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OP-1477 - Add GPS System Module

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This commit is contained in:
Alessio Morale 2014-09-07 22:27:38 +02:00
parent a46683cfea
commit 1fa2bfddc6
3 changed files with 437 additions and 0 deletions
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401
flight/modules/gpsp/gpsdsysmod.c Normal file
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/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @brief The OpenPilot Modules do the majority of the control in OpenPilot. The
* @ref SystemModule "System Module" starts all the other modules that then take care
* of all the telemetry and control algorithms and such. This is done through the @ref PIOS
* "PIOS Hardware abstraction layer" which then contains hardware specific implementations
* (currently only STM32 supported)
*
* @{
* @addtogroup SystemModule System Module
* @brief Initializes PIOS and other modules runs monitoring
* After initializing all the modules (currently selected by Makefile but in
* future controlled by configuration on SD card) runs basic monitoring and
* alarms.
* @{
*
* @file systemmod.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief System module
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <openpilot.h>
#include <pios_struct_helper.h>
// private includes
#include "inc/gpsdsysmod.h"
#include <pios_hmc5x83.h>
// UAVOs
#include <systemstats.h>
SystemStatsData systemStats;
#define DEBUG_THIS_FILE
extern uint32_t pios_com_main_id;
//#define PIOS_COM_DEBUG pios_com_main_id
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(DEBUG_THIS_FILE)
#define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(PIOS_COM_DEBUG, format,##__VA_ARGS__)
#else
#define DEBUG_MSG(format, ...)
#endif
#define GPS_I2C_ADDRESS (0x42<<1)
#define GPS_I2C_STREAM_REG 0xFF
#define GPS_I2C_STREAM_SIZE_HIGH_REG 0xFD
#define GPS_I2C_STREAM_SIZE_LOW_REG 0xFE
// Private constants
#define SYSTEM_UPDATE_PERIOD_MS 100
#define STACK_SIZE_BYTES 400
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
#define BUFFER_SIZE 254
uint8_t buffer[BUFFER_SIZE];
// Private types
// Private variables
static xTaskHandle systemTaskHandle;
static enum { STACKOVERFLOW_NONE = 0, STACKOVERFLOW_WARNING = 1, STACKOVERFLOW_CRITICAL = 3 } stackOverflow;
static bool mallocFailed;
static void ReadGPS();
static void ReadMag();
static void InitGPS();
// Private functions
static void updateStats();
static void gps_lowlevel_init();
static void gpspSystemTask(void *parameters);
static uint32_t I2C_ReadBuffer(I2C_TypeDef* I2Cx,uint8_t* pBuffer, uint8_t reg, uint16_t* NumByteToRead, uint8_t deviceAddress);
/**
* Create the module task.
* \returns 0 on success or -1 if initialization failed
*/
int32_t GPSPSystemModStart(void)
{
// Initialize vars
stackOverflow = STACKOVERFLOW_NONE;
mallocFailed = false;
// Create system task
xTaskCreate(gpspSystemTask, (const char *)"G-Sys", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &systemTaskHandle);
return 0;
}
/**
* Initialize the module, called on startup.
* \returns 0 on success or -1 if initialization failed
*/
int32_t GPSPSystemModInitialize(void)
{
GPSPSystemModStart();
return 0;
}
MODULE_INITCALL(GPSPSystemModInitialize, 0);
/**
* System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
*/
static void gpspSystemTask(__attribute__((unused)) void *parameters)
{
/* create all modules thread */
MODULE_TASKCREATE_ALL;
InitGPS();
/* start the delayed callback scheduler */
// PIOS_CALLBACKSCHEDULER_Start();
if (mallocFailed) {
/* We failed to malloc during task creation,
* system behaviour is undefined. Reset and let
* the BootFault code recover for us.
