Port from 1.13_fc_only to main [1/4]

ROMFS/px4fmu_common/init.d/airframes/4420_ssrc_arwing

@@ -32,8 +32,10 @@ param set-default PWM_AUX_FUNC4 101
 param set-default PWM_MAIN_REV 2
 param set-default PWM_AUX_REV 2
 
+# Enable airspeed sensor
+param set-default SENS_EN_SDP3X 1
+
 # Airspeed parameters
-sdp3x start -X -f 400
 param set-default ASPD_DO_CHECKS 15
 param set-default FW_AIRSPD_MAX 22.0
 param set-default FW_AIRSPD_MIN 14.0

ROMFS/px4fmu_common/init.d/airframes/4421_ssrc_skywalker

@@ -23,7 +23,6 @@ param set-default PWM_MAIN_FUNC2 202
 param set-default PWM_MAIN_FUNC4 101
 
 # Airspeed parameters
-ms4525do start -X -f 500
 param set-default SENS_EN_MS4525DO 1
 param set-default ASPD_DO_CHECKS 15
 param set-default FW_AIRSPD_MAX 25.0

ROMFS/px4fmu_common/init.d/airframes/4430_ssrc_strivermini

@@ -71,8 +71,8 @@ param set-default PWM_AUX_FUNC5 205
 param set-default PWM_AUX_FUNC6 105
 
 # Start airspeed sensor driver
-ms4525do start -X -f 500
-sdp3x start -X -f 500
+param set-default SENS_EN_MS4525DO 1
+param set-default SENS_EN_SDP3X 1
 
 # Airspeed parameters
 param set-default ASPD_DO_CHECKS 7

src/drivers/differential_pressure/ms4525do/MS4525DO.hpp

@@ -53,7 +53,7 @@
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/differential_pressure.h>
 
-static constexpr uint32_t I2C_SPEED = 100 * 1000; // 100 kHz I2C serial interface
+static constexpr uint32_t I2C_SPEED = 400 * 1000; // 400 kHz I2C serial interface
 static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0x28;
 
 /* Register address */

src/drivers/differential_pressure/sdp3x/SDP3X.hpp

@@ -51,7 +51,7 @@
 #define I2C_ADDRESS_2_SDP3X 0x22
 #define I2C_ADDRESS_3_SDP3X 0x23
 
-static constexpr uint32_t I2C_SPEED = 100 * 1000; // 100 kHz I2C serial interface
+static constexpr uint32_t I2C_SPEED = 400 * 1000; // 400 kHz I2C serial interface
 
 #define SDP3X_SCALE_TEMPERATURE		200.0f
 #define SDP3X_RESET_ADDR		0x00

src/systemcmds/telem_test/CMakeLists.txt

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2024 Technology Innoavation Institute. 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 systemcmds__telem_test
+	MAIN telem_test
+	COMPILE_FLAGS
+	SRCS
+		telem_test.cpp
+	DEPENDS
+	)

src/systemcmds/telem_test/Kconfig

@@ -0,0 +1,12 @@
+menuconfig SYSTEMCMDS_TELEM_TEST
+	bool "telem_test"
+	default n
+	---help---
+		Enable support for telemetry uart test
+
+menuconfig USER_TELEM_TEST
+	bool "telemetry uart test running as userspace module"
+	default y
+	depends on BOARD_PROTECTED && SYSTEMCMDS_TELEM_TEST
+	---help---
+		Put telemetry uart test in userspace memory

