Add a system command for writing/viewing OTP, see docs below...

.gitignore

@@ -50,3 +50,6 @@ unittests/build
 xcode
 src/platforms/posix/px4_messages/
 src/platforms/qurt/px4_messages/
+makefiles/config_px4fmu-v2_APM.mk
+makefiles/nuttx/config_px4fmu-v1_APM.mk
+makefiles/nuttx/config_px4fmu-v2_APM.mk

Makefile

@@ -144,7 +144,7 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:	generateuorbtopicheaders checksu
 	@$(ECHO) %%%% Building $(config) in $(work_dir)
 	@$(ECHO) %%%%
 	$(Q) $(MKDIR) -p $(work_dir)
-	$(Q) $(MAKE) -r -C $(work_dir) \
+	$(Q)+ $(MAKE) -r -C $(work_dir) \
 		-f $(PX4_MK_DIR)firmware.mk \
 		CONFIG=$(config) \
 		WORK_DIR=$(work_dir) \
@@ -178,24 +178,16 @@ NUTTX_ARCHIVES		 = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
 .PHONY:			archives
 archives:		checksubmodules $(NUTTX_ARCHIVES)
 
-# We cannot build these parallel; note that we also force -j1 for the
-# sub-make invocations.
-ifneq ($(filter archives,$(MAKECMDGOALS)),)
-.NOTPARALLEL:
-endif
-
-J?=1
-
 $(ARCHIVE_DIR)%.export:	board = $(notdir $(basename $@))
 $(ARCHIVE_DIR)%.export:	configuration = nsh
 $(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
 	@$(ECHO) %% Configuring NuttX for $(board)
 	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
-	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q)+ $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
 	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
 	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
 	@$(ECHO) %% Exporting NuttX for $(board)
-	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
+	$(Q)+ $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
 	$(Q) $(MKDIR) -p $(dir $@)
 	$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
 	$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
@@ -212,11 +204,11 @@ BOARD			 = $(BOARDS)
 menuconfig: $(NUTTX_SRC)
 	@$(ECHO) %% Configuring NuttX for $(BOARD)
 	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
-	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q)+ $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
 	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
 	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
 	@$(ECHO) %% Running menuconfig for $(BOARD)
-	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
+	$(Q)+ $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
 	@$(ECHO) %% Saving configuration file
 	$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
 else
@@ -287,7 +279,7 @@ testbuild:
 
 nuttx posix qurt: 
 ifeq ($(GOALS),)
-	make PX4_TARGET_OS=$@ $(GOALS)
+	+$(MAKE) PX4_TARGET_OS=$@ $(GOALS)
 else
 	export PX4_TARGET_OS=$@
 endif
@@ -296,7 +288,7 @@ posixrun:
 	Tools/posix_run.sh
 
 qurtrun:
-	make PX4_TARGET_OS=qurt sim
+	$(MAKE) PX4_TARGET_OS=qurt sim
 
 #
 # Unittest targets. Builds and runs the host-level
@@ -325,7 +317,7 @@ clean:
 distclean: clean
 	@echo > /dev/null
 	$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
-	$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q)+ $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
 	$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete)
 
 #

Tools/sdlog2/sdlog2_dump.py

@@ -46,6 +46,7 @@ class SDLog2Parser:
         "h": ("h", None),
         "H": ("H", None),
         "i": ("i", None),
+        "d": ("d", None),
         "I": ("I", None),
         "f": ("f", None),
         "n": ("4s", None),

makefiles/firmware.mk

@@ -229,7 +229,7 @@ $(MODULE_OBJS):		mkfile = $(patsubst %module.pre.o,%module.mk,$(relpath))
 $(MODULE_OBJS):		workdir = $(@D)
 $(MODULE_OBJS):		$(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
 	$(Q) $(MKDIR) -p $(workdir)
-	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
+	$(Q)+ $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
 		-C $(workdir) \
 		MODULE_WORK_DIR=$(workdir) \
 		MODULE_OBJ=$@ \
@@ -246,7 +246,7 @@ $(MODULE_CLEANS):	relpath = $(patsubst $(WORK_DIR)%,%,$@)
 $(MODULE_CLEANS):	mkfile = $(patsubst %clean,%module.mk,$(relpath))
 $(MODULE_CLEANS):
 	@$(ECHO) %% cleaning using $(mkfile)
-	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
+	$(Q)+ $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
 	MODULE_WORK_DIR=$(dir $@) \
 	MODULE_MK=$(mkfile) \
 	clean
@@ -289,7 +289,7 @@ $(LIBRARY_LIBS):	mkfile = $(patsubst %library.a,%library.mk,$(relpath))
 $(LIBRARY_LIBS):	workdir = $(@D)
 $(LIBRARY_LIBS):	$(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
 	$(Q) $(MKDIR) -p $(workdir)
-	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)library.mk \
+	$(Q)+ $(MAKE) -r -f $(PX4_MK_DIR)library.mk \
 		-C $(workdir) \
 		LIBRARY_WORK_DIR=$(workdir) \
 		LIBRARY_LIB=$@ \
@@ -306,7 +306,7 @@ $(LIBRARY_CLEANS):	relpath = $(patsubst $(WORK_DIR)%,%,$@)
 $(LIBRARY_CLEANS):	mkfile = $(patsubst %clean,%library.mk,$(relpath))
 $(LIBRARY_CLEANS):
 	@$(ECHO) %% cleaning using $(mkfile)
-	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)library.mk \
+	$(Q)+ $(MAKE) -r -f $(PX4_MK_DIR)library.mk \
 	LIBRARY_WORK_DIR=$(dir $@) \
 	LIBRARY_MK=$(mkfile) \
 	clean

