mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
Compiles now
This commit is contained in:
James Cotton
parent
0931a518d4
commit
0ce80e02f5
@ -55,7 +55,7 @@
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#define PIOS_INCLUDE_SPI
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#define PIOS_INCLUDE_SYS
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#define PIOS_INCLUDE_USART
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#define PIOS_INCLUDE_USB_HID
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##define PIOS_INCLUDE_USB_HID
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#define PIOS_INCLUDE_BMP085
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//#define PIOS_INCLUDE_HCSR04
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#define PIOS_INCLUDE_OPAHRS
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429
flight/PiOS/STM32F4xx/pios_tim.c
Normal file
429
flight/PiOS/STM32F4xx/pios_tim.c
Normal file
@ -0,0 +1,429 @@
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#include "pios.h"
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#include "pios_tim.h"
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#include "pios_tim_priv.h"
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enum pios_tim_dev_magic {
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PIOS_TIM_DEV_MAGIC = 0x87654098,
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};
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struct pios_tim_dev {
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enum pios_tim_dev_magic magic;
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const struct pios_tim_channel * channels;
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uint8_t num_channels;
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const struct pios_tim_callbacks * callbacks;
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uint32_t context;
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};
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#if 0
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static bool PIOS_TIM_validate(struct pios_tim_dev * tim_dev)
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{
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return (tim_dev->magic == PIOS_TIM_DEV_MAGIC);
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}
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#endif
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#if defined(PIOS_INCLUDE_FREERTOS) && 0
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static struct pios_tim_dev * PIOS_TIM_alloc(void)
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{
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struct pios_tim_dev * tim_dev;
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tim_dev = (struct pios_tim_dev *)malloc(sizeof(*tim_dev));
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if (!tim_dev) return(NULL);
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tim_dev->magic = PIOS_TIM_DEV_MAGIC;
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return(tim_dev);
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}
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#else
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static struct pios_tim_dev pios_tim_devs[PIOS_TIM_MAX_DEVS];
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static uint8_t pios_tim_num_devs;
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static struct pios_tim_dev * PIOS_TIM_alloc(void)
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{
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struct pios_tim_dev * tim_dev;
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if (pios_tim_num_devs >= PIOS_TIM_MAX_DEVS) {
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return (NULL);
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}
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tim_dev = &pios_tim_devs[pios_tim_num_devs++];
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tim_dev->magic = PIOS_TIM_DEV_MAGIC;
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return (tim_dev);
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}
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#endif
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int32_t PIOS_TIM_InitClock(const struct pios_tim_clock_cfg * cfg)
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{
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PIOS_DEBUG_Assert(cfg);
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/* Enable appropriate clock to timer module */
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switch((uint32_t) cfg->timer) {
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case (uint32_t)TIM1:
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
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break;
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case (uint32_t)TIM2:
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
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break;
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case (uint32_t)TIM3:
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
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break;
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case (uint32_t)TIM4:
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
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break;
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#ifdef STM32F10X_HD
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case (uint32_t)TIM5:
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
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break;
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case (uint32_t)TIM6:
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
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break;
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case (uint32_t)TIM7:
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE);
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break;
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case (uint32_t)TIM8:
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
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break;
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#endif
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}
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/* Configure the dividers for this timer */
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TIM_TimeBaseInit(cfg->timer, cfg->time_base_init);
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/* Configure internal timer clocks */
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TIM_InternalClockConfig(cfg->timer);
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/* Enable timers */
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TIM_Cmd(cfg->timer, ENABLE);
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/* Enable Interrupts */
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NVIC_Init(&cfg->irq.init);
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return 0;
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}
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int32_t PIOS_TIM_InitChannels(uint32_t * tim_id, const struct pios_tim_channel * channels, uint8_t num_channels, const struct pios_tim_callbacks * callbacks, uint32_t context)
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{
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PIOS_Assert(channels);
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PIOS_Assert(num_channels);
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struct pios_tim_dev * tim_dev;
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tim_dev = (struct pios_tim_dev *) PIOS_TIM_alloc();
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if (!tim_dev) goto out_fail;
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/* Bind the configuration to the device instance */
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tim_dev->channels = channels;
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tim_dev->num_channels = num_channels;
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tim_dev->callbacks = callbacks;
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tim_dev->context = context;
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/* Configure the pins */
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for (uint8_t i = 0; i < num_channels; i++) {
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const struct pios_tim_channel * chan = &(channels[i]);
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/* Enable the peripheral clock for the GPIO */
