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Code Issues Releases Activity

cleanup 'n' updates

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This commit is contained in:
Sambas 2012-02-14 21:42:09 +02:00
parent 8cc876d02a
commit 0bc08a48d8
12 changed files with 372 additions and 365 deletions
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10
flight/Modules/GPS/GPS.c
View File

@ -129,10 +129,10 @@ int32_t GPSInitialize(void)
HwSettingsOptionalModulesGet(optionalModules);
if (optionalModules[HWSETTINGS_OPTIONALMODULES_GPS] == HWSETTINGS_OPTIONALMODULES_ENABLED)
//if (optionalModules[HWSETTINGS_OPTIONALMODULES_GPS] == HWSETTINGS_OPTIONALMODULES_ENABLED)
gpsEnabled = true;
else
gpsEnabled = false;
//else
// gpsEnabled = false;
#endif
if (gpsPort && gpsEnabled) {
@ -144,7 +144,7 @@ int32_t GPSInitialize(void)
#ifdef PIOS_GPS_SETS_HOMELOCATION
HomeLocationInitialize();
#endif
updateSettings();
//updateSettings();
gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH);
PIOS_Assert(gps_rx_buffer);
@ -407,4 +407,4 @@ static void updateSettings()
/**
* @}
* @}
*/
*/

38
flight/Modules/Osd/osdgen/osdgen.c
View File

@ -73,9 +73,10 @@ static void osdgenTask(void *parameters);
// ****************
// Private constants
xSemaphoreHandle osdSemaphore;
#define LONG_TIME 0xffff
xSemaphoreHandle osdSemaphore = NULL;
#define STACK_SIZE_BYTES 1024
#define STACK_SIZE_BYTES 1096
#define TASK_PRIORITY (tskIDLE_PRIORITY + 4)
#define UPDATE_PERIOD 100
@ -2288,26 +2289,33 @@ static void osdgenTask(void *parameters)
// intro
for(int i=0; i<125; i++)
{
clearGraphics();
introGraphics();
xSemaphoreTake(osdSemaphore, portMAX_DELAY);
if( xSemaphoreTake( osdSemaphore, LONG_TIME ) == pdTRUE )
{
clearGraphics();
introGraphics();
}
}
for(int i=0; i<125; i++)
{
clearGraphics();
introGraphics();
introText();
xSemaphoreTake(osdSemaphore, portMAX_DELAY);
if( xSemaphoreTake( osdSemaphore, LONG_TIME ) == pdTRUE )
{
clearGraphics();
introGraphics();
introText();
}
}
while (1)
{
GPSPositionGet(&gpsData);
AttitudeActualGet(&attitude);
setAttitudeOsd((int16_t)attitude.Pitch,(int16_t)attitude.Roll,(int16_t)attitude.Yaw);
setGpsOsd(gpsData.Status,gpsData.Latitude,gpsData.Longitude,gpsData.Altitude,gpsData.Groundspeed);
updateOnceEveryFrame();
xSemaphoreTake(osdSemaphore, portMAX_DELAY);
if( xSemaphoreTake( osdSemaphore, LONG_TIME ) == pdTRUE )
{
GPSPositionGet(&gpsData);
AttitudeActualGet(&attitude);
setAttitudeOsd((int16_t)attitude.Pitch,(int16_t)attitude.Roll,(int16_t)attitude.Yaw);
setGpsOsd(gpsData.Status,gpsData.Latitude,gpsData.Longitude,gpsData.Altitude,gpsData.Groundspeed);
updateOnceEveryFrame();
}
//xSemaphoreTake(osdSemaphore, portMAX_DELAY);
//vTaskDelayUntil(&lastSysTime, 10 / portTICK_RATE_MS);
}
}

11
flight/OSD/Makefile
View File

@ -105,14 +105,21 @@ SRC += $(OPSYSTEM)/pios_usb_board_data.c
SRC += $(OPSYSTEM)/fonts.c
SRC += $(OPSYSTEM)/font_outlined8x14.c
SRC += $(OPSYSTEM)/font_outlined8x8.c
SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(OPSYSTEM)/alarms.c
SRC += $(OPSYSTEM)/taskmonitor.c
#SRC += $(OPSYSTEM)/taskmonitor.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/eventdispatcher.c
#SRC += $(OPSYSTEM)/pios_usb_hid_desc.c
#ifeq ($(DEBUG),YES)
SRC += $(OPSYSTEM)/dcc_stdio.c
SRC += $(OPSYSTEM)/cm3_fault_handlers.c
#endif
SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(FLIGHTLIB)/taskmonitor.c
## UAVOBJECTS
#SRC += $(OPUAVSYNTHDIR)/accessorydesired.c
SRC += $(OPUAVSYNTHDIR)/objectpersistence.c

