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Code Issues Releases Activity

Merge remote-tracking branch 'origin/next' into thread/OP-1119_Flight_Side_Logs_Plugin

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This commit is contained in:
m_thread 2013-11-25 09:29:45 +01:00
commit 06924d335a
10 changed files with 176 additions and 67 deletions
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19
WHATSNEW.txt
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@ -1,3 +1,22 @@
--- RELEASE-13.06.04 ---
This maintenance release includes the following fixes missing in (previously not released to public) RELEASE-13.06.03.
- Fixed issues with Google Maps;
- Includes new signed version of CDC drivers for Windows platforms;
JIRA issues addressed in this maintenance release:
OP-1044, OP-1070, OP-1072
Use the following link for a comprehensive list of issues addressed by this release
http://progress.openpilot.org/browse/OP-1070
--- RELEASE-13.06.03 ---
This maintenance release addresses the following issues:
- Fixed CC3D attitude estimation failure after multiple settings changes and reboots.
- Fixed OPLink crashes when erasing settings
JIRA issues addressed in this maintenance release:
OP-1049, OP-1050
--- RELEASE-13.06.02 ---
Refactoring of OPLink radio driver. Auto-configuration was removed, and a

4
flight/Project/Windows USB/OpenPilot-CDC.inf
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@ -3,7 +3,9 @@ Signature = "$Windows NT$"
Class = Ports
ClassGuid = {4D36E978-E325-11CE-BFC1-08002BE10318}
Provider = %ProviderName%
DriverVer = 10/15/2009,1.0.0.0
DriverVer=02/22/2013,2.0.0.0
CatalogFile.NTx86 = OpenPilot-CDC_x86.cat
CatalogFile.NTamd64 = OpenPilot-CDC_amd64.cat
[MANUFACTURER]
%ProviderName% = DeviceList, NTx86, NTamd64

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flight/Project/Windows USB/openpilot-cdc_amd64.cat Normal file
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flight/Project/Windows USB/openpilot-cdc_x86.cat Normal file
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3
flight/modules/OPLink/oplinkmod.c
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@ -118,6 +118,9 @@ static void systemTask(__attribute__((unused)) void *parameters)
/* create all modules thread */
MODULE_TASKCREATE_ALL;
/* start the delayed callback scheduler */
CallbackSchedulerStart();
if (mallocFailed) {
/* We failed to malloc during task creation,
* system behaviour is undefined. Reset and let