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/* switch ((uint32_t)chan->pin.gpio) {
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case (uint32_t) GPIOA:
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
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break;
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case (uint32_t) GPIOB:
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
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break;
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case (uint32_t) GPIOC:
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
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break;
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default:
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PIOS_Assert(0);
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break;
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}
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*/ // commented out for now as f4 starts all clocks
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GPIO_Init(chan->pin.gpio, &chan->pin.init);
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// F4 remaps pins differently
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/* if (chan->remap) {
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GPIO_PinRemapConfig(chan->remap, ENABLE);
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} */
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}
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*tim_id = (uint32_t)tim_dev;
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return(0);
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out_fail:
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return(-1);
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}
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static void PIOS_TIM_generic_irq_handler(TIM_TypeDef * timer)
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{
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/* Iterate over all registered clients of the TIM layer to find channels on this timer */
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for (uint8_t i = 0; i < pios_tim_num_devs; i++) {
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const struct pios_tim_dev * tim_dev = &pios_tim_devs[i];
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if (!tim_dev->channels || tim_dev->num_channels == 0) {
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/* No channels to process on this client */
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continue;
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}
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/* Check for an overflow event on this timer */
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bool overflow_event;
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uint16_t overflow_count;
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if (TIM_GetITStatus(timer, TIM_IT_Update) == SET) {
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TIM_ClearITPendingBit(timer, TIM_IT_Update);
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overflow_count = timer->ARR;
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overflow_event = true;
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} else {
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overflow_count = 0;
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overflow_event = false;
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}
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for (uint8_t j = 0; j < tim_dev->num_channels; j++) {
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const struct pios_tim_channel * chan = &tim_dev->channels[j];
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if (chan->timer != timer) {
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/* channel is not on this timer */
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continue;
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}
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/* Figure out which interrupt bit we should be looking at */
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uint16_t timer_it;
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switch (chan->timer_chan) {
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case TIM_Channel_1:
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timer_it = TIM_IT_CC1;
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break;
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case TIM_Channel_2:
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timer_it = TIM_IT_CC2;
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break;
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case TIM_Channel_3:
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timer_it = TIM_IT_CC3;
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break;
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case TIM_Channel_4:
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timer_it = TIM_IT_CC4;
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break;
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default:
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PIOS_Assert(0);
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break;
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}
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bool edge_event;
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uint16_t edge_count;
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if (TIM_GetITStatus(chan->timer, timer_it) == SET) {
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TIM_ClearITPendingBit(chan->timer, timer_it);
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/* Read the current counter */
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switch(chan->timer_chan) {
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case TIM_Channel_1:
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edge_count = TIM_GetCapture1(chan->timer);
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break;
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case TIM_Channel_2:
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edge_count = TIM_GetCapture2(chan->timer);
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break;
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case TIM_Channel_3:
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edge_count = TIM_GetCapture3(chan->timer);
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break;
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case TIM_Channel_4:
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edge_count = TIM_GetCapture4(chan->timer);
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break;
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default:
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PIOS_Assert(0);
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break;
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}
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edge_event = true;
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} else {
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edge_event = false;
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edge_count = 0;
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}
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if (!tim_dev->callbacks) {
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/* No callbacks registered, we're done with this channel */
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continue;
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}
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/* Generate the appropriate callbacks */
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if (overflow_event & edge_event) {
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/*
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* When both edge and overflow happen in the same interrupt, we
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* need a heuristic to determine the order of the edge and overflow
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* events so that the callbacks happen in the right order. If we
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* get the order wrong, our pulse width calculations could be off by up
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* to ARR ticks. That could be bad.
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*
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* Heuristic: If the edge_count is < 16 ticks above zero then we assume the
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* edge happened just after the overflow.