87
flight/OSD/System/cm3_fault_handlers.c Normal file
View File

@ -0,0 +1,87 @@
/*
* cm3_fault_handlers.c
*
* Created on: Apr 24, 2011
* Author: msmith
*/
#include <stdint.h>
#include "dcc_stdio.h"
#ifdef STM32F4XX
# include "stm32f4xx.h"
#endif
#ifdef STM32F2XX
# include "stm32f2xx.h"
#endif
#define FAULT_TRAMPOLINE(_vec) \
__attribute__((naked, no_instrument_function)) \
void \
_vec##_Handler(void) \
{ \
__asm( ".syntax unified\n" \
"MOVS R0, #4 \n" \
"MOV R1, LR \n" \
"TST R0, R1 \n" \
"BEQ 1f \n" \
"MRS R0, PSP \n" \
"B " #_vec "_Handler2 \n" \
"1: \n" \
"MRS R0, MSP \n" \
"B " #_vec "_Handler2 \n" \
".syntax divided\n"); \
} \
struct hack
struct cm3_frame {
uint32_t r0;
uint32_t r1;
uint32_t r2;
uint32_t r3;
uint32_t r12;
uint32_t lr;
uint32_t pc;
uint32_t psr;
};
FAULT_TRAMPOLINE(HardFault);
FAULT_TRAMPOLINE(BusFault);
FAULT_TRAMPOLINE(UsageFault);
/* this is a hackaround to avoid an issue where dereferencing SCB seems to result in bad codegen and a link error */
#define SCB_REG(_reg) (*(uint32_t *)&(SCB->_reg))
void
HardFault_Handler2(struct cm3_frame *frame)
{
dbg_write_str("\nHARD FAULT");
dbg_write_hex32(frame->pc);
dbg_write_char('\n');
dbg_write_hex32(SCB_REG(HFSR));
dbg_write_char('\n');
for (;;);
}
void
BusFault_Handler2(struct cm3_frame *frame)
{
dbg_write_str("\nBUS FAULT");
dbg_write_hex32(frame->pc);
dbg_write_char('\n');
dbg_write_hex32(SCB_REG(CFSR));
dbg_write_char('\n');
dbg_write_hex32(SCB_REG(BFAR));
dbg_write_char('\n');
for (;;);
}
void
UsageFault_Handler2(struct cm3_frame *frame)
{
dbg_write_str("\nUSAGE FAULT");
dbg_write_hex32(frame->pc);
dbg_write_char('\n');
dbg_write_hex32(SCB_REG(CFSR));
dbg_write_char('\n');
for (;;);
}