93
flight/pios/common/pios_mpu6000.c
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@ -64,7 +64,13 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const *cfg);
static int32_t PIOS_MPU6000_SetReg(uint8_t address, uint8_t buffer);
static int32_t PIOS_MPU6000_GetReg(uint8_t address);
#define GRAV 9.81f
#define GRAV 9.81f
#ifdef PIOS_MPU6000_ACCEL
#define PIOS_MPU6000_SAMPLES_BYTES 14
#else
#define PIOS_MPU6000_SAMPLES_BYTES 8
#endif
/**
* @brief Allocate a new device
@ -489,6 +495,62 @@ int32_t PIOS_MPU6000_Test(void)
return 0;
}
/**
* @brief Reads the contents of the MPU6000 Interrupt Status register from an ISR
* @return The register value or -1 on failure to claim the bus
*/
static int32_t PIOS_MPU6000_GetInterruptStatusRegISR(bool *woken)
{
/* Interrupt Status register can be read at high SPI clock speed */
uint8_t data;
if (PIOS_MPU6000_ClaimBusISR(woken) != 0) {
return -1;
}
PIOS_SPI_TransferByte(dev->spi_id, (0x80 | PIOS_MPU6000_INT_STATUS_REG));
data = PIOS_SPI_TransferByte(dev->spi_id, 0);
PIOS_MPU6000_ReleaseBusISR(woken);
return data;
}
/**
* @brief Resets the MPU6000 FIFO from an ISR
* @param woken[in,out] If non-NULL, will be set to true if woken was false and a higher priority
* task has is now eligible to run, else unchanged
* @return 0 if operation was successful
* @return -1 if unable to claim SPI bus
* @return -2 if write to the device failed
*/
static int32_t PIOS_MPU6000_ResetFifoISR(bool *woken)
{
int32_t result = 0;
/* Register writes must be at < 1MHz SPI clock.
* Speed can only be changed when SPI bus semaphore is held, but
* device chip select must not be enabled, so we use the direct
* SPI bus claim call here */
if (PIOS_SPI_ClaimBusISR(dev->spi_id, woken) != 0) {
return -1;
}
/* Reduce SPI clock speed. */
PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_256);
/* Enable chip select */
PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 0);
/* Reset FIFO. */
if (PIOS_SPI_TransferByte(dev->spi_id, 0x7f & PIOS_MPU6000_USER_CTRL_REG) != 0) {
result = -2;
} else if (PIOS_SPI_TransferByte(dev->spi_id, (dev->cfg->User_ctl | PIOS_MPU6000_USERCTL_FIFO_RST)) != 0) {
result = -2;
}
/* Disable chip select. */
PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 1);
/* Increase SPI clock speed. */
PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_16);
/* Release the SPI bus semaphore. */
PIOS_SPI_ReleaseBusISR(dev->spi_id, woken);
return result;
}
/**
* @brief Obtains the number of bytes in the FIFO. Call from ISR only.
* @return the number of bytes in the FIFO
@ -542,8 +604,29 @@ bool PIOS_MPU6000_IRQHandler(void)
return false;
}
/* Temporary fix for OP-1049. Expected to be superceded for next major release
* by code changes for OP-1039.
* Read interrupt status register to check for FIFO overflow. Must be the
* first read after interrupt, in case the device is configured so that
* any read clears in the status register (PIOS_MPU6000_INT_CLR_ANYRD set in
* interrupt config register) */
int32_t result;
if ((result = PIOS_MPU6000_GetInterruptStatusRegISR(&woken)) < 0) {
return woken;
}
if (result & PIOS_MPU6000_INT_STATUS_FIFO_OVERFLOW) {
/* The FIFO has overflowed, so reset it,
* to enable sample sync to be recovered.
* If the reset fails, we are in trouble, but
* we keep trying on subsequent interrupts. */
PIOS_MPU6000_ResetFifoISR(&woken);
/* Return and wait for the next new sample. */
return woken;
}
/* Usual case - FIFO has not overflowed. */
mpu6000_count = PIOS_MPU6000_FifoDepthISR(&woken);
if (mpu6000_count < (int32_t)sizeof(struct pios_mpu6000_data)) {
if (mpu6000_count < PIOS_MPU6000_SAMPLES_BYTES) {
return woken;
}
@ -551,8 +634,8 @@ bool PIOS_MPU6000_IRQHandler(void)
return woken;
}
static uint8_t mpu6000_send_buf[1 + sizeof(struct pios_mpu6000_data)] = { PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0 };
static uint8_t mpu6000_rec_buf[1 + sizeof(struct pios_mpu6000_data)];
static uint8_t mpu6000_send_buf[1 + PIOS_MPU6000_SAMPLES_BYTES] = { PIOS_MPU6000_FIFO_REG | 0x80 };
static uint8_t mpu6000_rec_buf[1 + PIOS_MPU6000_SAMPLES_BYTES];
if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
PIOS_MPU6000_ReleaseBusISR(&woken);
@ -565,7 +648,7 @@ bool PIOS_MPU6000_IRQHandler(void)
static struct pios_mpu6000_data data;
// In the case where extras samples backed up grabbed an extra
if (mpu6000_count >= (int32_t)(sizeof(data) * 2)) {
if (mpu6000_count >= PIOS_MPU6000_SAMPLES_BYTES * 2) {
mpu6000_fifo_backup++;
if (PIOS_MPU6000_ClaimBusISR(&woken) != 0) {
return woken;