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*/
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if (edge_count < 16) {
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/* Call the overflow callback first */
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if (tim_dev->callbacks->overflow) {
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(*tim_dev->callbacks->overflow)((uint32_t)tim_dev,
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tim_dev->context,
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j,
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overflow_count);
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}
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/* Call the edge callback second */
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if (tim_dev->callbacks->edge) {
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(*tim_dev->callbacks->edge)((uint32_t)tim_dev,
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tim_dev->context,
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j,
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edge_count);
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}
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} else {
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/* Call the edge callback first */
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if (tim_dev->callbacks->edge) {
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(*tim_dev->callbacks->edge)((uint32_t)tim_dev,
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tim_dev->context,
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j,
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edge_count);
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}
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/* Call the overflow callback second */
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if (tim_dev->callbacks->overflow) {
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(*tim_dev->callbacks->overflow)((uint32_t)tim_dev,
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tim_dev->context,
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j,
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overflow_count);
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}
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}
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} else if (overflow_event && tim_dev->callbacks->overflow) {
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(*tim_dev->callbacks->overflow)((uint32_t)tim_dev,
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tim_dev->context,
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j,
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overflow_count);
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} else if (edge_event && tim_dev->callbacks->edge) {
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(*tim_dev->callbacks->edge)((uint32_t)tim_dev,
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tim_dev->context,
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j,
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edge_count);
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}
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}
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}
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}
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#if 0
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uint16_t val = 0;
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for(uint8_t i = 0; i < pios_pwm_cfg.num_channels; i++) {
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struct pios_pwm_channel channel = pios_pwm_cfg.channels[i];
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if ((channel.timer == timer) && (TIM_GetITStatus(channel.timer, channel.ccr) == SET)) {
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TIM_ClearITPendingBit(channel.timer, channel.ccr);
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switch(channel.channel) {
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case TIM_Channel_1:
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val = TIM_GetCapture1(channel.timer);
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break;
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case TIM_Channel_2:
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val = TIM_GetCapture2(channel.timer);
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break;
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case TIM_Channel_3:
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val = TIM_GetCapture3(channel.timer);
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break;
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case TIM_Channel_4:
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val = TIM_GetCapture4(channel.timer);
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break;
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}
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if (CaptureState[i] == 0) {
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RiseValue[i] = val;