149
flight/OSD/System/dcc_stdio.c Normal file
View File

@ -0,0 +1,149 @@
/***************************************************************************
* Copyright (C) 2008 by Dominic Rath *
* Dominic.Rath@gmx.de *
* Copyright (C) 2008 by Spencer Oliver *
* spen@spen-soft.co.uk *
* Copyright (C) 2008 by Frederik Kriewtz *
* frederik@kriewitz.eu *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
* along with this program; if not, write to the *
* Free Software Foundation, Inc., *
* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
***************************************************************************/
#include "dcc_stdio.h"
#define TARGET_REQ_TRACEMSG 0x00
#define TARGET_REQ_DEBUGMSG_ASCII 0x01
#define TARGET_REQ_DEBUGMSG_HEXMSG(size) (0x01 | ((size & 0xff) << 8))
#define TARGET_REQ_DEBUGCHAR 0x02
/* we use the cortex_m3 DCRDR reg to simulate a arm7_9 dcc channel
* DCRDR[7:0] is used by target for status
* DCRDR[15:8] is used by target for write buffer
* DCRDR[23:16] is used for by host for status
* DCRDR[31:24] is used for by host for write buffer */
#define NVIC_DBG_DATA_R (*((volatile unsigned short *)0xE000EDF8))
#define BUSY 1
void dbg_write(unsigned long dcc_data)
{
int len = 4;
while (len--)
{
/* wait for data ready */
while (NVIC_DBG_DATA_R & BUSY);
/* write our data and set write flag - tell host there is data*/
NVIC_DBG_DATA_R = (unsigned short)(((dcc_data & 0xff) << 8) | BUSY);
dcc_data >>= 8;
}
}
void dbg_trace_point(unsigned long number)
{
dbg_write(TARGET_REQ_TRACEMSG | (number << 8));
}
void dbg_write_u32(const unsigned long *val, long len)
{
dbg_write(TARGET_REQ_DEBUGMSG_HEXMSG(4) | ((len & 0xffff) << 16));
while (len > 0)
{
dbg_write(*val);
val++;
len--;
}
}
void dbg_write_u16(const unsigned short *val, long len)
{
unsigned long dcc_data;
dbg_write(TARGET_REQ_DEBUGMSG_HEXMSG(2) | ((len & 0xffff) << 16));
while (len > 0)
{
dcc_data = val[0]
| ((len > 1) ? val[1] << 16: 0x0000);
dbg_write(dcc_data);
val += 2;
len -= 2;
}
}
void dbg_write_u8(const unsigned char *val, long len)
{
unsigned long dcc_data;
dbg_write(TARGET_REQ_DEBUGMSG_HEXMSG(1) | ((len & 0xffff) << 16));
while (len > 0)
{
dcc_data = val[0]
| ((len > 1) ? val[1] << 8 : 0x00)
| ((len > 2) ? val[2] << 16 : 0x00)
| ((len > 3) ? val[3] << 24 : 0x00);
dbg_write(dcc_data);
val += 4;
len -= 4;
}
}
void dbg_write_str(const char *msg)
{
long len;
unsigned long dcc_data;
for (len = 0; msg[len] && (len < 65536); len++);
dbg_write(TARGET_REQ_DEBUGMSG_ASCII | ((len & 0xffff) << 16));
while (len > 0)
{
dcc_data = msg[0]
| ((len > 1) ? msg[1] << 8 : 0x00)
| ((len > 2) ? msg[2] << 16 : 0x00)
| ((len > 3) ? msg[3] << 24 : 0x00);
dbg_write(dcc_data);
msg += 4;
len -= 4;
}
}
void dbg_write_char(char msg)
{
dbg_write(TARGET_REQ_DEBUGCHAR | ((msg & 0xff) << 16));
}
void dbg_write_hex32(const unsigned long val)
{
static const char hextab[] = {
'0', '1', '2', '3', '4', '5', '6', '7',
'8', '9', 'a', 'b', 'c', 'd', 'e', 'f'
};
for (int shift = 28; shift >= 0; shift -= 4)
dbg_write_char(hextab[(val >> shift) & 0xf]);
}

