCIOFLUSH); + PX4_INFO("Crsf serial opened sucessfully"); - Crc8Init(0xd5); + if (_is_singlewire) { + PX4_INFO("Crsf serial is single wire. Telemetry disabled"); } + _uart->flush(); + + Crc8Init(0xd5); + _input_rc.rssi_dbm = NAN; _input_rc.link_quality = -1; CrsfParser_Init(); - - - } - - // poll with 100mS timeout - pollfd fds[1]; - fds[0].fd = _rc_fd; - fds[0].events = POLLIN; - int ret = ::poll(fds, 1, 100); - - if (ret < 0) { - PX4_ERR("poll error"); - // try again with delay - ScheduleDelayed(100_ms); - return; } const hrt_abstime time_now_us = hrt_absolute_time(); perf_count_interval(_cycle_interval_perf, time_now_us); // Read all available data from the serial RC input UART - int new_bytes = ::read(_rc_fd, &_rcs_buf[0], RC_MAX_BUFFER_SIZE); + int new_bytes = _uart->readAtLeast(&_rcs_buf[0], RC_MAX_BUFFER_SIZE, 1, 100); if (new_bytes > 0) { _bytes_rx += new_bytes; @@ -433,7 +429,8 @@ bool CrsfRc::SendTelemetryBattery(const uint16_t voltage, const uint16_t current write_uint24_t(buf, offset, fuel); write_uint8_t(buf, offset, remaining); WriteFrameCrc(buf, offset, sizeof(buf)); - return write(_rc_fd, buf, offset) == offset; + return _uart->write((void *) buf, (size_t) offset); + } bool CrsfRc::SendTelemetryGps(const int32_t latitude, const int32_t longitude, const uint16_t groundspeed, @@ -449,7 +446,7 @@ bool CrsfRc::SendTelemetryGps(const int32_t latitude, const int32_t longitude, c write_uint16_t(buf, offset, altitude); write_uint8_t(buf, offset, num_satellites); WriteFrameCrc(buf, offset, sizeof(buf)); - return write(_rc_fd, buf, offset) == offset; + return _uart->write((void *) buf, (size_t) offset); } bool CrsfRc::SendTelemetryAttitude(const int16_t pitch, const int16_t roll, const int16_t yaw) @@ -461,7 +458,7 @@ bool CrsfRc::SendTelemetryAttitude(const int16_t pitch, const int16_t roll, cons write_uint16_t(buf, offset, roll); write_uint16_t(buf, offset, yaw); WriteFrameCrc(buf, offset, sizeof(buf)); - return write(_rc_fd, buf, offset) == offset; + return _uart->write((void *) buf, (size_t) offset); } bool CrsfRc::SendTelemetryFlightMode(const char *flight_mode) @@ -480,7 +477,7 @@ bool CrsfRc::SendTelemetryFlightMode(const char *flight_mode) offset += length; buf[offset - 1] = 0; // ensure null-terminated string WriteFrameCrc(buf, offset, length + 4); - return write(_rc_fd, buf, offset) == offset; + return _uart->write((void *) buf, (size_t) offset); } int CrsfRc::print_status() diff --git a/src/drivers/rc/crsf_rc/CrsfRc.hpp b/src/drivers/rc/crsf_rc/CrsfRc.hpp index 6603e01ea3af..c3b0a4ec54d0 100644 --- a/src/drivers/rc/crsf_rc/CrsfRc.hpp +++ b/src/drivers/rc/crsf_rc/CrsfRc.hpp @@ -40,6 +40,7 @@ #include #include #include +#include #include #include #include @@ -53,6 +54,8 @@ #include #include +using namespace device; + class CrsfRc : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem { public: @@ -87,7 +90,8 @@ class CrsfRc : public ModuleBase, public ModuleParams, public px4::Sched bool SendTelemetryFlightMode(const char *flight_mode); - int _rc_fd{-1}; + Serial *_uart = nullptr; ///< UART interface to RC + char _device[20] {}; ///< device / serial port path bool _is_singlewire{false};