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

WHATSNEW.txt

@@ -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

flight/Project/Windows USB/OpenPilot-CDC.inf

@@ -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

flight/modules/OPLink/oplinkmod.c

@@ -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

flight/pios/common/pios_mpu6000.c

@@ -66,6 +66,12 @@ static int32_t PIOS_MPU6000_GetReg(uint8_t address);
 
 #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;

flight/pios/inc/pios_mpu6000.h

@@ -80,6 +80,7 @@
 
 /* Interrupt status */
 #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
 

flight/targets/boards/oplinkmini/firmware/pios_board.c

@@ -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 */

make/winx86/README.txt

@@ -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

package/winx86/openpilotgcs.nsi

@@ -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