104
flight/OSD/System/inc/FreeRTOSConfig.h
View File

@ -9,7 +9,7 @@
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
@ -23,47 +23,53 @@
/* Notes: We use 5 task priorities */
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 1
#define configUSE_TICK_HOOK 0
#define configUSE_MALLOC_FAILED_HOOK 1
#define configCPU_CLOCK_HZ ( ( unsigned long ) 56000000 )
#define configTICK_RATE_HZ ( ( portTickType ) 1000 )
#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 )
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 48 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 22 * 256) )
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_TRACE_FACILITY 0
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 0
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 0
#define configUSE_ALTERNATIVE_API 0
#define configQUEUE_REGISTRY_SIZE 10
#define configCPU_CLOCK_HZ (SYSCLK_FREQ) // really the NVIC clock ...
#define configTICK_RATE_HZ ((portTickType )1000)
#define configMAX_PRIORITIES ((unsigned portBASE_TYPE)5)
#define configMINIMAL_STACK_SIZE ((unsigned short)512)
#define configTOTAL_HEAP_SIZE ((size_t)(180 * 1024)) // this is minimum, not total
#define configMAX_TASK_NAME_LEN (16)
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 1
#define configUSE_TICK_HOOK 0
#define configUSE_TRACE_FACILITY 0
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 0
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 0
#define configUSE_ALTERNATIVE_API 0
#define configCHECK_FOR_STACK_OVERFLOW 2
#define configQUEUE_REGISTRY_SIZE 10
#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY (configMAX_PRIORITIES - 1) /* run timers at max priority */
#define configTIMER_QUEUE_LENGTH 10
#define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
#define configUSE_CO_ROUTINES 0
//#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_xTaskGetCurrentTaskHandle 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 1
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_xTaskGetCurrentTaskHandle 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
/* This is the raw value as per the Cortex-M3 NVIC. Values can be 255
(lowest) to 1 (highest maskable) to 0 (highest non-maskable). */
#define configKERNEL_INTERRUPT_PRIORITY 15 << 4 /* equivalent to NVIC priority 15 */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 0 << 4 /* equivalent to NVIC priority 3 */
#define configKERNEL_INTERRUPT_PRIORITY 15 << 4 /* equivalent to NVIC priority 15 */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 3 << 4 /* equivalent to NVIC priority 3 */
/* This is the value being used as per the ST library which permits 16
priority values, 0 to 15. This must correspond to the
@ -71,25 +77,23 @@ configKERNEL_INTERRUPT_PRIORITY setting. Here 15 corresponds to the lowest
NVIC value of 255. */
#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY 15
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32)
#define CHECK_IRQ_STACK
#endif
/* Enable run time stats collection */
#if defined(DIAGNOSTICS)
#define configCHECK_FOR_STACK_OVERFLOW 2
#define configGENERATE_RUN_TIME_STATS 1
#define INCLUDE_uxTaskGetRunTime 1
#define configGENERATE_RUN_TIME_STATS 1
#define INCLUDE_uxTaskGetRunTime 1
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()\
do {\
(*(unsigned long *)0xe000edfc) |= (1<<24);/* DEMCR |= DEMCR_TRCENA */\
(*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */\
} while(0)
#define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004)/* DWT_CYCCNT */
#else
#define configCHECK_FOR_STACK_OVERFLOW 1
#endif
/*
* Once we move to CMSIS2 we can at least use:
*
* CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
*
* (still nothing for the DWT registers, surprisingly)
*/
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() \
do { \
(*(unsigned long *)0xe000edfc) |= (1<<24); /* DEMCR |= DEMCR_TRCENA */ \
(*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */ \
} while(0)
#define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004) /* DWT_CYCCNT */
/**

36
flight/OSD/System/inc/dcc_stdio.h Normal file
View File

@ -0,0 +1,36 @@
/***************************************************************************
* Copyright (C) 2008 by Dominic Rath *
* Dominic.Rath@gmx.de *
* Copyright (C) 2008 by Spencer Oliver *
* spen@spen-soft.co.uk *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
* along with this program; if not, write to the *
* Free Software Foundation, Inc., *
* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
***************************************************************************/
#ifndef DCC_STDIO_H
#define DCC_STDIO_H
void dbg_trace_point(unsigned long number);
void dbg_write_u32(const unsigned long *val, long len);
void dbg_write_u16(const unsigned short *val, long len);
void dbg_write_u8(const unsigned char *val, long len);
void dbg_write_str(const char *msg);
void dbg_write_char(char msg);
void dbg_write_hex32(const unsigned long val);
#endif /* DCC_STDIO_H */

43
flight/OSD/System/inc/taskmonitor.h
View File

@ -1,43 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
* @file taskmonitor.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Include file of the task monitoring library
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef TASKMONITOR_H
#define TASKMONITOR_H
#include "taskinfo.h"
int32_t TaskMonitorInitialize(void);
int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle);
int32_t TaskMonitorRemove(TaskInfoRunningElem task);
void TaskMonitorUpdateAll(void);
#endif // TASKMONITOR_H
/**
* @}
* @}
*/

