Merge pull request #2 from PX4/integration3_mpu

Integration3 MPU bringup
PX4 · Feb 9, 2016 · e1c96c4 · e1c96c4
2 parents 4e128fc + 405decd
commit e1c96c4
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Showing 10 changed files with 303 additions and 53 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -346,6 +346,7 @@ endforeach()
 add_subdirectory(src/firmware/${OS})
 
 add_subdirectory(src/lib/DriverFramework/framework/src)
+add_subdirectory(src/lib/DriverFramework/drivers/)
 #add_dependencies(df_driver_framework nuttx_export_${CONFIG}.stamp)
 if (NOT "${OS}" STREQUAL "nuttx")
 endif()

diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
@@ -630,6 +630,7 @@ function(px4_add_common_flags)
 		${CMAKE_BINARY_DIR}/src/modules
 		${CMAKE_SOURCE_DIR}/mavlink/include/mavlink
 		${CMAKE_SOURCE_DIR}/src/lib/DriverFramework/framework/include
+		${CMAKE_SOURCE_DIR}/src/lib/DriverFramework/drivers/imu
 		)
 
 	list(APPEND added_include_dirs

diff --git a/cmake/configs/posix_eagle_default.cmake b/cmake/configs/posix_eagle_default.cmake
@@ -16,6 +16,7 @@ set(config_module_list
 	systemcmds/param
 	systemcmds/mixer
 	systemcmds/ver
+	systemcmds/topic_listener
 
 	modules/mavlink
 

diff --git a/cmake/configs/posix_sitl_default.cmake b/cmake/configs/posix_sitl_default.cmake
@@ -18,6 +18,7 @@ set(config_module_list
 	platforms/posix/drivers/gyrosim
 	platforms/posix/drivers/rgbledsim
 	platforms/posix/drivers/ledsim
+	platforms/posix/drivers/df_imu
 	systemcmds/param
 	systemcmds/mixer
 	systemcmds/ver

diff --git a/cmake/configs/qurt_eagle_default.cmake b/cmake/configs/qurt_eagle_default.cmake
@@ -37,6 +37,7 @@ set(config_module_list
 #	$(EAGLE_DRIVERS_SRC)/uart_esc
 #	$(EAGLE_DRIVERS_SRC)/rc_receiver
 #	$(EAGLE_DRIVERS_SRC)/csr_gps
+	platforms/posix/drivers/df_imu
 
 	#
 	# System commands

diff --git a/posix-configs/eagle/flight/mainapp-flight.config b/posix-configs/eagle/flight/mainapp-flight.config
@@ -1,7 +1,2 @@
 uorb start
 muorb start
-mavlink start -u 14556
-sleep 1
-mavlink stream -u 14556 -s HIGHRES_IMU -r 50
-mavlink stream -u 14556 -s ATTITUDE -r 50
-mavlink boot_complete
diff --git a/posix-configs/eagle/flight/px4-flight.config b/posix-configs/eagle/flight/px4-flight.config
@@ -1,57 +1,13 @@
 uorb start
-param set CAL_GYRO0_ID 2293760
-param set CAL_ACC0_ID 1310720
-param set CAL_ACC1_ID 1376256
-param set CAL_MAG0_ID 196608
+sleep 1
+df_imu start
+sensors start
 commander start
-param set RC_RECEIVER_TYPE 1
-rc_receiver start -D /dev/tty-1
 attitude_estimator_q start
 position_estimator_inav start
 mc_pos_control start
 mc_att_control start
 sleep 1
-param set RC_MAP_THROTTLE 1
-param set RC_MAP_ROLL 2
-param set RC_MAP_PITCH 3
-param set RC_MAP_YAW 4
-param set RC_MAP_MODE_SW 5
-param set RC_MAP_POSCTL_SW 6
-param set RC1_MAX 1900
-param set RC1_MIN 1099
-param set RC1_TRIM 1099
-param set RC1_REV 1
-param set RC2_MAX 1900
-param set RC2_MIN 1099
-param set RC2_TRIM 1500
-param set RC2_REV -1
-param set RC3_MAX 1900
-param set RC3_MIN 1099
-param set RC3_TRIM 1500
-param set RC3_REV 1
-param set RC4_MAX 1900
-param set RC4_MIN 1099
-param set RC4_TRIM 1500
-param set RC4_REV -1
-param set RC5_MAX 1900
-param set RC5_MIN 1099
-param set RC5_TRIM 1500
-param set RC5_REV 1
-param set RC6_MAX 1900
-param set RC6_MIN 1099
-param set RC6_TRIM 1099
-param set RC6_REV 1
-sensors start
-param set ATT_W_MAG 0.00
-param set PE_MAG_NOISE 1.0f
-param set MPU_GYRO_LPF_ENUM 4
-param set MPU_ACC_LPF_ENUM 4
-param set MPU_SAMPLE_RATE_ENUM 2
-sleep 1
-mpu9x50 start -D /dev/spi-1
-uart_esc start -D /dev/tty-2
-csr_gps start -D /dev/tty-3
-pressure start -D /dev/i2c-2
 list_devices
 list_files
 list_tasks