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} else {
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FallValue[i] = val;
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}
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// flip state machine and capture value here
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/* Simple rise or fall state machine */
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TIM_ICInitTypeDef TIM_ICInitStructure = pios_pwm_cfg.tim_ic_init;
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if (CaptureState[i] == 0) {
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/* Switch states */
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CaptureState[i] = 1;
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/* Switch polarity of input capture */
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TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
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TIM_ICInitStructure.TIM_Channel = channel.channel;
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TIM_ICInit(channel.timer, &TIM_ICInitStructure);
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} else {
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/* Capture computation */
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if (FallValue[i] > RiseValue[i]) {
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CaptureValue[i] = (FallValue[i] - RiseValue[i]);
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} else {
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CaptureValue[i] = ((channel.timer->ARR - RiseValue[i]) + FallValue[i]);
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}
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/* Switch states */
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CaptureState[i] = 0;
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/* Increase supervisor counter */
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CapCounter[i]++;
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/* Switch polarity of input capture */
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TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
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TIM_ICInitStructure.TIM_Channel = channel.channel;
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TIM_ICInit(channel.timer, &TIM_ICInitStructure);
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}
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}
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}
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#endif
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/* Bind Interrupt Handlers
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*
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* Map all valid TIM IRQs to the common interrupt handler
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* and give it enough context to properly demux the various timers
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*/
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void TIM1_UP_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_1_UP_irq_handler")));
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static void PIOS_TIM_1_UP_irq_handler (void)
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{
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PIOS_TIM_generic_irq_handler (TIM1);
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}
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void TIM1_CC_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_1_CC_irq_handler")));
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static void PIOS_TIM_1_CC_irq_handler (void)
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{
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PIOS_TIM_generic_irq_handler (TIM1);
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}
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void TIM2_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_2_irq_handler")));
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static void PIOS_TIM_2_irq_handler (void)
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{
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PIOS_TIM_generic_irq_handler (TIM2);
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}
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void TIM3_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_3_irq_handler")));
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static void PIOS_TIM_3_irq_handler (void)
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{
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PIOS_TIM_generic_irq_handler (TIM3);
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}
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void TIM4_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_4_irq_handler")));
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static void PIOS_TIM_4_irq_handler (void)
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{
