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https://bitbucket.org/librepilot/librepilot.git
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LP-72 hott exbus DjiGps systemmod comms stacksize
This commit is contained in:
Cliff Geerdes
Laurent Lalanne
parent
9450b13fde
commit
0c76379f0a
@ -1,8 +1,9 @@
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/**
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******************************************************************************
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* @file board_hw_defs.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @author PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016 .
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
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* @addtogroup OpenPilotSystem OpenPilot System
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* @{
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* @addtogroup OpenPilotCore OpenPilot Core
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@ -940,6 +941,107 @@ static const struct pios_usart_cfg pios_usart_srxl_flexi_cfg = {
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};
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#endif /* PIOS_INCLUDE_SRXL */
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// these were copied from Revo support
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// they probably need to be modified for sparky2 support
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#if defined(PIOS_INCLUDE_HOTT)
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/*
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* HOTT USART
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*/
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#include <pios_hott_priv.h>
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static const struct pios_usart_cfg pios_usart_hott_flexi_cfg = {
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.regs = USART3,
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.remap = GPIO_AF_USART3,
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.init = {
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.USART_BaudRate = 115200,
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.USART_WordLength = USART_WordLength_8b,
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.USART_Parity = USART_Parity_No,
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.USART_StopBits = USART_StopBits_1,
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.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
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.USART_Mode = USART_Mode_Rx,
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},
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.irq = {
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.init = {
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.NVIC_IRQChannel = USART3_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_11,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_AF,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_UP
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},
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},
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.tx = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_10,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_OUT,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_UP
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},
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},
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};
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#endif /* PIOS_INCLUDE_HOTT */
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#if defined(PIOS_INCLUDE_EXBUS)
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/*
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* EXBUS USART
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*/
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#include <pios_exbus_priv.h>
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static const struct pios_usart_cfg pios_usart_exbus_flexi_cfg = {
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.regs = USART3,
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.remap = GPIO_AF_USART3,
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.init = {
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.USART_BaudRate = 125000,
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.USART_WordLength = USART_WordLength_8b,
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.USART_Parity = USART_Parity_No,
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.USART_StopBits = USART_StopBits_1,
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.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
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.USART_Mode = USART_Mode_Rx,
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},
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.irq = {
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.init = {
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.NVIC_IRQChannel = USART3_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_11,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_AF,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_UP
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},
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},
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.tx = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_10,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_OUT,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_UP
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},
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},
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};
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#endif /* PIOS_INCLUDE_EXBUS */
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/*
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* HK OSD
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*/
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@ -34,9 +34,8 @@
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#include <pios_com_msg.h>
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#include <pios_usbhook.h> /* PIOS_USBHOOK_* */
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#include <stdbool.h>
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#include <pios_board_init.h>
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/* Prototype of PIOS_Board_Init() function */
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extern void PIOS_Board_Init(void);
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extern void FLASH_Download();
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void check_bor();
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#define BSL_HOLD_STATE ((PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) ? 0 : 1)
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@ -95,7 +95,6 @@ ifndef TESTAPP
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SRC += $(FLIGHTLIB)/auxmagsupport.c
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SRC += $(FLIGHTLIB)/lednotification.c
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SRC += $(FLIGHTLIB)/sha1.c
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CPPSRC += $(FLIGHTLIB)/mini_cpp.cpp
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## UAVObjects
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include ./UAVObjects.inc
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@ -5,7 +5,8 @@
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* @addtogroup OpenPilotCore OpenPilot Core
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* @{
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* @file pios_config.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013.
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013.
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* @brief PiOS configuration header, the compile time config file for the PIOS.
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* Defines which PiOS libraries and features are included in the firmware.