79
flight/OSD/System/osd.c
View File

@ -186,21 +186,6 @@ void processReset(void)
RCC_ClearFlag();
}
/*static void updateOnceEveryFrame() {
#ifdef TEXT_ENABLED
clearText();
for (uint8_t i = 0; i < TEXT_LINES; ++i) {
updateText(i);
}
#endif //TEXT_ENABLED
#ifdef GRAPICSENABLED
clearGraphics();
updateGrapics();
#endif //GRAPICSENABLED
}
*/
int main()
{
int result;
@ -221,35 +206,10 @@ int main()
&initTaskHandle);
PIOS_Assert(result == pdPASS);
// turn all the leds off
//USB_LED_OFF;
#if defined(PIOS_COM_DEBUG)
DEBUG_PRINTF("\r\n");
#endif
// *************
// Main executive loop
clearGraphics();
introGraphics();
PIOS_DELAY_WaitmS(1000);
//clearText();
introText();
PIOS_DELAY_WaitmS(1000);
/*for(int i=0;i<10000;i++){
updateTextPixmap(activeTextId);
PIOS_DELAY_WaituS(10);
}*/
/* swap the stack to use the IRQ stack */
//Stack_Change();
/* Start the FreeRTOS scheduler which should never returns.*/
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* Do some indication to user that something bad just happened */
PIOS_LED_Off(PIOS_LED_HEARTBEAT); \
for(;;) { \
@ -258,45 +218,6 @@ int main()
};
return 0;
/*
for (;;)
{
#ifdef TEXT_ENABLED
if (update == 2) {
update = 0;
#ifdef TEXT_INVERTED_ENABLED
clearTextInverted();
#endif //TEXT_INVERTED_ENABLED
updateTextPixmap(activeTextId);
}
else if (update == 1) {
#else
if (update == 1) {
#endif //TEXTENABLED
update = 0;
updateOnceEveryFrame();
}
#if defined(USE_WATCHDOG)
processWatchdog(); // process the watchdog
#endif
}
// *************
// we should never arrive here
// disable all interrupts
PIOS_IRQ_Disable();
// turn off all leds
USB_LED_OFF;
PIOS_SYS_Reset();
while (1);
*/
return 0;
}
/**

9
flight/OSD/System/pios_board.c
View File

@ -288,7 +288,7 @@ static const struct pios_exti_cfg pios_exti_hsync_cfg __exti_config = {
.irq = {
.init = {
.NVIC_IRQChannel = EXTI0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
@ -582,7 +582,7 @@ void PIOS_VIDEO_DMA_Handler(void)
#endif
#if defined(PIOS_INCLUDE_ADC)
/*
* ADC system
*/
@ -627,6 +627,7 @@ struct pios_adc_dev pios_adc_devs[] = {
uint8_t pios_adc_num_devices = NELEMENTS(pios_adc_devs);
#endif
/* Private define ------------------------------------------------------------*/
#define DAC_DHR12R2_ADDRESS 0x40007414
@ -926,7 +927,7 @@ const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = {
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 512
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 512
#define PIOS_COM_GPS_RX_BUF_LEN 32
#define PIOS_COM_GPS_RX_BUF_LEN 127
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 65
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 65
@ -1147,7 +1148,7 @@ void PIOS_Board_Init(void) {
#if defined(PIOS_INCLUDE_COM_TELEM)
{ /* Eventually add switch for this port function */
uint32_t pios_usart_telem_rf_id;
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_gps_cfg)) {
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_main_cfg)) {
PIOS_Assert(0);
}