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PIOS_TIM_generic_irq_handler (TIM4);
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}
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void TIM5_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_5_irq_handler")));
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static void PIOS_TIM_5_irq_handler (void)
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{
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PIOS_TIM_generic_irq_handler (TIM5);
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}
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void TIM6_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_6_irq_handler")));
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static void PIOS_TIM_6_irq_handler (void)
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{
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PIOS_TIM_generic_irq_handler (TIM6);
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}
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void TIM7_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_7_irq_handler")));
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static void PIOS_TIM_7_irq_handler (void)
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{
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PIOS_TIM_generic_irq_handler (TIM7);
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}
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|
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void TIM8_UP_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_8_UP_irq_handler")));
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static void PIOS_TIM_8_UP_irq_handler (void)
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{
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PIOS_TIM_generic_irq_handler (TIM8);
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}
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void TIM8_CC_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_8_CC_irq_handler")));
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static void PIOS_TIM_8_CC_irq_handler (void)
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{
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PIOS_TIM_generic_irq_handler (TIM8);
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}
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@ -208,23 +208,8 @@
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6560A38A13EE26B700105DA5 /* pios_wdg.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_wdg.c; sourceTree = "<group>"; };
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6560A38B13EE26B700105DA5 /* startup_stm32f2xx.S */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.asm; path = startup_stm32f2xx.S; sourceTree = "<group>"; };
|
||||
6560A38D13EE26B700105DA5 /* vectors_stm32f2xx.S */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.asm; path = vectors_stm32f2xx.S; sourceTree = "<group>"; };
|
||||
6560A38E13EE270C00105DA5 /* link_STM3210E_INS_BL_sections.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = link_STM3210E_INS_BL_sections.ld; sourceTree = "<group>"; };
|
||||
6560A38F13EE270C00105DA5 /* link_STM3210E_INS_memory.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = link_STM3210E_INS_memory.ld; sourceTree = "<group>"; };
|
||||
6560A39013EE270C00105DA5 /* link_STM3210E_INS_sections.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = link_STM3210E_INS_sections.ld; sourceTree = "<group>"; };
|
||||
6560A39113EE270C00105DA5 /* link_STM3210E_OP_BL_sections.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = link_STM3210E_OP_BL_sections.ld; sourceTree = "<group>"; };
|
||||
6560A39213EE270C00105DA5 /* link_STM3210E_OP_memory.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = link_STM3210E_OP_memory.ld; sourceTree = "<group>"; };
|
||||
6560A39313EE270C00105DA5 /* link_STM3210E_OP_sections.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = link_STM3210E_OP_sections.ld; sourceTree = "<group>"; };
|
||||
6560A39413EE270C00105DA5 /* link_STM32103CB_AHRS_BL_sections.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = link_STM32103CB_AHRS_BL_sections.ld; sourceTree = "<group>"; };
|
||||
6560A39513EE270C00105DA5 /* link_STM32103CB_AHRS_memory.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = link_STM32103CB_AHRS_memory.ld; sourceTree = "<group>"; };
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||||
6560A39613EE270C00105DA5 /* link_STM32103CB_AHRS_sections.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = link_STM32103CB_AHRS_sections.ld; sourceTree = "<group>"; };
|
||||
6560A39713EE270C00105DA5 /* link_STM32103CB_CC_Rev1_BL_sections.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = link_STM32103CB_CC_Rev1_BL_sections.ld; sourceTree = "<group>"; };
|
||||
6560A39813EE270C00105DA5 /* link_STM32103CB_PIPXTREME_BL_sections.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = link_STM32103CB_PIPXTREME_BL_sections.ld; sourceTree = "<group>"; };
|
||||
6560A39913EE270C00105DA5 /* link_STM32103CB_PIPXTREME_memory.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = link_STM32103CB_PIPXTREME_memory.ld; sourceTree = "<group>"; };
