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Start migrating the attitude solution to FreeRTOS
This commit is contained in:
James Cotton
parent
0c103f7b2c
commit
1e2fe77e3f
@ -101,7 +101,7 @@ TIM8 | | | |
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#define PIOS_WDG_REGISTER RTC_BKP_DR4
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#define PIOS_WDG_ACTUATOR 0x0001
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#define PIOS_WDG_STABILIZATION 0x0002
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#define PIOS_WDG_AHRS 0x0004
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#define PIOS_WDG_ATTITUDE 0x0004
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#define PIOS_WDG_MANUAL 0x0008
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//------------------------
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|
||||
6560A31C13EE26B700105DA5 /* mpu_wrappers.h */,
|
||||
6560A31D13EE26B700105DA5 /* portable.h */,
|
||||
6560A31E13EE26B700105DA5 /* projdefs.h */,
|
||||
6560A31F13EE26B700105DA5 /* queue.h */,
|
||||
6560A32013EE26B700105DA5 /* semphr.h */,
|
||||
6560A32113EE26B700105DA5 /* StackMacros.h */,
|
||||
6560A32213EE26B700105DA5 /* task.h */,
|
||||
6560A32313EE26B700105DA5 /* timers.h */,
|
||||
);
|
||||
path = include;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
6560A32513EE26B700105DA5 /* portable */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
6560A32613EE26B700105DA5 /* GCC */,
|
||||
6560A32A13EE26B700105DA5 /* MemMang */,
|
||||
);
|
||||
path = portable;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
6560A32613EE26B700105DA5 /* GCC */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
6560A32713EE26B700105DA5 /* ARM_CM3 */,
|
||||
);
|
||||
path = GCC;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
6560A32713EE26B700105DA5 /* ARM_CM3 */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
6560A32813EE26B700105DA5 /* port.c */,
|
||||
6560A32913EE26B700105DA5 /* portmacro.h */,
|
||||
);
|
||||
path = ARM_CM3;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
6560A32A13EE26B700105DA5 /* MemMang */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
6560A32B13EE26B700105DA5 /* heap_1.c */,
|
||||
6560A32C13EE26B700105DA5 /* heap_2.c */,
|
||||
6560A32D13EE26B700105DA5 /* heap_3.c */,
|
||||
);
|
||||
path = MemMang;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
6560A33113EE26B700105DA5 /* msd */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
6560A33213EE26B700105DA5 /* msd.c */,
|
||||
6560A33313EE26B700105DA5 /* msd.h */,
|
||||
6560A33413EE26B700105DA5 /* msd_bot.c */,
|
||||
6560A33513EE26B700105DA5 /* msd_bot.h */,
|
||||
6560A33613EE26B700105DA5 /* msd_desc.c */,
|
||||
6560A33713EE26B700105DA5 /* msd_desc.h */,
|
||||
6560A33813EE26B700105DA5 /* msd_memory.c */,
|
||||
6560A33913EE26B700105DA5 /* msd_memory.h */,
|
||||
6560A33A13EE26B700105DA5 /* msd_scsi.c */,
|
||||
6560A33B13EE26B700105DA5 /* msd_scsi.h */,
|
||||
6560A33C13EE26B700105DA5 /* msd_scsi_data.c */,
|
||||
);
|
||||
path = msd;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
6560A33D13EE26B700105DA5 /* STM32F2xx_StdPeriph_Driver */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