diff --git a/src/lib/DriverFramework b/src/lib/DriverFramework
diff --git a/src/platforms/posix/drivers/df_imu/CMakeLists.txt b/src/platforms/posix/drivers/df_imu/CMakeLists.txt
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2016 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.
+#
+############################################################################
+px4_add_module(
+	MODULE platforms__posix__drivers__df_imu
+	MAIN df_imu
+	SRCS
+		df_imu.cpp
+	DEPENDS
+		platforms__common
+		df_driver_framework
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+3 −0		CMakeLists.txt
+8 −6		Makefile
+47 −17		drivers/i2c/I2CDevObj.cpp
+36 −3		drivers/imu/ImuSensor.hpp
+260 −27		drivers/imu/mpu9250/MPU9250.cpp
+7 −3		drivers/imu/mpu9250/MPU9250.hpp
+1 −1		drivers/imu/test/main.cpp
+31 −37		drivers/imu/test/test.cpp
+11 −7		drivers/pressure/PressureSensor.hpp
+90 −39		drivers/pressure/bmp280/BMP280.cpp
+1 −0		drivers/pressure/bmp280/BMP280.hpp
+7 −17		drivers/pressure/test/test.cpp
+205 −94		drivers/spi/SPIDevObj.cpp
+1 −1		dspal
+52 −0		framework/include/DFDiag.hpp
+5 −5		framework/include/DFList.hpp
+16 −16		framework/include/DFLog.hpp
+94 −0		framework/include/DFTest.hpp
+6 −6		framework/include/DevIOCTL.h
+1 −2		framework/include/DevMgr.hpp
+10 −8		framework/include/DevObj.hpp
+1 −4		framework/include/DriverFramework.hpp
+10 −7		framework/include/I2CDevObj.hpp
+6 −6		framework/include/OSConfig.h
+22 −6		framework/include/SPIDevObj.hpp
+1 −1		framework/include/SyncObj.hpp
+0 −3		framework/include/WorkMgr.hpp
+1 −0		framework/src/CMakeLists.txt
+88 −0		framework/src/DFDiag.cpp
+5 −4		framework/src/DFList.cpp
+4 −26		framework/src/DevMgr.cpp
+21 −8		framework/src/DevObj.cpp
+13 −10		framework/src/DriverFramework.cpp
+20 −12		framework/src/SyncObj.cpp
+42 −0		framework/test/CMakeLists.txt
+59 −0		framework/test/DFFrameworkTest.cpp
+50 −0		framework/test/DFFrameworkTest.hpp
+91 −43		framework/test/DFListTest.cpp
+71 −0		framework/test/DFListTest.hpp
+159 −0		framework/test/DevMgrTest.cpp
+58 −0		framework/test/DevMgrTest.hpp
+66 −0		framework/test/SyncObjTest.cpp
+53 −0		framework/test/SyncObjTest.hpp
+68 −0		framework/test/TimeTest.cpp
+54 −0		framework/test/TimeTest.hpp
+0 −0		framework/test/testdriver.hpp
+0 −152		os/qurt/include/dev_fs_lib_i2c.h
+0 −160		os/qurt/include/dev_fs_lib_spi.h
+6 −0		os/qurt/src/qurt_stubs.cpp
+2 −1		test/CMakeLists.txt
+146 −0		test/driver.cpp
+2 −2		test/main.cpp
+0 −1		test/qurt/CMakeLists.txt
+2 −2		test/qurt/df_testapp_dsp.cpp
+4 −150		test/test.cpp