|
||||
6560A39A13EE270C00105DA5 /* link_STM32103CB_PIPXTREME_sections.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = link_STM32103CB_PIPXTREME_sections.ld; sourceTree = "<group>"; };
|
||||
6560A39B13EE270C00105DA5 /* startup_stm32f10x_HD_OP.S */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.asm; path = startup_stm32f10x_HD_OP.S; sourceTree = "<group>"; };
|
||||
6560A39C13EE270C00105DA5 /* startup_stm32f10x_MD_CC.S */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.asm; path = startup_stm32f10x_MD_CC.S; sourceTree = "<group>"; };
|
||||
6560A39D13EE277E00105DA5 /* pios_iap.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_iap.c; sourceTree = "<group>"; };
|
||||
6560A39E13EE277E00105DA5 /* pios_sbus.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_sbus.c; sourceTree = "<group>"; };
|
||||
6560A3A013EE2E8B00105DA5 /* ahrs_slave_test.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs_slave_test.c; path = INS/ahrs_slave_test.c; sourceTree = "<group>"; };
|
||||
6560A3A113EE2E8B00105DA5 /* ahrs_spi_program_master.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs_spi_program_master.c; path = INS/ahrs_spi_program_master.c; sourceTree = "<group>"; };
|
||||
6560A3A213EE2E8B00105DA5 /* ahrs_spi_program_slave.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs_spi_program_slave.c; path = INS/ahrs_spi_program_slave.c; sourceTree = "<group>"; };
|
||||
@ -276,6 +261,32 @@
|
||||
6589A983131DE24F006BD67C /* taskmonitor.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = taskmonitor.c; sourceTree = "<group>"; };
|
||||
6589A9DB131DEE76006BD67C /* pios_rtc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_rtc.c; sourceTree = "<group>"; };
|
||||
6589A9E2131DF1C7006BD67C /* pios_rtc.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rtc.h; sourceTree = "<group>"; };
|
||||
65904E40146128A500FD9482 /* .Makefile.swp */ = {isa = PBXFileReference; lastKnownFileType = file; path = .Makefile.swp; sourceTree = "<group>"; };
|
||||
65904E42146128A500FD9482 /* ahrs_timer.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_timer.h; sourceTree = "<group>"; };
|
||||
65904E43146128A500FD9482 /* ins.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ins.h; sourceTree = "<group>"; };
|
||||
65904E44146128A500FD9482 /* ins_fsm.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ins_fsm.h; sourceTree = "<group>"; };
|
||||
65904E45146128A500FD9482 /* insgps.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = insgps.h; sourceTree = "<group>"; };
|
||||
65904E46146128A500FD9482 /* insgps_helper.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = insgps_helper.h; sourceTree = "<group>"; };
|
||||
65904E47146128A500FD9482 /* ins.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ins.c; sourceTree = "<group>"; };
|
||||
65904E48146128A500FD9482 /* insgps13state.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = insgps13state.c; sourceTree = "<group>"; };
|
||||
65904E49146128A500FD9482 /* insgps16state.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = insgps16state.c; sourceTree = "<group>"; };
|
||||
65904E4A146128A500FD9482 /* insgps_helper.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = insgps_helper.c; sourceTree = "<group>"; };
|
||||
65904E4B146128A500FD9482 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; path = Makefile; sourceTree = "<group>"; };
|
||||
65904E4D146128A500FD9482 /* alarms.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = alarms.c; sourceTree = "<group>"; };
|
||||
65904E4E146128A500FD9482 /* cm3_fault_handlers.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = cm3_fault_handlers.c; sourceTree = "<group>"; };
|
||||
65904E4F146128A500FD9482 /* dcc_stdio.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = dcc_stdio.c; sourceTree = "<group>"; };
|
||||
65904E51146128A500FD9482 /* alarms.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = alarms.h; sourceTree = "<group>"; };
|
||||
65904E52146128A500FD9482 /* dcc_stdio.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = dcc_stdio.h; sourceTree = "<group>"; };
|
||||
65904E53146128A500FD9482 /* FreeRTOSConfig.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = FreeRTOSConfig.h; sourceTree = "<group>"; };
|
||||
65904E54146128A500FD9482 /* op_config.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = op_config.h; sourceTree = "<group>"; };
|
||||
65904E55146128A500FD9482 /* openpilot.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = openpilot.h; sourceTree = "<group>"; };
|
||||
65904E56146128A500FD9482 /* pios_config.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_config.h; sourceTree = "<group>"; };
|
||||
65904E57146128A500FD9482 /* taskmonitor.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = taskmonitor.h; sourceTree = "<group>"; };
|
||||
65904E58146128A500FD9482 /* pios_board.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_board.c; sourceTree = "<group>"; };
|
||||
65904E59146128A500FD9482 /* revolution.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = revolution.c; sourceTree = "<group>"; };
|
||||