6560A33E13EE26B700105DA5 /* inc */,
|
||||
6560A35913EE26B700105DA5 /* src */,
|
||||
);
|
||||
path = STM32F2xx_StdPeriph_Driver;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
6560A33E13EE26B700105DA5 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
6560A33F13EE26B700105DA5 /* misc.h */,
|
||||
6560A34013EE26B700105DA5 /* stm32f2xx_adc.h */,
|
||||
6560A34113EE26B700105DA5 /* stm32f2xx_can.h */,
|
||||
6560A34213EE26B700105DA5 /* stm32f2xx_crc.h */,
|
||||
6560A34313EE26B700105DA5 /* stm32f2xx_cryp.h */,
|
||||
6560A34413EE26B700105DA5 /* stm32f2xx_dac.h */,
|
||||
6560A34513EE26B700105DA5 /* stm32f2xx_dbgmcu.h */,
|
||||
6560A34613EE26B700105DA5 /* stm32f2xx_dcmi.h */,
|
||||
6560A34713EE26B700105DA5 /* stm32f2xx_dma.h */,
|
||||
6560A34813EE26B700105DA5 /* stm32f2xx_exti.h */,
|
||||
6560A34913EE26B700105DA5 /* stm32f2xx_flash.h */,
|
||||
6560A34A13EE26B700105DA5 /* stm32f2xx_fsmc.h */,
|
||||
6560A34B13EE26B700105DA5 /* stm32f2xx_gpio.h */,
|
||||
6560A34C13EE26B700105DA5 /* stm32f2xx_hash.h */,
|
||||
6560A34D13EE26B700105DA5 /* stm32f2xx_i2c.h */,
|
||||
6560A34E13EE26B700105DA5 /* stm32f2xx_iwdg.h */,
|
||||
6560A34F13EE26B700105DA5 /* stm32f2xx_pwr.h */,
|
||||
6560A35013EE26B700105DA5 /* stm32f2xx_rcc.h */,
|
||||
6560A35113EE26B700105DA5 /* stm32f2xx_rng.h */,
|
||||
6560A35213EE26B700105DA5 /* stm32f2xx_rtc.h */,
|
||||
6560A35313EE26B700105DA5 /* stm32f2xx_sdio.h */,
|
||||
6560A35413EE26B700105DA5 /* stm32f2xx_spi.h */,
|
||||
6560A35513EE26B700105DA5 /* stm32f2xx_syscfg.h */,
|
||||
6560A35613EE26B700105DA5 /* stm32f2xx_tim.h */,
|
||||
6560A35713EE26B700105DA5 /* stm32f2xx_usart.h */,
|
||||
6560A35813EE26B700105DA5 /* stm32f2xx_wwdg.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
6560A35913EE26B700105DA5 /* src */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
6560A35A13EE26B700105DA5 /* misc.c */,
|
||||
6560A35B13EE26B700105DA5 /* stm32f2xx_adc.c */,
|
||||
6560A35C13EE26B700105DA5 /* stm32f2xx_can.c */,
|
||||
6560A35D13EE26B700105DA5 /* stm32f2xx_crc.c */,
|
||||
6560A35E13EE26B700105DA5 /* stm32f2xx_cryp.c */,
|
||||
6560A35F13EE26B700105DA5 /* stm32f2xx_cryp_aes.c */,
|
||||
6560A36013EE26B700105DA5 /* stm32f2xx_cryp_des.c */,
|
||||
6560A36113EE26B700105DA5 /* stm32f2xx_cryp_tdes.c */,
|
||||
6560A36213EE26B700105DA5 /* stm32f2xx_dac.c */,
|
||||
6560A36313EE26B700105DA5 /* stm32f2xx_dbgmcu.c */,
|
||||
6560A36413EE26B700105DA5 /* stm32f2xx_dcmi.c */,
|
||||
6560A36513EE26B700105DA5 /* stm32f2xx_dma.c */,
|
||||
6560A36613EE26B700105DA5 /* stm32f2xx_exti.c */,
|
||||
6560A36713EE26B700105DA5 /* stm32f2xx_flash.c */,
|
||||
6560A36813EE26B700105DA5 /* stm32f2xx_fsmc.c */,
|
||||
6560A36913EE26B700105DA5 /* stm32f2xx_gpio.c */,
|
||||
6560A36A13EE26B700105DA5 /* stm32f2xx_hash.c */,
|
||||
6560A36B13EE26B700105DA5 /* stm32f2xx_hash_md5.c */,
|
||||
6560A36C13EE26B700105DA5 /* stm32f2xx_hash_sha1.c */,
|
||||
6560A36D13EE26B700105DA5 /* stm32f2xx_i2c.c */,
|
||||
6560A36E13EE26B700105DA5 /* stm32f2xx_iwdg.c */,
|
||||
6560A36F13EE26B700105DA5 /* stm32f2xx_pwr.c */,
|
||||
6560A37013EE26B700105DA5 /* stm32f2xx_rcc.c */,
|
||||
6560A37113EE26B700105DA5 /* stm32f2xx_rng.c */,
|
||||
6560A37213EE26B700105DA5 /* stm32f2xx_rtc.c */,
