diff --git a/flight/Revolution/insgps13state.c b/flight/Libraries/insgps13state.c similarity index 100% rename from flight/Revolution/insgps13state.c rename to flight/Libraries/insgps13state.c diff --git a/flight/Revolution/insgps16state.c b/flight/Libraries/insgps16state.c similarity index 100% rename from flight/Revolution/insgps16state.c rename to flight/Libraries/insgps16state.c diff --git a/flight/Revolution/insgps_helper.c b/flight/Libraries/insgps_helper.c similarity index 100% rename from flight/Revolution/insgps_helper.c rename to flight/Libraries/insgps_helper.c diff --git a/flight/PiOS/Boards/STM32F4xx_Revolution.h b/flight/PiOS/Boards/STM32F4xx_Revolution.h index d9f802233..c0968b138 100644 --- a/flight/PiOS/Boards/STM32F4xx_Revolution.h +++ b/flight/PiOS/Boards/STM32F4xx_Revolution.h @@ -101,7 +101,7 @@ TIM8 | | | | #define PIOS_WDG_REGISTER RTC_BKP_DR4 #define PIOS_WDG_ACTUATOR 0x0001 #define PIOS_WDG_STABILIZATION 0x0002 -#define PIOS_WDG_AHRS 0x0004 +#define PIOS_WDG_ATTITUDE 0x0004 #define PIOS_WDG_MANUAL 0x0008 //------------------------ diff --git a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj index 4f81ba6bc..5912e875c 100644 --- a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj +++ b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj @@ -84,142 +84,8 @@ 6549E0D21279B3C800C5476F /* fifo_buffer.c */ = {isa = PBXFileReference; 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- path = include; - sourceTree = ""; - }; - 6560A32513EE26B700105DA5 /* portable */ = { - isa = PBXGroup; - children = ( - 6560A32613EE26B700105DA5 /* GCC */, - 6560A32A13EE26B700105DA5 /* MemMang */, - ); - path = portable; - sourceTree = ""; - }; - 6560A32613EE26B700105DA5 /* GCC */ = { - isa = PBXGroup; - children = ( - 6560A32713EE26B700105DA5 /* ARM_CM3 */, - ); - path = GCC; - sourceTree = ""; - }; - 6560A32713EE26B700105DA5 /* ARM_CM3 */ = { - isa = PBXGroup; - children = ( - 6560A32813EE26B700105DA5 /* port.c */, - 6560A32913EE26B700105DA5 /* portmacro.h */, - ); - path = ARM_CM3; - sourceTree = ""; - }; - 6560A32A13EE26B700105DA5 /* MemMang */ = { - isa = PBXGroup; - children = ( - 6560A32B13EE26B700105DA5 /* heap_1.c */, - 6560A32C13EE26B700105DA5 /* heap_2.c */, - 6560A32D13EE26B700105DA5 /* heap_3.c */, - ); - path = MemMang; - sourceTree = ""; - }; - 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 = ""; - }; - 6560A33D13EE26B700105DA5 /* STM32F2xx_StdPeriph_Driver */ = { - isa = PBXGroup; - children = ( - 6560A33E13EE26B700105DA5 /* inc */, - 6560A35913EE26B700105DA5 /* src */, - ); - path = STM32F2xx_StdPeriph_Driver; - sourceTree = ""; - }; - 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 = ""; - }; - 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 = ""; - }; - 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 = ""; - }; - 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 = ""; - }; 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 = ""; }; + 65FA9B76147095D40019A260 /* revolution */ = { + isa = PBXGroup; + children = ( + 65FA9B77147095D40019A260 /* attitude.c */, + 65FA9B78147095D40019A260 /* inc */, + ); + path = revolution; + sourceTree = ""; + }; + 65FA9B78147095D40019A260 /* inc */ = { + isa = PBXGroup; + children = ( + 65FA9B79147095D40019A260 /* attitude.h */, + ); + path = inc; + sourceTree = ""; + }; 65FF4BB313791C3300146BE4 /* Bootloaders */ = { isa = PBXGroup; children = ( diff --git a/flight/Project/gdb/revolution b/flight/Project/gdb/revolution index ae6cc677d..6a0c291fc 100644 --- a/flight/Project/gdb/revolution +++ b/flight/Project/gdb/revolution @@ -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 diff --git a/flight/Revolution/Makefile b/flight/Revolution/Makefile index da7dae34c..b3df5b711 100644 --- a/flight/Revolution/Makefile +++ b/flight/Revolution/Makefile @@ -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 diff --git a/flight/Revolution/System/inc/FreeRTOSConfig.h b/flight/Revolution/System/inc/FreeRTOSConfig.h index f86929294..72d6e288a 100644 --- a/flight/Revolution/System/inc/FreeRTOSConfig.h +++ b/flight/Revolution/System/inc/FreeRTOSConfig.h @@ -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 diff --git a/flight/Revolution/System/pios_board.c b/flight/Revolution/System/pios_board.c index eb7f9d164..8058d8c21 100644 --- a/flight/Revolution/System/pios_board.c +++ b/flight/Revolution/System/pios_board.c @@ -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); + } /** diff --git a/flight/Revolution/System/revolution.c b/flight/Revolution/System/revolution.c index 3a4b53941..ff634921e 100644 --- a/flight/Revolution/System/revolution.c +++ b/flight/Revolution/System/revolution.c @@ -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 /** * @} * @} diff --git a/flight/Revolution/UAVObjects.inc b/flight/Revolution/UAVObjects.inc index cbe2f79b0..9a6667117 100644 --- a/flight/Revolution/UAVObjects.inc +++ b/flight/Revolution/UAVObjects.inc @@ -28,6 +28,7 @@ UAVOBJSRCFILENAMES += accessorydesired UAVOBJSRCFILENAMES += actuatorcommand UAVOBJSRCFILENAMES += actuatordesired UAVOBJSRCFILENAMES += actuatorsettings +UAVOBJSRCFILENAMES += attitudesettings UAVOBJSRCFILENAMES += inssettings UAVOBJSRCFILENAMES += insstatus UAVOBJSRCFILENAMES += attitudeactual