65904E5A146128A500FD9482 /* taskmonitor.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = taskmonitor.c; sourceTree = "<group>"; };
|
||||
65904E5B146128A500FD9482 /* test.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = test.c; sourceTree = "<group>"; };
|
||||
65904E5C146128A500FD9482 /* UAVObjects.inc */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.pascal; path = UAVObjects.inc; sourceTree = "<group>"; };
|
||||
659ED317122226B60011010E /* ahrssettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ahrssettings.xml; sourceTree = "<group>"; };
|
||||
65B35D7F121C261E003EAD18 /* bin.pro */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = bin.pro; sourceTree = "<group>"; };
|
||||
65B35D80121C261E003EAD18 /* openpilotgcs */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.script.sh; path = openpilotgcs; sourceTree = "<group>"; };
|
||||
@ -2866,7 +2877,6 @@
|
||||
65D1FBD413F504C9006374A6 /* pios_hmc5883.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_hmc5883.h; sourceTree = "<group>"; };
|
||||
65D1FBD613F50CD5006374A6 /* pios_hmc5883.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_hmc5883.c; sourceTree = "<group>"; };
|
||||
65D1FBD713F5146F006374A6 /* pios_bmp085.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_bmp085.c; sourceTree = "<group>"; };
|
||||
65D1FBD813F51865006374A6 /* pios_bmp085.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_bmp085.c; sourceTree = "<group>"; };
|
||||
65D1FBD913F51AB7006374A6 /* pios_imu3000.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_imu3000.c; sourceTree = "<group>"; };
|
||||
65D1FBDA13F51AE1006374A6 /* pios_imu3000.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_imu3000.h; sourceTree = "<group>"; };
|
||||
65D1FBE713F53477006374A6 /* pios_bl_helper.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_bl_helper.h; sourceTree = "<group>"; };
|
||||
@ -4082,6 +4092,7 @@
|
||||
657CEEB5121DBC49007A1FBE /* flight */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65904E3F146128A500FD9482 /* Revolution */,
|
||||
6560A3B013EE2FCB00105DA5 /* INS */,
|
||||
65FF4BB313791C3300146BE4 /* Bootloaders */,
|
||||
65F93B9012EE09280047DB36 /* PipXtreme */,
|
||||
@ -4103,7 +4114,6 @@
|
||||
657CEEB6121DBC63007A1FBE /* Libraries */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65643CEC141429A100A32F59 /* NMEA.c */,
|
||||
6549E0D21279B3C800C5476F /* fifo_buffer.c */,
|
||||
651913371256C5240039C0A3 /* ahrs_comm_objects.c */,
|
||||
651913381256C5240039C0A3 /* ahrs_spi_comm.c */,
|
||||
@ -4118,7 +4128,6 @@
|
||||
657CEEB8121DBC63007A1FBE /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65643CEE141429AF00A32F59 /* NMEA.h */,
|
||||
6549E0D31279B3CF00C5476F /* fifo_buffer.h */,
|
||||
6519133A1256C52B0039C0A3 /* ahrs_comm_objects.h */,
|
||||
6519133B1256C52B0039C0A3 /* ahrs_spi_comm.h */,
|
||||
@ -4129,6 +4138,64 @@
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
65904E3F146128A500FD9482 /* Revolution */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65904E40146128A500FD9482 /* .Makefile.swp */,
|
||||
65904E41146128A500FD9482 /* inc */,
|
||||
65904E47146128A500FD9482 /* ins.c */,
|
||||
65904E48146128A500FD9482 /* insgps13state.c */,
|
||||
65904E49146128A500FD9482 /* insgps16state.c */,
|
||||
65904E4A146128A500FD9482 /* insgps_helper.c */,
|
||||
65904E4B146128A500FD9482 /* Makefile */,
|
||||
65904E4C146128A500FD9482 /* System */,
|
||||
65904E5B146128A500FD9482 /* test.c */,
|
||||
65904E5C146128A500FD9482 /* UAVObjects.inc */,
|
||||
);
|
||||
name = Revolution;
|
||||
path = ../../Revolution;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
65904E41146128A500FD9482 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65904E42146128A500FD9482 /* ahrs_timer.h */,
|
||||
65904E43146128A500FD9482 /* ins.h */,
|
||||
65904E44146128A500FD9482 /* ins_fsm.h */,
|
||||
65904E45146128A500FD9482 /* insgps.h */,
|
||||
65904E46146128A500FD9482 /* insgps_helper.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
65904E4C146128A500FD9482 /* System */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65904E4D146128A500FD9482 /* alarms.c */,
|
||||
65904E4E146128A500FD9482 /* cm3_fault_handlers.c */,
|
||||
65904E4F146128A500FD9482 /* dcc_stdio.c */,
|
||||
65904E50146128A500FD9482 /* inc */,
|
||||
65904E58146128A500FD9482 /* pios_board.c */,
|
||||
65904E59146128A500FD9482 /* revolution.c */,
|
||||
65904E5A146128A500FD9482 /* taskmonitor.c */,
|
||||
);
|
||||
path = System;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
65904E50146128A500FD9482 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65904E51146128A500FD9482 /* alarms.h */,
|
||||
65904E52146128A500FD9482 /* dcc_stdio.h */,
|
||||
65904E53146128A500FD9482 /* FreeRTOSConfig.h */,
|
||||
65904E54146128A500FD9482 /* op_config.h */,
|
||||
65904E55146128A500FD9482 /* openpilot.h */,
|
||||
65904E56146128A500FD9482 /* pios_config.h */,
|
||||
65904E57146128A500FD9482 /* taskmonitor.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
65B35D7D121C261E003EAD18 /* ground */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
@ -7959,8 +8026,6 @@
|
||||
65C35E5812EFB2F3004811C2 /* attituderaw.xml */,
|
||||