150
flight/OSD/System/taskmonitor.c
View File

@ -1,150 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
* @file taskmonitor.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Task monitoring library
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
//#include "taskmonitor.h"
// Private constants
// Private types
// Private variables
static xSemaphoreHandle lock;
static xTaskHandle handles[TASKINFO_RUNNING_NUMELEM];
static uint32_t lastMonitorTime;
// Private functions
/**
* Initialize library
*/
int32_t TaskMonitorInitialize(void)
{
lock = xSemaphoreCreateRecursiveMutex();
memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM);
lastMonitorTime = 0;
#if defined(DIAGNOSTICS)
lastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
#endif
return 0;
}
/**
* Register a task handle with the library
*/
int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle)
{
if (task < TASKINFO_RUNNING_NUMELEM)
{
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
handles[task] = handle;
xSemaphoreGiveRecursive(lock);
return 0;
}
else
{
return -1;
}
}
/**
* Remove a task handle from the library
*/
int32_t TaskMonitorRemove(TaskInfoRunningElem task)
{
if (task < TASKINFO_RUNNING_NUMELEM)
{
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
handles[task] = 0;
xSemaphoreGiveRecursive(lock);
return 0;
}
else
{
return -1;
}
}
/**
* Update the status of all tasks
*/
void TaskMonitorUpdateAll(void)
{
#if defined(DIAGNOSTICS)
TaskInfoData data;
int n;
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
#if ( configGENERATE_RUN_TIME_STATS == 1 )
uint32_t currentTime;
uint32_t deltaTime;
/*
* Calculate the amount of elapsed run time between the last time we
* measured and now. Scale so that we can convert task run times
* directly to percentages.
*/
currentTime = portGET_RUN_TIME_COUNTER_VALUE();
deltaTime = ((currentTime - lastMonitorTime) / 100) ? : 1; /* avoid divide-by-zero if the interval is too small */
lastMonitorTime = currentTime;
#endif
// Update all task information
for (n = 0; n < TASKINFO_RUNNING_NUMELEM; ++n)
{
if (handles[n] != 0)
{
data.Running[n] = TASKINFO_RUNNING_TRUE;
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
data.StackRemaining[n] = 10000;
#else
data.StackRemaining[n] = uxTaskGetStackHighWaterMark(handles[n]) * 4;
#if ( configGENERATE_RUN_TIME_STATS == 1 )
/* Generate run time stats */
data.RunningTime[n] = uxTaskGetRunTime(handles[n]) / deltaTime;
#endif
#endif
}
else
{
data.Running[n] = TASKINFO_RUNNING_FALSE;
data.StackRemaining[n] = 0;
data.RunningTime[n] = 0;
}
}
// Update object
TaskInfoSet(&data);
// Done
xSemaphoreGiveRecursive(lock);
#endif
}

21
flight/PiOS/Common/pios_video.c
View File

@ -101,7 +101,7 @@ void PIOS_Hsync_ISR() {
//PIOS_LED_On(LED2);
if(gLineType == LINE_TYPE_GRAPHICS)
{
for(int g=0;g<130;g++)
for(int g=0;g<110;g++)
{
asm("nop");
}
@ -149,6 +149,7 @@ void PIOS_Vsync_ISR() {
//PIOS_LED_Toggle(LED3);
//if(gActiveLine > 200)
xHigherPriorityTaskWoken = pdFALSE;
m_osdLines = gActiveLine;
{
gActiveLine = 0;
@ -157,9 +158,10 @@ void PIOS_Vsync_ISR() {
{
swap_buffers();
Vsync_update=0;
xSemaphoreGiveFromISR(osdSemaphore, &xHigherPriorityTaskWoken);
xHigherPriorityTaskWoken = xSemaphoreGiveFromISR(osdSemaphore, &xHigherPriorityTaskWoken);
}
}
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken); //portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
}
uint16_t PIOS_Video_GetOSDLines(void) {
@ -228,29 +230,14 @@ void PIOS_Video_Init(const struct pios_video_cfg * cfg){
NVIC_Init(&cfg->level.dma.irq.init);
NVIC_Init(&cfg->mask.dma.irq.init);
/* Enable SPI interrupts to DMA */
SPI_I2S_DMACmd(cfg->level.regs, SPI_I2S_DMAReq_Tx, ENABLE);
SPI_I2S_DMACmd(cfg->mask.regs, SPI_I2S_DMAReq_Tx, ENABLE);
/* Initialize the GPIO pins */
//SYSCFG_EXTILineConfig(cfg->vsync.port_source, cfg->vsync.pin_source);
//SYSCFG_EXTILineConfig(cfg->hsync.port_source, cfg->hsync.pin_source);
/* Configure Video Sync pin input floating */
//GPIO_Init(cfg->vsync_io.gpio, (GPIO_InitTypeDef*)&(cfg->vsync_io.init));
//GPIO_Init(cfg->hsync_io.gpio, (GPIO_InitTypeDef*)&(cfg->hsync_io.init));
/* Configure the Video Line interrupt */
PIOS_EXTI_Init(cfg->hsync);
PIOS_EXTI_Init(cfg->vsync);
//EXTI_Init(&cfg->vsync.init);
//EXTI_Init(&cfg->hsync.init);
/* Enable and set EXTI Interrupt to the lowest priority */
//NVIC_Init(&cfg->vsync_irq.init);
//NVIC_Init(&cfg->hsync_irq.init);
draw_buffer_level = buffer0_level;
draw_buffer_mask = buffer0_mask;