|
||||
6560A37313EE26B700105DA5 /* stm32f2xx_sdio.c */,
|
||||
6560A37413EE26B700105DA5 /* stm32f2xx_spi.c */,
|
||||
6560A37513EE26B700105DA5 /* stm32f2xx_syscfg.c */,
|
||||
6560A37613EE26B700105DA5 /* stm32f2xx_tim.c */,
|
||||
6560A37713EE26B700105DA5 /* stm32f2xx_usart.c */,
|
||||
6560A37813EE26B700105DA5 /* stm32f2xx_wwdg.c */,
|
||||
);
|
||||
path = src;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
6560A3B013EE2FCB00105DA5 /* INS */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
6560A3B213EE2FCB00105DA5 /* inc */,
|
||||
6560A3B813EE2FCB00105DA5 /* ins.c */,
|
||||
6560A3B913EE2FCB00105DA5 /* insgps13state.c */,
|
||||
6560A3BA13EE2FCB00105DA5 /* Makefile */,
|
||||
6560A3BB13EE2FCB00105DA5 /* pios_board.c */,
|
||||
6560A3BC13EE2FCB00105DA5 /* test.c */,
|
||||
65E1039C13FBD5C4004B5FFE /* insgps_helper.c */,
|
||||
);
|
||||
name = INS;
|
||||
path = ../../INS;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
6560A3B213EE2FCB00105DA5 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
6560A3B313EE2FCB00105DA5 /* ahrs_timer.h */,
|
||||
6560A3B413EE2FCB00105DA5 /* ins.h */,
|
||||
6560A3B513EE2FCB00105DA5 /* ins_fsm.h */,
|
||||
6560A3B613EE2FCB00105DA5 /* insgps.h */,
|
||||
6560A3B713EE2FCB00105DA5 /* pios_config.h */,
|
||||
65E1039D13FBD5CE004B5FFE /* insgps_helper.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
65632DF41251650300469B77 /* Boards */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
@ -4195,7 +3746,6 @@
|
||||
65632DF71251650300469B77 /* STM3210E_OP.h */,
|
||||
65632DF61251650300469B77 /* STM32103CB_AHRS.h */,
|
||||
65E6E06112E031E300058553 /* STM32103CB_CC_Rev1.h */,
|
||||
65D1FBD313F4FF1D006374A6 /* STM32F2xx_INS.h */,
|
||||
65E6E06212E031E300058553 /* STM32103CB_PIPXTREME_Rev1.h */,
|
||||
);
|
||||
path = Boards;
|
||||
@ -4205,7 +3755,6 @@
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65904E3F146128A500FD9482 /* Revolution */,
|
||||
6560A3B013EE2FCB00105DA5 /* INS */,
|
||||
65FF4BB313791C3300146BE4 /* Bootloaders */,
|
||||
65F93B9012EE09280047DB36 /* PipXtreme */,
|
||||
65B7E6AC120DF1CD000C1123 /* AHRS */,
|
||||
@ -4254,9 +3803,6 @@
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65904E47146128A500FD9482 /* ins.c */,
|
||||
65904E48146128A500FD9482 /* insgps13state.c */,
|
||||
65904E49146128A500FD9482 /* insgps16state.c */,
|
||||
65904E4A146128A500FD9482 /* insgps_helper.c */,
|
||||
65904E4B146128A500FD9482 /* Makefile */,
|
||||
65904E4C146128A500FD9482 /* System */,
|
||||
65904E5B146128A500FD9482 /* test.c */,
|
||||
@ -8753,6 +8299,7 @@
|
||||
65C35F6512F0DC2D004811C2 /* Attitude */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65FA9B76147095D40019A260 /* revolution */,
|
||||
65C35F6612F0DC2D004811C2 /* attitude.c */,
|
||||
65C35F6712F0DC2D004811C2 /* inc */,
|
||||
);
|
||||
@ -8914,7 +8461,6 @@
|
||||
65E8F03811EFF25C00BBF654 /* inc */,
|
||||
65E8F05711EFF25C00BBF654 /* pios.h */,
|
||||
65E8F05811EFF25C00BBF654 /* STM32F10x */,
|
||||
6560A2FD13EE26B700105DA5 /* STM32F2xx */,
|
||||
65904E5D14613B6100FD9482 /* STM32F4xx */,
|
||||
);
|
||||
name = PiOS;
|
||||
@ -9613,6 +9159,23 @@
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