src/systemcmds/telem_test/telem_test.cpp

@@ -0,0 +1,208 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 Technology Innovation Institute. 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 <stdio.h>
+#include <string.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <termios.h>
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/module.h>
+#include <drivers/drv_hrt.h>
+
+static void usage(const char *reason)
+{
+	if (reason != nullptr) {
+		printf("%s\n\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION("Telemetry UART test tool");
+
+	PRINT_MODULE_USAGE_NAME("telem_test", "command");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("flush", "Flush UART");
+	PRINT_MODULE_USAGE_ARG("<dev>", "Uart device", false);
+	PRINT_MODULE_USAGE_COMMAND_DESCR("loopback", "Loopback test between uarts");
+	PRINT_MODULE_USAGE_ARG("<dev1>", "First UART device", false);
+	PRINT_MODULE_USAGE_ARG("<dev2>", "Second UART device", false);
+	PRINT_MODULE_USAGE_COMMAND_DESCR("send", "Send string to UART");
+	PRINT_MODULE_USAGE_ARG("<dev>", "Uart device", false);
+	PRINT_MODULE_USAGE_COMMAND_DESCR("recv", "Receive string from UART");
+	PRINT_MODULE_USAGE_ARG("<dev>", "UART device", false);
+}
+
+static int test_recv(int uart_recv, char *recv_buf, size_t buf_len)
+{
+	if (read(uart_recv, recv_buf, buf_len) < 0) {
+		printf("ERROR read: %d\n", errno);
+		return 1;
+	}
+
+	return 0;
+}
+
+static int test_send(int uart_send, const char *send_buf)
+{
+	if (write(uart_send, send_buf, strlen(send_buf)) < 0) {
+		printf("ERROR write: %d\n", errno);
+		return 1;
+	}
+
+	px4_usleep(200000);
+
+	return 0;
+}
+
+static int loopback(int uart_send, int uart_recv, const char *send_buf)
+{
+	char recv_buf[15] = {0};
+
+	if (test_send(uart_send, send_buf)) {
+		return 1;
+	}
+
+	if (test_recv(uart_recv, recv_buf, sizeof(recv_buf) - 1)) {
+		return 1;
+	}
+
+	if (strncmp(send_buf, recv_buf, strlen(send_buf)) != 0) {
+		printf("ERROR: send != recv\n");
+		printf("    send '%s'\n", send_buf);
+		printf("    recv '%s'\n", recv_buf);
+		return 1;
+	}
+
+	return 0;
+}
+
+static int test_loopback(int uart1, int uart2)
+{
+	const char *send_str1 = "send_uart_1";
+	const char *send_str2 = "send_uart_2";
+
+	printf("send: first -> second\n");
+
+	if (loopback(uart1, uart2, send_str1)) {
+		return 1;
+	}
+
+	printf("send: second -> first\n");
+
+	if (loopback(uart2, uart1, send_str2)) {
+		return 1;
+	}
+
+	return 0;
+}
+
+extern "C" __EXPORT int telem_test_main(int argc, char *argv[])
+{
+	int res = 1;
+
+	if (argc < 3) {
+		usage(nullptr);
+		return 1;
+	}
+
+	const char *test_type = argv[1];
+	const char *uart1_dev = argv[2];
+	const char *uart2_dev = NULL;
+
+	if (argc > 3) {
+		uart2_dev = argv[3];
+	}
+
+	printf("test type: %s\n", test_type);
+
+	int uart1 = open(uart1_dev, O_RDWR | O_NONBLOCK | O_NOCTTY);
+
+	if (uart1 < 0) {
+		printf("ERROR: %s open\n", uart1_dev);
+		return 1;
+	}
+
+	if (strcmp(test_type, "loopback") == 0) {
+		printf("first uart: %s\n", uart1_dev);
+
+		if (!uart2_dev) {
+			usage("ERROR: second uart not specified");
+			close(uart1);
+			return 1;
+		}
+
+		int uart2 = open(uart2_dev, O_RDWR | O_NONBLOCK | O_NOCTTY);
+
+		if (uart2 < 0) {
+			printf("ERROR: %s open\n", uart2_dev);
+			close(uart1);
+			return 1;
+		}
+
+		printf("second uart: %s\n", uart2_dev);
+
+		res = test_loopback(uart1, uart2);
+
+		close(uart2);
+
+	} else if (strcmp(test_type, "flush") == 0) {
+		printf("flush uart: %s\n", uart1_dev);
+
+		res = tcflush(uart1, TCIOFLUSH);
+
+		if (res < 0) {
+			printf("ERROR tcflush: %d\n", errno);
+		}
+
+	} else if (strcmp(test_type, "send") == 0) {
+		printf("uart: %s\n", uart1_dev);
+
+		const char *send_str = "send_uart";
+		res = test_send(uart1, send_str);
+
+		printf("sent: '%s'\n", send_str);
+
+	} else if (strcmp(test_type, "recv") == 0) {
+		printf("uart: %s\n", uart1_dev);
+
+		char recv_buf[20] = {0};
+		res = test_recv(uart1, recv_buf, sizeof(recv_buf) - 1);
+
+		printf("recv: '%s'\n", recv_buf);
+
+	} else {
+		usage("ERROR: test type not supported");
+	}
+
+	close(uart1);
+	return res;
+}