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* @see The GNU Public License (GPL) Version 3
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@ -88,18 +89,19 @@
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/* Sparky2 5X83s are all external and thus don't have GPIOs #define PIOS_HMC5X83_HAS_GPIOS */
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/* #define PIOS_INCLUDE_BMP085 */
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#define PIOS_INCLUDE_MS5611
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#define PIOS_INCLUDE_MPU9250
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#define PIOS_MPU9250_ACCEL
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#define PIOS_MPU9250_MAG
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#define PIOS_INCLUDE_MPXV
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#define PIOS_INCLUDE_ETASV3
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#define PIOS_INCLUDE_MS4525DO
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/* #define PIOS_INCLUDE_HCSR04 */
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#define PIOS_INCLUDE_MPU9250
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#define PIOS_MPU9250_ACCEL
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#define PIOS_MPU9250_MAG
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#define PIOS_SENSOR_RATE 500.0f
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#define PIOS_INCLUDE_WS2811
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/* #define PIOS_INCLUDE_HCSR04 */
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/* PIOS receiver drivers */
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#define PIOS_INCLUDE_PWM
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#define PIOS_INCLUDE_PPM
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@ -107,6 +109,8 @@
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#define PIOS_INCLUDE_DSM
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#define PIOS_INCLUDE_SBUS
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#define PIOS_INCLUDE_SRXL
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#define PIOS_INCLUDE_HOTT
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#define PIOS_INCLUDE_EXBUS
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#define PIOS_INCLUDE_GCSRCVR
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#define PIOS_INCLUDE_OPLINKRCVR
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@ -125,8 +129,9 @@
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#define PIOS_INCLUDE_FLASH
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#define PIOS_INCLUDE_FLASH_INTERNAL
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#define PIOS_INCLUDE_FLASH_LOGFS_SETTINGS
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#define FLASH_FREERTOS
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/* #define PIOS_INCLUDE_FLASH_OBJLIST */
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/* #define PIOS_INCLUDE_FLASH_EEPROM */
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#define FLASH_FREERTOS
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#define PIOS_INCLUDE_DEBUGLOG
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@ -153,6 +158,7 @@
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/* #define PIOS_GPS_MINIMAL */
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#define PIOS_INCLUDE_GPS_NMEA_PARSER
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#define PIOS_INCLUDE_GPS_UBX_PARSER
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#define PIOS_INCLUDE_GPS_DJI_PARSER
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#define PIOS_GPS_SETS_HOMELOCATION
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/* Stabilization options */
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@ -172,7 +178,7 @@
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/* Task stack sizes */
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/* #define PIOS_ACTUATOR_STACK_SIZE 1020 */
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/* #define PIOS_MANUAL_STACK_SIZE 800 */
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/* #define PIOS_SYSTEM_STACK_SIZE 660 */
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#define PIOS_SYSTEM_STACK_SIZE 1536
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/* #define PIOS_STABILIZATION_STACK_SIZE 524 */
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/* #define PIOS_TELEM_STACK_SIZE 500 */
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/* #define PIOS_EVENTDISPATCHER_STACK_SIZE 130 */
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@ -1,8 +1,9 @@
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/**
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******************************************************************************
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* @file pios_board.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
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* @author PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
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* PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
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* @addtogroup OpenPilotSystem OpenPilot System
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* @{
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* @addtogroup OpenPilotCore OpenPilot Core
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@ -270,7 +271,10 @@ uintptr_t pios_uavo_settings_fs_id;
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uintptr_t pios_user_fs_id;
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/*
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* Setup a com port based on the passed cfg, driver and buffer sizes. tx size of -1 make the port rx only
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* Setup a com port based on the passed cfg, driver and buffer sizes.