65FA9B76147095D40019A260 /* revolution */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65FA9B77147095D40019A260 /* attitude.c */,
|
||||
65FA9B78147095D40019A260 /* inc */,
|
||||
);
|
||||
path = revolution;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
65FA9B78147095D40019A260 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65FA9B79147095D40019A260 /* attitude.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
65FF4BB313791C3300146BE4 /* Bootloaders */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
|
||||
@ -1,8 +1,8 @@
|
||||
define connect
|
||||
target remote localhost:3334
|
||||
monitor cortex_m3 vector_catch all
|
||||
# file ./build/fw_revolution/fw_revolution.elf
|
||||
file ./build/bl_ins/bl_ins.elf
|
||||
file ./build/fw_revolution/fw_revolution.elf
|
||||
# file ./build/bl_ins/bl_ins.elf
|
||||
end
|
||||
|
||||
source CortexM3
|
||||
|
||||
@ -49,7 +49,7 @@ endif
|
||||
FLASH_TOOL = OPENOCD
|
||||
|
||||
# List of modules to include
|
||||
MODULES = Actuator Telemetry ManualControl Stabilization
|
||||
MODULES = Actuator Telemetry ManualControl Stabilization Attitude/revolution
|
||||
PYMODULES =
|
||||
#FlightPlan
|
||||
|
||||
|
||||
@ -27,7 +27,7 @@
|
||||
#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)(64 * 1024)) // this is minimum, not total
|
||||
#define configTOTAL_HEAP_SIZE ((size_t)(180 * 1024)) // this is minimum, not total
|
||||
#define configMAX_TASK_NAME_LEN (16)
|
||||
|
||||
#define configUSE_PREEMPTION 1
|
||||
|
||||
@ -866,13 +866,13 @@ void PIOS_Board_Init(void) {
|
||||
if (PIOS_SPI_Init(&pios_spi_accel_id, &pios_spi_accel_cfg)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
/*
|
||||
|
||||
PIOS_BMA180_Attach(pios_spi_accel_id);
|
||||
PIOS_BMA180_Init(&pios_bma180_cfg);
|
||||
PIOS_IMU3000_Init(&pios_imu3000_cfg);
|
||||
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
|
||||
PIOS_BMP085_Init(&pios_bmp085_cfg);
|
||||
*/
|
||||
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
@ -67,6 +67,17 @@ extern void PIOS_Board_Init(void);
|
||||
extern void Stack_Change(void);
|
||||
static void Stack_Change_Weak () __attribute__ ((weakref ("Stack_Change")));
|
||||
|
||||
/* Local Variables */
|
||||
#define INIT_TASK_PRIORITY (tskIDLE_PRIORITY + configMAX_PRIORITIES - 1) // max priority
|
||||
#define INIT_TASK_STACK (1024 / 4) // XXX this seems excessive
|
||||
static xTaskHandle initTaskHandle;
|
||||
|
||||
/* Function Prototypes */
|
||||
static void initTask(void *parameters);
|
||||
|
||||
/* Prototype of generated InitModules() function */
|
||||
extern void InitModules(void);
|
||||
|
||||
/**
|
||||
* OpenPilot Main function:
|
||||
*
|
||||
@ -78,38 +89,26 @@ static void Stack_Change_Weak () __attribute__ ((weakref ("Stack_Change")));
|
||||
*/
|
||||
int main()
|
||||
{
|
||||
int result;
|
||||
|
||||
/* NOTE: Do NOT modify the following start-up sequence */
|
||||
/* Any new initialization functions should be added in OpenPilotInit() */
|
||||
vPortInitialiseBlocks();
|
||||
|
||||
|
||||
/* Brings up System using CMSIS functions, enables the LEDs. */
|
||||
PIOS_SYS_Init();
|
||||
|
||||
/* Architecture dependant Hardware and
|
||||
* core subsystem initialisation
|
||||