makefiles/firmware_nuttx.mk

@@ -62,7 +62,7 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:	generateuorbtopicheaders checksu
 	@$(ECHO) %%%% Building $(config) in $(work_dir)
 	@$(ECHO) %%%%
 	$(Q) $(MKDIR) -p $(work_dir)
-	$(Q) $(MAKE) -r -C $(work_dir) \
+	$(Q)+ $(MAKE) -r -C $(work_dir) \
 		-f $(PX4_MK_DIR)firmware.mk \
 		CONFIG=$(config) \
 		WORK_DIR=$(work_dir) \
@@ -96,24 +96,16 @@ NUTTX_ARCHIVES		 = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
 .PHONY:			archives
 archives:		checksubmodules $(NUTTX_ARCHIVES)
 
-# We cannot build these parallel; note that we also force -j1 for the
-# sub-make invocations.
-ifneq ($(filter archives,$(MAKECMDGOALS)),)
-.NOTPARALLEL:
-endif
-
-J?=1
-
 $(ARCHIVE_DIR)%.export:	board = $(notdir $(basename $@))
 $(ARCHIVE_DIR)%.export:	configuration = nsh
 $(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
 	@$(ECHO) %% Configuring NuttX for $(board)
 	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
-	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q)+ $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
 	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
 	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
 	@$(ECHO) %% Exporting NuttX for $(board)
-	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
+	$(Q)+ $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
 	$(Q) $(MKDIR) -p $(dir $@)
 	$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
 	$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
@@ -130,11 +122,11 @@ BOARD			 = $(BOARDS)
 menuconfig: $(NUTTX_SRC)
 	@$(ECHO) %% Configuring NuttX for $(BOARD)
 	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
-	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
 	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
 	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
 	@$(ECHO) %% Running menuconfig for $(BOARD)
-	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
+	$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
 	@$(ECHO) %% Saving configuration file
 	$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
 else

nuttx-configs/px4fmu-v1/nsh/defconfig

@@ -405,7 +405,7 @@ CONFIG_SIG_SIGWORK=4
 CONFIG_MAX_TASKS=32
 CONFIG_MAX_TASK_ARGS=10
 CONFIG_NPTHREAD_KEYS=4
-CONFIG_NFILE_DESCRIPTORS=42
+CONFIG_NFILE_DESCRIPTORS=50
 CONFIG_NFILE_STREAMS=8
 CONFIG_NAME_MAX=32
 CONFIG_PREALLOC_MQ_MSGS=4

nuttx-configs/px4fmu-v2/nsh/defconfig

@@ -439,7 +439,7 @@ CONFIG_SIG_SIGWORK=4
 CONFIG_MAX_TASKS=32
 CONFIG_MAX_TASK_ARGS=10
 CONFIG_NPTHREAD_KEYS=4
-CONFIG_NFILE_DESCRIPTORS=42
+CONFIG_NFILE_DESCRIPTORS=50
 CONFIG_NFILE_STREAMS=8
 CONFIG_NAME_MAX=32
 CONFIG_PREALLOC_MQ_MSGS=4

src/drivers/batt_smbus/batt_smbus.cpp

@@ -181,7 +181,7 @@ class BATT_SMBUS : public device::I2C
 	// internal variables
 	bool			_enabled;	///< true if we have successfully connected to battery
 	work_s			_work;		///< work queue for scheduling reads
-	RingBuffer		*_reports;	///< buffer of recorded voltages, currents
+	ringbuffer::RingBuffer *_reports;	///< buffer of recorded voltages, currents
 	struct battery_status_s _last_report;	///< last published report, used for test()
 	orb_advert_t		_batt_topic;	///< uORB battery topic
 	orb_id_t		_batt_orb_id;	///< uORB battery topic ID
@@ -199,7 +199,7 @@ void batt_smbus_usage();
 extern "C" __EXPORT int batt_smbus_main(int argc, char *argv[]);
 