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* tx size of -1 make the port rx only
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* rx size of -1 make the port tx only
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* having both tx and rx size of -1 is not valid and will fail further down in PIOS_COM_Init()
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*/
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static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg, size_t rx_buf_len, size_t tx_buf_len,
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const struct pios_com_driver *com_driver, uint32_t *pios_com_id)
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@ -281,23 +285,22 @@ static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg
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PIOS_Assert(0);
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}
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uint8_t *rx_buffer = (uint8_t *)pios_malloc(rx_buf_len);
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PIOS_Assert(rx_buffer);
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if (tx_buf_len != (size_t)-1) { // this is the case for rx/tx ports
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uint8_t *tx_buffer = (uint8_t *)pios_malloc(tx_buf_len);
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PIOS_Assert(tx_buffer);
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uint8_t *rx_buffer = 0, *tx_buffer = 0;
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if (PIOS_COM_Init(pios_com_id, com_driver, pios_usart_id,
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rx_buffer, rx_buf_len,
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tx_buffer, tx_buf_len)) {
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PIOS_Assert(0);
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}
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} else { // rx only port
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if (PIOS_COM_Init(pios_com_id, com_driver, pios_usart_id,
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rx_buffer, rx_buf_len,
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NULL, 0)) {
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PIOS_Assert(0);
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}
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if (rx_buf_len > 0) {
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rx_buffer = (uint8_t *)pios_malloc(rx_buf_len);
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PIOS_Assert(rx_buffer);
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}
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if (tx_buf_len > 0) {
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tx_buffer = (uint8_t *)pios_malloc(tx_buf_len);
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PIOS_Assert(tx_buffer);
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}
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if (PIOS_COM_Init(pios_com_id, com_driver, pios_usart_id,
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rx_buffer, rx_buf_len,
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tx_buffer, tx_buf_len)) {
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PIOS_Assert(0);
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}
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}
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@ -529,7 +532,7 @@ void PIOS_Board_Init(void)
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case HWSETTINGS_RM_FLEXIPORT_DEBUGCONSOLE:
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#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
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{
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PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
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PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
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}
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#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
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break;
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@ -558,7 +561,53 @@ void PIOS_Board_Init(void)
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}
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pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SRXL] = pios_srxl_rcvr_id;
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}
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#endif
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#endif /* PIOS_INCLUDE_SRXL */
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break;
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case HWSETTINGS_RM_FLEXIPORT_HOTTSUMD:
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case HWSETTINGS_RM_FLEXIPORT_HOTTSUMH:
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#if defined(PIOS_INCLUDE_HOTT)
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{
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uint32_t pios_usart_hott_id;
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if (PIOS_USART_Init(&pios_usart_hott_id, &pios_usart_hott_flexi_cfg)) {
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PIOS_Assert(0);
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}
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uint32_t pios_hott_id;
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if (PIOS_HOTT_Init(&pios_hott_id, &pios_usart_com_driver, pios_usart_hott_id,
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hwsettings_flexiport == HWSETTINGS_RM_FLEXIPORT_HOTTSUMD ? PIOS_HOTT_PROTO_SUMD : PIOS_HOTT_PROTO_SUMH)) {
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PIOS_Assert(0);
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}
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uint32_t pios_hott_rcvr_id;
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if (PIOS_RCVR_Init(&pios_hott_rcvr_id, &pios_hott_rcvr_driver, pios_hott_id)) {
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PIOS_Assert(0);
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}
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pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTT] = pios_hott_rcvr_id;
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}
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#endif /* PIOS_INCLUDE_HOTT */
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break;
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case HWSETTINGS_RM_FLEXIPORT_EXBUS:
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#if defined(PIOS_INCLUDE_EXBUS)
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{
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uint32_t pios_usart_exbus_id;
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if (PIOS_USART_Init(&pios_usart_exbus_id, &pios_usart_exbus_flexi_cfg)) {
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PIOS_Assert(0);
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}
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uint32_t pios_exbus_id;
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if (PIOS_EXBUS_Init(&pios_exbus_id, &pios_usart_com_driver, pios_usart_exbus_id)) {
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PIOS_Assert(0);
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}
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uint32_t pios_exbus_rcvr_id;
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if (PIOS_RCVR_Init(&pios_exbus_rcvr_id, &pios_exbus_rcvr_driver, pios_exbus_id)) {
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PIOS_Assert(0);
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}
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pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_EXBUS] = pios_exbus_rcvr_id;
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}
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#endif /* PIOS_INCLUDE_EXBUS */
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break;
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} /* hwsettings_rm_flexiport */
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@ -1,17 +1,18 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @brief These files are the core system files of OpenPilot.
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* They are the ground layer just above PiOS. In practice, OpenPilot actually starts
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* in the main() function of openpilot.c
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* @addtogroup LibrePilotSystem LibrePilot System
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* @brief These files are the core system files for Revolution.
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* They are the ground layer just above PiOS. In practice, Revolution actually starts
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* in the main() function of revolution.cpp
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* @{
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* @addtogroup OpenPilotCore OpenPilot Core
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* @brief This is where the OP firmware starts. Those files also define the compile-time
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* @addtogroup LibrePilotCore LibrePilot Core
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* @brief This is where the LP firmware starts. Those files also define the compile-time
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* options of the firmware.
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* @{
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* @file openpilot.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Sets up and runs main OpenPilot tasks.