* (see pios_board.c for your arch)
|
||||
* */
|
||||
PIOS_Board_Init();
|
||||
|
||||
/* Initialize modules */
|
||||
MODULE_INITIALISE_ALL
|
||||
|
||||
#if INCLUDE_TEST_TASKS
|
||||
/* Create test tasks */
|
||||
xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
|
||||
xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
|
||||
xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
|
||||
xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
|
||||
#endif
|
||||
|
||||
/* swap the stack to use the IRQ stack (does nothing in sim mode) */
|
||||
Stack_Change_Weak();
|
||||
|
||||
/* Start the FreeRTOS scheduler which should never returns.*/
|
||||
/* For Revolution we use a FreeRTOS task to bring up the system so we can */
|
||||
/* always rely on FreeRTOS primitive */
|
||||
result = xTaskCreate(initTask, (const signed char *)"init",
|
||||
INIT_TASK_STACK, NULL, INIT_TASK_PRIORITY,
|
||||
&initTaskHandle);
|
||||
PIOS_Assert(result == pdPASS);
|
||||
|
||||
/* Start the FreeRTOS scheduler */
|
||||
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(LED1); \
|
||||
for(;;) { \
|
||||
@ -119,220 +118,24 @@ int main()
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
#if INCLUDE_TEST_TASKS
|
||||
static void TaskTesting(void *pvParameters)
|
||||
/**
|
||||
* Initialisation task.
|
||||
*
|
||||
* Runs board and module initialisation, then terminates.
|
||||
*/
|
||||
void
|
||||
initTask(void *parameters)
|
||||
{
|
||||
portTickType xDelay = 250 / portTICK_RATE_MS;
|
||||
portTickType xTimeout = 10 / portTICK_RATE_MS;
|
||||
|
||||
//PIOS_BMP085_Init();
|
||||
|
||||
for(;;)
|
||||
{
|
||||
/* This blocks the task until the BMP085 EOC */
|
||||
/*
|
||||
PIOS_BMP085_StartADC(TemperatureConv);
|
||||
xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
|
||||
PIOS_BMP085_ReadADC();
|
||||
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u\r", PIOS_BMP085_GetTemperature());
|
||||
|
||||
PIOS_BMP085_StartADC(PressureConv);
|
||||
xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
|
||||
PIOS_BMP085_ReadADC();
|
||||
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u\r", PIOS_BMP085_GetPressure());
|
||||
*/
|
||||
|
||||
#if defined(PIOS_INCLUDE_SPEKTRUM)
|
||||
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u\r", PIOS_SPEKTRUM_Get(0), PIOS_SPEKTRUM_Get(1), PIOS_SPEKTRUM_Get(2), PIOS_SPEKTRUM_Get(3), PIOS_SPEKTRUM_Get(4), PIOS_SPEKTRUM_Get(5), PIOS_SPEKTRUM_Get(6), PIOS_SPEKTRUM_Get(7));
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_SBUS)
|
||||
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u\r", PIOS_SBus_Get(0), PIOS_SBus_Get(1), PIOS_SBus_Get(2), PIOS_SBus_Get(3), PIOS_SBus_Get(4), PIOS_SBus_Get(5), PIOS_SBus_Get(6), PIOS_SBus_Get(7));
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_PWM)
|
||||
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u uS\r", PIOS_PWM_Get(0), PIOS_PWM_Get(1), PIOS_PWM_Get(2), PIOS_PWM_Get(3), PIOS_PWM_Get(4), PIOS_PWM_Get(5), PIOS_PWM_Get(6), PIOS_PWM_Get(7));
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_PPM)
|
||||
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u uS\r", PIOS_PPM_Get(0), PIOS_PPM_Get(1), PIOS_PPM_Get(2), PIOS_PPM_Get(3), PIOS_PPM_Get(4), PIOS_PPM_Get(5), PIOS_PPM_Get(6), PIOS_PPM_Get(7));