109
flight/pios/inc/pios_mpu6000.h
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@ -33,71 +33,72 @@
#define PIOS_MPU6000_H
/* MPU6000 Addresses */
#define PIOS_MPU6000_SMPLRT_DIV_REG 0X19
#define PIOS_MPU6000_DLPF_CFG_REG 0X1A
#define PIOS_MPU6000_GYRO_CFG_REG 0X1B
#define PIOS_MPU6000_ACCEL_CFG_REG 0X1C
#define PIOS_MPU6000_FIFO_EN_REG 0x23
#define PIOS_MPU6000_INT_CFG_REG 0x37
#define PIOS_MPU6000_INT_EN_REG 0x38
#define PIOS_MPU6000_INT_STATUS_REG 0x3A
#define PIOS_MPU6000_ACCEL_X_OUT_MSB 0x3B
#define PIOS_MPU6000_ACCEL_X_OUT_LSB 0x3C
#define PIOS_MPU6000_ACCEL_Y_OUT_MSB 0x3D
#define PIOS_MPU6000_ACCEL_Y_OUT_LSB 0x3E
#define PIOS_MPU6000_ACCEL_Z_OUT_MSB 0x3F
#define PIOS_MPU6000_ACCEL_Z_OUT_LSB 0x40
#define PIOS_MPU6000_TEMP_OUT_MSB 0x41
#define PIOS_MPU6000_TEMP_OUT_LSB 0x42
#define PIOS_MPU6000_GYRO_X_OUT_MSB 0x43
#define PIOS_MPU6000_GYRO_X_OUT_LSB 0x44
#define PIOS_MPU6000_GYRO_Y_OUT_MSB 0x45
#define PIOS_MPU6000_GYRO_Y_OUT_LSB 0x46
#define PIOS_MPU6000_GYRO_Z_OUT_MSB 0x47
#define PIOS_MPU6000_GYRO_Z_OUT_LSB 0x48
#define PIOS_MPU6000_USER_CTRL_REG 0x6A
#define PIOS_MPU6000_PWR_MGMT_REG 0x6B
#define PIOS_MPU6000_FIFO_CNT_MSB 0x72
#define PIOS_MPU6000_FIFO_CNT_LSB 0x73
#define PIOS_MPU6000_FIFO_REG 0x74
#define PIOS_MPU6000_WHOAMI 0x75
#define PIOS_MPU6000_SMPLRT_DIV_REG 0X19
#define PIOS_MPU6000_DLPF_CFG_REG 0X1A
#define PIOS_MPU6000_GYRO_CFG_REG 0X1B
#define PIOS_MPU6000_ACCEL_CFG_REG 0X1C
#define PIOS_MPU6000_FIFO_EN_REG 0x23
#define PIOS_MPU6000_INT_CFG_REG 0x37
#define PIOS_MPU6000_INT_EN_REG 0x38
#define PIOS_MPU6000_INT_STATUS_REG 0x3A
#define PIOS_MPU6000_ACCEL_X_OUT_MSB 0x3B
#define PIOS_MPU6000_ACCEL_X_OUT_LSB 0x3C
#define PIOS_MPU6000_ACCEL_Y_OUT_MSB 0x3D
#define PIOS_MPU6000_ACCEL_Y_OUT_LSB 0x3E
#define PIOS_MPU6000_ACCEL_Z_OUT_MSB 0x3F
#define PIOS_MPU6000_ACCEL_Z_OUT_LSB 0x40
#define PIOS_MPU6000_TEMP_OUT_MSB 0x41
#define PIOS_MPU6000_TEMP_OUT_LSB 0x42
#define PIOS_MPU6000_GYRO_X_OUT_MSB 0x43
#define PIOS_MPU6000_GYRO_X_OUT_LSB 0x44
#define PIOS_MPU6000_GYRO_Y_OUT_MSB 0x45
#define PIOS_MPU6000_GYRO_Y_OUT_LSB 0x46
#define PIOS_MPU6000_GYRO_Z_OUT_MSB 0x47
#define PIOS_MPU6000_GYRO_Z_OUT_LSB 0x48
#define PIOS_MPU6000_USER_CTRL_REG 0x6A
#define PIOS_MPU6000_PWR_MGMT_REG 0x6B
#define PIOS_MPU6000_FIFO_CNT_MSB 0x72
#define PIOS_MPU6000_FIFO_CNT_LSB 0x73
#define PIOS_MPU6000_FIFO_REG 0x74
#define PIOS_MPU6000_WHOAMI 0x75
/* FIFO enable for storing different values */
#define PIOS_MPU6000_FIFO_TEMP_OUT 0x80
#define PIOS_MPU6000_FIFO_GYRO_X_OUT 0x40
#define PIOS_MPU6000_FIFO_GYRO_Y_OUT 0x20
#define PIOS_MPU6000_FIFO_GYRO_Z_OUT 0x10
#define PIOS_MPU6000_ACCEL_OUT 0x08
#define PIOS_MPU6000_FIFO_TEMP_OUT 0x80
#define PIOS_MPU6000_FIFO_GYRO_X_OUT 0x40
#define PIOS_MPU6000_FIFO_GYRO_Y_OUT 0x20
#define PIOS_MPU6000_FIFO_GYRO_Z_OUT 0x10
#define PIOS_MPU6000_ACCEL_OUT 0x08
/* Interrupt Configuration */
#define PIOS_MPU6000_INT_ACTL 0x80
#define PIOS_MPU6000_INT_OPEN 0x40
#define PIOS_MPU6000_INT_LATCH_EN 0x20
#define PIOS_MPU6000_INT_CLR_ANYRD 0x10
#define PIOS_MPU6000_INT_ACTL 0x80
#define PIOS_MPU6000_INT_OPEN 0x40
#define PIOS_MPU6000_INT_LATCH_EN 0x20
#define PIOS_MPU6000_INT_CLR_ANYRD 0x10
#define PIOS_MPU6000_INTEN_OVERFLOW 0x10
#define PIOS_MPU6000_INTEN_DATA_RDY 0x01
#define PIOS_MPU6000_INTEN_OVERFLOW 0x10
#define PIOS_MPU6000_INTEN_DATA_RDY 0x01
/* Interrupt status */
#define PIOS_MPU6000_INT_STATUS_FIFO_FULL 0x80
#define PIOS_MPU6000_INT_STATUS_IMU_RDY 0X04
#define PIOS_MPU6000_INT_STATUS_DATA_RDY 0X01
#define PIOS_MPU6000_INT_STATUS_FIFO_FULL 0x80
#define PIOS_MPU6000_INT_STATUS_FIFO_OVERFLOW 0x10
#define PIOS_MPU6000_INT_STATUS_IMU_RDY 0X04
#define PIOS_MPU6000_INT_STATUS_DATA_RDY 0X01
/* User control functionality */
#define PIOS_MPU6000_USERCTL_FIFO_EN 0X40
#define PIOS_MPU6000_USERCTL_I2C_MST_EN 0x20
#define PIOS_MPU6000_USERCTL_DIS_I2C 0X10
#define PIOS_MPU6000_USERCTL_FIFO_RST 0X04
#define PIOS_MPU6000_USERCTL_SIG_COND 0X02
#define PIOS_MPU6000_USERCTL_GYRO_RST 0X01
#define PIOS_MPU6000_USERCTL_FIFO_EN 0X40
#define PIOS_MPU6000_USERCTL_I2C_MST_EN 0x20
#define PIOS_MPU6000_USERCTL_DIS_I2C 0X10
#define PIOS_MPU6000_USERCTL_FIFO_RST 0X04
#define PIOS_MPU6000_USERCTL_SIG_COND 0X02
#define PIOS_MPU6000_USERCTL_GYRO_RST 0X01
/* Power management and clock selection */
#define PIOS_MPU6000_PWRMGMT_IMU_RST 0X80
#define PIOS_MPU6000_PWRMGMT_INTERN_CLK 0X00
#define PIOS_MPU6000_PWRMGMT_PLL_X_CLK 0X01
#define PIOS_MPU6000_PWRMGMT_PLL_Y_CLK 0X02
#define PIOS_MPU6000_PWRMGMT_PLL_Z_CLK 0X03
#define PIOS_MPU6000_PWRMGMT_STOP_CLK 0X07
#define PIOS_MPU6000_PWRMGMT_IMU_RST 0X80
#define PIOS_MPU6000_PWRMGMT_INTERN_CLK 0X00
#define PIOS_MPU6000_PWRMGMT_PLL_X_CLK 0X01
#define PIOS_MPU6000_PWRMGMT_PLL_Y_CLK 0X02
#define PIOS_MPU6000_PWRMGMT_PLL_Z_CLK 0X03
#define PIOS_MPU6000_PWRMGMT_STOP_CLK 0X07
enum pios_mpu6000_range {
PIOS_MPU6000_SCALE_250_DEG = 0x00,