 BATT_SMBUS::BATT_SMBUS(int bus, uint16_t batt_smbus_addr) :
-	I2C("batt_smbus", BATT_SMBUS_DEVICE_PATH, bus, batt_smbus_addr, 400000),
+	I2C("batt_smbus", BATT_SMBUS0_DEVICE_PATH, bus, batt_smbus_addr, 100000),
 	_enabled(false),
 	_work{},
 	_reports(nullptr),
@@ -239,7 +239,7 @@ BATT_SMBUS::init()
 
 	} else {
 		// allocate basic report buffers
-		_reports = new RingBuffer(2, sizeof(struct battery_status_s));
+		_reports = new ringbuffer::RingBuffer(2, sizeof(struct battery_status_s));
 
 		if (_reports == nullptr) {
 			ret = ENOTTY;
@@ -626,7 +626,7 @@ batt_smbus_main(int argc, char *argv[])
 		exit(0);
 	}
 
-	// need the driver past this point
+	/* need the driver past this point */
 	if (g_batt_smbus == nullptr) {
 		warnx("not started");
 		batt_smbus_usage();

src/drivers/drv_accel.h

@@ -105,10 +105,10 @@ ORB_DECLARE(sensor_accel);
 /** return the accel internal sample rate in Hz */
 #define ACCELIOCGSAMPLERATE	_ACCELIOC(1)
 
-/** set the accel internal lowpass filter to no lower than (arg) Hz */
+/** set the software low-pass filter cut-off in Hz */
 #define ACCELIOCSLOWPASS	_ACCELIOC(2)
 
-/** return the accel internal lowpass filter in Hz */
+/** get the software low-pass filter cut-off in Hz */
 #define ACCELIOCGLOWPASS	_ACCELIOC(3)
 
 /** set the accel scaling constants to the structure pointed to by (arg) */
@@ -126,4 +126,10 @@ ORB_DECLARE(sensor_accel);
 /** get the result of a sensor self-test */
 #define ACCELIOCSELFTEST	_ACCELIOC(9)
 
+/** set the hardware low-pass filter cut-off no lower than (arg) Hz */
+#define ACCELIOCSHWLOWPASS	_ACCELIOC(10)
+
+/** get the hardware low-pass filter cut-off in Hz*/
+#define ACCELIOCGHWLOWPASS	_ACCELIOC(11)
+
 #endif /* _DRV_ACCEL_H */

src/drivers/drv_gpio.h

@@ -170,4 +170,10 @@
 
 #define GPIO_PERIPHERAL_RAIL_RESET	GPIOC(14)
 
+/** configure the board GPIOs in (arg) as outputs, initially low */
+#define GPIO_SET_OUTPUT_LOW	GPIOC(15)
+
+/** configure the board GPIOs in (arg) as outputs, initially high */
+#define GPIO_SET_OUTPUT_HIGH	GPIOC(16)
+
 #endif /* _DRV_GPIO_H */

src/drivers/drv_gyro.h

@@ -101,10 +101,10 @@ ORB_DECLARE(sensor_gyro);
 /** return the gyro internal sample rate in Hz */
 #define GYROIOCGSAMPLERATE	_GYROIOC(1)
 
-/** set the gyro internal lowpass filter to no lower than (arg) Hz */
+/** set the software low-pass filter cut-off in Hz */
 #define GYROIOCSLOWPASS		_GYROIOC(2)
 
-/** set the gyro internal lowpass filter to no lower than (arg) Hz */
+/** get the software low-pass filter cut-off in Hz */
 #define GYROIOCGLOWPASS		_GYROIOC(3)
 
 /** set the gyro scaling constants to (arg) */
@@ -122,4 +122,10 @@ ORB_DECLARE(sensor_gyro);
 /** check the status of the sensor */
 #define GYROIOCSELFTEST		_GYROIOC(8)
 
+/** set the hardware low-pass filter cut-off no lower than (arg) Hz */
+#define GYROIOCSHWLOWPASS	_GYROIOC(9)
+
+/** get the hardware low-pass filter cut-off in Hz*/
+#define GYROIOCGHWLOWPASS	_GYROIOC(10)
+
 #endif /* _DRV_GYRO_H */

src/drivers/drv_irlock.h

@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file drv_irlock.h
+ *
+ * IR-Lock device API
+ **/
+
+#pragma once
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+#include "drv_sensor.h" // include sensor driver interfaces
+
+#define IRLOCK_BASE_DEVICE_PATH	"/dev/irlock"
+#define IRLOCK0_DEVICE_PATH	"/dev/irlock0"
+
+#define IRLOCK_OBJECTS_MAX	5	/** up to 5 objects can be detected/reported **/
+
+/** irlock_s structure returned from read calls **/
+struct irlock_s {
+	uint64_t timestamp; /** microseconds since system start **/
+	uint16_t target_num;	/** target number prioritised by size (largest is 0) **/
+	float angle_x;	/** x-axis angle in radians from center of image to center of target **/
+	float angle_y;	/** y-axis angle in radians from center of image to center of target **/
+	float size_x;	/** size in radians of target along x-axis **/
+	float size_y;	/** size in radians of target along y-axis **/
+};