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* @file revolution.cpp
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2015
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* @brief Sets up and runs main tasks.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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@ -34,46 +35,12 @@
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extern "C" {
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#include "inc/openpilot.h"
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#include <uavobjectsinit.h>
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#include <systemmod.h>
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/* Task Priorities */
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#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
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/* Global Variables */
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/* Local Variables */
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#define INCLUDE_TEST_TASKS 0
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#if INCLUDE_TEST_TASKS
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static uint8_t sdcard_available;
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#endif
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char Buffer[1024];
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uint32_t Cache;
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/* Function Prototypes */
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#if INCLUDE_TEST_TASKS
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static void TaskTick(void *pvParameters);
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static void TaskTesting(void *pvParameters);
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static void TaskHIDTest(void *pvParameters);
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static void TaskServos(void *pvParameters);
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static void TaskSDCard(void *pvParameters);
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#endif
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int32_t CONSOLE_Parse(uint8_t port, char c);
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void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value);
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/* Prototype of PIOS_Board_Init() function */
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extern void PIOS_Board_Init(void);
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extern void Stack_Change(void);
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static void Stack_Change_Weak() __attribute__((weakref("Stack_Change")));
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/* Local Variables */
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#define INIT_TASK_PRIORITY (tskIDLE_PRIORITY + configMAX_PRIORITIES - 1) // max priority
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#define INIT_TASK_STACK (1024 / 4) // XXX this seems excessive
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static xTaskHandle initTaskHandle;
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/* Function Prototypes */
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static void initTask(void *parameters);
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/* Prototype of generated InitModules() function */
|
||||
extern void InitModules(void);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -87,8 +54,6 @@ extern void InitModules(void);
|
||||
*/
|
||||
int main()
|
||||
{
|
||||
int result;
|
||||
|
||||
/* NOTE: Do NOT modify the following start-up sequence */
|
||||
/* Any new initialization functions should be added in OpenPilotInit() */
|
||||
vPortInitialiseBlocks();
|
||||
@ -96,12 +61,7 @@ int main()
|
||||
/* Brings up System using CMSIS functions, enables the LEDs. */
|
||||
PIOS_SYS_Init();
|
||||
|
||||
/* For Revolution we use a FreeRTOS task to bring up the system so we can */
|
||||
/* always rely on FreeRTOS primitive */
|
||||
result = xTaskCreate(initTask, "init",
|
||||
INIT_TASK_STACK, NULL, INIT_TASK_PRIORITY,
|
||||
&initTaskHandle);
|
||||
PIOS_Assert(result == pdPASS);
|
||||
SystemModStart();
|
||||
|
||||
/* Start the FreeRTOS scheduler */
|
||||
vTaskStartScheduler();
|
||||
@ -117,22 +77,7 @@ int main()
|
||||
|
||||
return 0;
|
||||
}
|
||||
/**
|
||||
* Initialisation task.
|
||||
*
|
||||
* Runs board and module initialisation, then terminates.
|
||||
*/
|
||||
void initTask(__attribute__((unused)) void *parameters)
|
||||
{
|
||||
/* board driver init */
|
||||
PIOS_Board_Init();
|
||||
|
||||
/* Initialize modules */
|
||||
MODULE_INITIALISE_ALL;
|
||||
|
||||
/* terminate this task */
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
|
||||
@ -5,7 +5,8 @@
|
||||
* @addtogroup OpenPilotCore OpenPilot Core
|
||||
* @{
|
||||
* @file pios_board.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @brief Defines board hardware for the OpenPilot Version 1.1 hardware.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
@ -257,6 +258,18 @@ extern uint32_t pios_packet_handler;
|
||||
#define PIOS_SBUS_MAX_DEVS 1
|
||||
#define PIOS_SBUS_NUM_INPUTS (16 + 2)
|
||||
|
||||
// -------------------------
|
||||
// Receiver HOTT input
|
||||
// -------------------------
|
||||
#define PIOS_HOTT_MAX_DEVS 1
|
||||
#define PIOS_HOTT_NUM_INPUTS 32
|
||||
|
||||
// -------------------------
|
||||
// Receiver EX.Bus input
|
||||
// -------------------------
|
||||
#define PIOS_EXBUS_MAX_DEVS 1
|
||||
#define PIOS_EXBUS_NUM_INPUTS 16
|
||||
|
||||
// -------------------------
|
||||
// Receiver Multiplex SRXL input
|
||||
// -------------------------
|
||||
|
||||
Loading…
Reference in New Issue
Block a user