65E410AE12F65AEA00725888 /* attitudesettings.xml */,
|
||||
65C35E5912EFB2F3004811C2 /* baroaltitude.xml */,
|
||||
65C35E5A12EFB2F3004811C2 /* batterysettings.xml */,
|
||||
655B1A8E13B2FC0900B0E48D /* camerastabsettings.xml */,
|
||||
652C8568132B632A00BFCC70 /* firmwareiapobj.xml */,
|
||||
65C35E5C12EFB2F3004811C2 /* flightbatterystate.xml */,
|
||||
65C35E5D12EFB2F3004811C2 /* flightplancontrol.xml */,
|
||||
@ -7974,7 +8039,6 @@
|
||||
65C35E6412EFB2F3004811C2 /* gpstime.xml */,
|
||||
65C35E6512EFB2F3004811C2 /* guidancesettings.xml */,
|
||||
65C35E6612EFB2F3004811C2 /* homelocation.xml */,
|
||||
65E6D80713E3A4D0002A557A /* hwsettings.xml */,
|
||||
65C35E6712EFB2F3004811C2 /* i2cstats.xml */,
|
||||
65C35E6812EFB2F3004811C2 /* manualcontrolcommand.xml */,
|
||||
65C35E6912EFB2F3004811C2 /* manualcontrolsettings.xml */,
|
||||
|
||||
@ -49,7 +49,7 @@ endif
|
||||
FLASH_TOOL = OPENOCD
|
||||
|
||||
# List of modules to include
|
||||
MODULES = Actuator Telemetry ManualControl Stabilization FirmwareIAP
|
||||
MODULES = Actuator Telemetry ManualControl Stabilization
|
||||
PYMODULES = FlightPlan
|
||||
|
||||
# Paths
|
||||
@ -120,7 +120,11 @@ SRC += $(OPSYSTEM)/taskmonitor.c
|
||||
SRC += $(OPUAVTALK)/uavtalk.c
|
||||
SRC += $(OPUAVOBJ)/uavobjectmanager.c
|
||||
SRC += $(OPUAVOBJ)/eventdispatcher.c
|
||||
|
||||
#ifeq ($(DEBUG),YES)
|
||||
SRC += $(OPSYSTEM)/dcc_stdio.c
|
||||
SRC += $(OPSYSTEM)/cm3_fault_handlers.c
|
||||
#endif
|
||||
|
||||
SRC += $(FLIGHTLIB)/CoordinateConversions.c
|
||||
SRC += $(FLIGHTLIB)/fifo_buffer.c
|
||||
@ -130,7 +134,9 @@ SRC += $(FLIGHTLIB)/NMEA.c
|
||||
include $(PIOS)/STM32F4xx/library.mk
|
||||
|
||||
## PIOS Hardware (Common)
|
||||
SRC += $(PIOSCOMMON)/pios_crc.c
|
||||
SRC += $(PIOSCOMMON)/pios_com.c
|
||||
SRC += $(PIOSCOMMON)/pios_rcvr.c
|
||||
SRC += $(PIOSCOMMON)/printf-stdarg.c
|
||||
|
||||
#SRC += $(PIOSCOMMON)/pios_bl_helper.c
|
||||
|
||||
@ -51,7 +51,7 @@
|
||||
#define PIOS_INCLUDE_SPI
|
||||
#define PIOS_INCLUDE_SYS
|
||||
#define PIOS_INCLUDE_USART
|
||||
#define PIOS_INCLUDE_USB_HID
|
||||
//#define PIOS_INCLUDE_USB_HID
|
||||
|
||||
#define PIOS_INCLUDE_GPS
|
||||
#define PIOS_INCLUDE_BMA180
|
||||
|
||||
@ -33,7 +33,11 @@
|
||||
|
||||
#if defined(PIOS_INCLUDE_SPI)
|
||||
|
||||
#include <openpilot.h>
|
||||
#include <pios_spi_priv.h>
|
||||
#include <uavobjectsinit.h>
|
||||
#include <hwsettings.h>
|
||||
#include "manualcontrolsettings.h"
|
||||
|
||||
/* SPI2 Interface
|
||||
* - Used for mainboard communications
|
||||
@ -548,11 +552,22 @@ void PIOS_I2C_gyro_adapter_er_irq_handler(void)
|
||||
|
||||
#endif /* PIOS_INCLUDE_I2C */
|
||||
|
||||
#if defined(PIOS_INCLUDE_RCVR)
|
||||
#include "pios_rcvr_priv.h"
|
||||
|
||||
/* One slot per selectable receiver group.
|
||||
* eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS
|
||||
* NOTE: No slot in this map for NONE.
|
||||
*/
|
||||
uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
|
||||
#endif
|
||||
|
||||
extern const struct pios_com_driver pios_usart_com_driver;
|
||||
|
||||
uint32_t pios_com_aux_id;
|
||||
uint32_t pios_com_gps_id;
|
||||
uint32_t pios_com_telem_usb_id;
|
||||
uint32_t pios_com_telem_rf_id;
|
||||
|
||||
|
||||
/**
|
||||
@ -776,15 +791,6 @@ void PIOS_Board_Init(void) {
|
||||
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
|
||||
PIOS_BMP085_Init(&pios_bmp085_cfg);
|
||||
|
||||
|
||||
/* Set up the SPI interface to the OP board */
|
||||
#include "ahrs_spi_comm.h"
|
||||
AhrsInitComms();
|
||||
if (PIOS_SPI_Init(&pios_spi_op_id, &pios_spi_op_cfg)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
|
||||
AhrsConnect(pios_spi_op_id);
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
@ -1,69 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup INS INS
|
||||
|
||||
* @brief The INS configuration
|
||||
*
|
||||
* @{
|
||||
* @addtogroup INS_Main
|
||||
* @brief INS configuration
|
||||
* @{
|
||||
*
|
||||
* @file pios_config.h
|
||||
* @author David "Buzz" Carlson (buzz@chebuzz.com)
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief PiOS configuration header.
|
||||
* - Central compile time config for the project.
|
||||
* @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 PIOS_CONFIG_H
|
||||
#define PIOS_CONFIG_H
|
||||
|
||||
/* Enable/Disable PiOS Modules */
|
||||
#define PIOS_INCLUDE_DELAY
|
||||
#define PIOS_INCLUDE_I2C
|
||||
#define PIOS_INCLUDE_IRQ
|
||||
#define PIOS_INCLUDE_LED
|
||||
#define PIOS_INCLUDE_SPI
|
||||
#define PIOS_INCLUDE_SYS
|
||||
#define PIOS_INCLUDE_USART
|
||||
#define PIOS_INCLUDE_COM
|
||||
#define PIOS_INCLUDE_COM_AUX
|
||||
#define PIOS_INCLUDE_GPS
|
||||
#define PIOS_INCLUDE_BMA180
|
||||
#define PIOS_INCLUDE_HMC5883
|
||||
#define PIOS_INCLUDE_BMP085
|
||||
#define PIOS_INCLUDE_IMU3000
|
||||
//#define PIOS_INCLUDE_GPIO
|
||||
|
||||
#define PIOS_INCLUDE_BMA180
|
||||
#define PIOS_INCLUDE_FREERTOS
|
||||
|
||||
/* COM Module */
|
||||
#define GPS_BAUDRATE 19200
|
||||
#define AUXUART_ENABLED 0
|
||||
#define AUXUART_BAUDRATE 19200
|
||||
|
||||
#endif /* PIOS_CONFIG_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
Loading…
Reference in New Issue
Block a user