|
||||
#endif
|
||||
|
||||
/* This blocks the task until there is something on the buffer */
|
||||
/*xSemaphoreTake(PIOS_USART1_Buffer, portMAX_DELAY);
|
||||
int32_t len = PIOS_COM_ReceiveBufferUsed(COM_USART1);
|
||||
for(int32_t i = 0; i < len; i++) {
|
||||
PIOS_COM_SendFormattedString(COM_DEBUG_USART, ">%c\r", PIOS_COM_ReceiveBuffer(COM_USART1));
|
||||
}*/
|
||||
|
||||
//int32_t state = PIOS_USB_CableConnected();
|
||||
//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "State: %d\r", state);
|
||||
|
||||
//PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x57, (uint8_t *)50, 1);
|
||||
|
||||
/* Test ADC pins */
|
||||
//temp = ((1.43 - ((Vsense / 4096) * 3.3)) / 4.3) + 25;
|
||||
//uint32_t vsense = PIOS_ADC_PinGet(0);
|
||||
//uint32_t Temp = (1.42 - vsense * 3.3 / 4096) * 1000 / 4.35 + 25;
|
||||
//PIOS_COM_SendFormattedString(COM_DEBUG_USART, "Temp: %d, CS_I: %d, CS_V: %d, 5v: %d\r", PIOS_ADC_PinGet(0), PIOS_ADC_PinGet(1), PIOS_ADC_PinGet(2), PIOS_ADC_PinGet(3));
|
||||
//PIOS_COM_SendFormattedString(COM_DEBUG_USART, "AUX1: %d, AUX2: %d, AUX3: %d\r", PIOS_ADC_PinGet(4), PIOS_ADC_PinGet(5), PIOS_ADC_PinGet(6));
|
||||
|
||||
vTaskDelay(xDelay);
|
||||
}
|
||||
/* board driver init */
|
||||
PIOS_Board_Init();
|
||||
|
||||
/* Initialize modules */
|
||||
MODULE_INITIALISE_ALL;
|
||||
|
||||
/* terminate this task */
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if INCLUDE_TEST_TASKS
|
||||
static void TaskHIDTest(void *pvParameters)
|
||||
{
|
||||
uint8_t byte;
|
||||
uint8_t line_buffer[128];
|
||||
uint16_t line_ix = 0;
|
||||
|
||||
for(;;)
|
||||
{
|
||||
/* HID Loopback Test */
|
||||
#if 0
|
||||
if(PIOS_COM_ReceiveBufferUsed(COM_USB_HID) != 0) {
|
||||
byte = PIOS_COM_ReceiveBuffer(COM_USB_HID);
|
||||
if(byte == '\r' || byte == '\n' || byte == 0) {
|
||||
PIOS_COM_SendFormattedString(COM_USB_HID, "RX: %s\r", line_buffer);
|
||||
PIOS_COM_SendFormattedString(COM_DEBUG_USART, "RX: %s\r", line_buffer);
|
||||
line_ix = 0;
|
||||
} else if(line_ix < sizeof(line_buffer)) {
|
||||
line_buffer[line_ix++] = byte;
|
||||
line_buffer[line_ix] = 0;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
/* HID Loopback Test */
|
||||
if(PIOS_COM_ReceiveBufferUsed(COM_USART2) != 0) {
|
||||
byte = PIOS_COM_ReceiveBuffer(COM_USART2);
|
||||
#if 0
|
||||
if(byte == '\r' || byte == '\n' || byte == 0) {
|
||||
PIOS_COM_SendFormattedString(COM_DEBUG_USART, "RX: %s\r", line_buffer);
|
||||
line_ix = 0;
|
||||
} else if(line_ix < sizeof(line_buffer)) {
|
||||
line_buffer[line_ix++] = byte;
|
||||
line_buffer[line_ix] = 0;
|
||||
}
|
||||
#endif
|
||||
PIOS_COM_SendChar(COM_DEBUG_USART, (char)byte);
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
#if INCLUDE_TEST_TASKS
|
||||
static void TaskServos(void *pvParameters)
|
||||
{
|
||||
/* For testing servo outputs */
|
||||
portTickType xDelay;
|
||||
|
||||
/* Used to test servos, cycles all servos from one side to the other */
|
||||
for(;;) {
|
||||
/*xDelay = 250 / portTICK_RATE_MS;
|
||||