7
flight/targets/boards/oplinkmini/firmware/pios_board.c
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@ -127,6 +127,10 @@ void PIOS_Board_Init(void)
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif /* PIOS_INCLUDE_RTC */
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
#endif /* PIOS_INCLUDE_LED */
/* IAP System Setup */
PIOS_IAP_Init();
// check for safe mode commands from gcs
@ -144,9 +148,6 @@ void PIOS_Board_Init(void)
OPLinkStatusInitialize();
#endif /* PIOS_INCLUDE_RFM22B */
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_TIM)
/* Set up pulse timers */

6
make/winx86/README.txt
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@ -27,7 +27,7 @@ OpenPilot.
------------------
Fortunately, it requires only few small text files since all others components
should already be installed on your system as parts of msysGit, QtSDK and
CodeSourcery G++ packages required to build the OpenPilot.
Arm compiler packages required to build the OpenPilot.
It is expected that you have the following tools installed into the listed
locations (but any other locations are fine as well):
@ -39,8 +39,8 @@ locations (but any other locations are fine as well):
- Unicode NSIS in %ProgramFiles%\NSIS\Unicode
- OpenOCD in C:\OpenOCD\0.4.0\bin (optional)
The SDL library and headers should be installed into Qt directories to build
the GCS. Check the wiki or ground/openpilotgcs/copydata.pro for details.
The SDL and SSL libraries and headers should be installed into Qt directories to
build the GCS. Check the wiki or ground/openpilotgcs/copydata.pro for details.
Also it is assumed that you have the C:\Program Files\Git\cmd\ directory in
the PATH. Usually this is the case for msysGit installation if you have chosen

2
package/winx86/openpilotgcs.nsi
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@ -238,7 +238,7 @@ SectionEnd
; Copy driver files
Section "-Drivers" InSecDrivers
SetOutPath "$INSTDIR\drivers"
File "${PROJECT_ROOT}\flight\Project\Windows USB\OpenPilot-CDC.inf"
File /r "${PROJECT_ROOT}\flight\Project\Windows USB\*"
SectionEnd
; Preinstall OpenPilot CDC driver