PIOS_Servo_Set(0, 2000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(1, 2000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(2, 2000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(3, 2000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(4, 2000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(5, 2000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(6, 2000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(7, 2000);
|
||||
vTaskDelay(xDelay);
|
||||
|
||||
PIOS_Servo_Set(7, 1000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(6, 1000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(5, 1000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(4, 1000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(3, 1000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(2, 1000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(1, 1000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(0, 1000);
|
||||
vTaskDelay(xDelay);*/
|
||||
|
||||
xDelay = 1 / portTICK_RATE_MS;
|
||||
for(int i = 1000; i < 2000; i++) {
|
||||
PIOS_Servo_Set(0, i);
|
||||
PIOS_Servo_Set(1, i);
|
||||
PIOS_Servo_Set(2, i);
|
||||
PIOS_Servo_Set(3, i);
|
||||
PIOS_Servo_Set(4, i);
|
||||
PIOS_Servo_Set(5, i);
|
||||
PIOS_Servo_Set(6, i);
|
||||
PIOS_Servo_Set(7, i);
|
||||
vTaskDelay(xDelay);
|
||||
}
|
||||
for(int i = 2000; i > 1000; i--) {
|
||||
PIOS_Servo_Set(0, i);
|
||||
PIOS_Servo_Set(1, i);
|
||||
PIOS_Servo_Set(2, i);
|
||||
PIOS_Servo_Set(3, i);
|
||||
PIOS_Servo_Set(4, i);
|
||||
PIOS_Servo_Set(5, i);
|
||||
PIOS_Servo_Set(6, i);
|
||||
PIOS_Servo_Set(7, i);
|
||||
vTaskDelay(xDelay);
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
#if INCLUDE_TEST_TASKS
|
||||
static void TaskSDCard(void *pvParameters)
|
||||
{
|
||||
uint16_t second_delay_ctr = 0;
|
||||
portTickType xLastExecutionTime;
|
||||
|
||||
/* Initialise the xLastExecutionTime variable on task entry */
|
||||
xLastExecutionTime = xTaskGetTickCount();
|
||||
|
||||
for(;;) {
|
||||
vTaskDelayUntil(&xLastExecutionTime, 1 / portTICK_RATE_MS);
|
||||
|
||||
/* Each second: */
|
||||
/* Check if SD card is available */
|
||||
/* High-speed access if SD card was previously available */
|
||||
if(++second_delay_ctr >= 1000) {
|
||||
second_delay_ctr = 0;
|
||||
|
||||
uint8_t prev_sdcard_available = sdcard_available;
|
||||
sdcard_available = PIOS_SDCARD_CheckAvailable(prev_sdcard_available);
|
||||
|
||||
if(sdcard_available && !prev_sdcard_available) {
|
||||
/* SD Card has been connected! */
|
||||
/* Switch to mass storage device */
|
||||
MSD_Init(0);
|
||||
} else if(!sdcard_available && prev_sdcard_available) {
|
||||
/* Re-init USB for HID */
|
||||
PIOS_USB_Init(1);
|
||||
/* SD Card disconnected! */
|
||||
}
|
||||
}
|
||||
|
||||
/* Each millisecond: */
|
||||
/* Handle USB access if device is available */
|
||||
if(sdcard_available) {
|
||||
MSD_Periodic_mS();
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
|
||||
@ -28,6 +28,7 @@ UAVOBJSRCFILENAMES += accessorydesired
|
||||
UAVOBJSRCFILENAMES += actuatorcommand
|
||||
UAVOBJSRCFILENAMES += actuatordesired
|
||||
UAVOBJSRCFILENAMES += actuatorsettings
|
||||
UAVOBJSRCFILENAMES += attitudesettings
|
||||
UAVOBJSRCFILENAMES += inssettings
|
||||
UAVOBJSRCFILENAMES += insstatus
|
||||
UAVOBJSRCFILENAMES += attitudeactual
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user