*/
PIOS_SYS_Reset();
}
#if defined(PIOS_INCLUDE_IAP)
/* Record a successful boot */
PIOS_IAP_WriteBootCount(0);
#endif
while (1) {
// NotificationUpdateStatus();
// Update the system statistics
updateStats();
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
// Update the system alarms
PIOS_COM_SendBuffer(pios_com_main_id,(uint8_t*) &"0000", 4);
vTaskDelay(SYSTEM_UPDATE_PERIOD_MS * configTICK_RATE_HZ / 1000);
ReadGPS();
ReadMag();
}
}
/**
* Called periodically to update the system stats
*/
static uint16_t GetFreeIrqStackSize(void)
{
uint32_t i = 0x200;
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
extern uint32_t _irq_stack_top;
extern uint32_t _irq_stack_end;
uint32_t pattern = 0x0000A5A5;
uint32_t *ptr = &_irq_stack_end;
#if 1 /* the ugly way accurate but takes more time, useful for debugging */
uint32_t stack_size = (((uint32_t)&_irq_stack_top - (uint32_t)&_irq_stack_end) & ~3) / 4;
for (i = 0; i < stack_size; i++) {
if (ptr[i] != pattern) {
i = i * 4;
break;
}
}
#else /* faster way but not accurate */
if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_CRITICAL) != pattern) {
i = IRQSTACK_LIMIT_CRITICAL - 1;
} else if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_WARNING) != pattern) {
i = IRQSTACK_LIMIT_WARNING - 1;
} else {
i = IRQSTACK_LIMIT_WARNING;
}
#endif
#endif /* if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK) */
return i;
}
/**
* Called periodically to update the system stats
*/
static void updateStats()
{
// Get stats and update
systemStats.FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
systemStats.HeapRemaining = xPortGetFreeHeapSize();
systemStats.SystemModStackRemaining = uxTaskGetStackHighWaterMark(NULL) * 4;
// Get Irq stack status
systemStats.IRQStackRemaining = GetFreeIrqStackSize();
systemStats.CPULoad = 100 - PIOS_TASK_MONITOR_GetIdlePercentage();
}
/**
* Update system alarms
*/
/**
* Called by the RTOS when the CPU is idle,
*/
void vApplicationIdleHook(void)
{
// NotificationOnboardLedsRun();
}
/**
* Called by the RTOS when a stack overflow is detected.
*/
#define DEBUG_STACK_OVERFLOW 0
void vApplicationStackOverflowHook(__attribute__((unused)) xTaskHandle *pxTask,
__attribute__((unused)) signed portCHAR *pcTaskName)
{
stackOverflow = STACKOVERFLOW_CRITICAL;
#if DEBUG_STACK_OVERFLOW
static volatile bool wait_here = true;
while (wait_here) {
;
}
wait_here = true;
#endif
}
/**
* Called by the RTOS when a malloc call fails.
*/
#define DEBUG_MALLOC_FAILURES 0
void vApplicationMallocFailedHook(void)
{
mallocFailed = true;
#if DEBUG_MALLOC_FAILURES
static volatile bool wait_here = true;
while (wait_here) {
;
}
wait_here = true;
#endif
}
union {
uint8_t outbuff[11];
struct{
uint8_t pre;
uint8_t header[3];
int16_t mag[3];
uint8_t tail;
}data;
} magbuf;
void ReadMag() {
magbuf.data.pre = '\n';
magbuf.data.header[0] = 'M';
magbuf.data.header[1] = 'a';
magbuf.data.header[2] = 'G';
magbuf.data.tail = '\n';
if(PIOS_HMC5x83_ReadMag(magbuf.data.mag)< 0){
return;
}
PIOS_COM_SendBuffer(pios_com_main_id,magbuf.outbuff, 11);
}
void ReadGPS(){
uint16_t bytesToRead = BUFFER_SIZE;
if(I2C_ReadBuffer(I2C1,buffer, GPS_I2C_STREAM_REG,&bytesToRead, GPS_I2C_ADDRESS) == 0){
// PIOS_COM_SendBuffer(pios_com_main_id,buffer, BUFFER_SIZE - bytesToRead);
}
}
void InitGPS(){
gps_lowlevel_init();
I2C_InitTypeDef I2C_InitStructure;
memset(buffer,0 ,32);
/* I2C configuration */
/* sEE_I2C configuration */
I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
I2C_InitStructure.I2C_AnalogFilter = I2C_AnalogFilter_Enable;
I2C_InitStructure.I2C_DigitalFilter = 0x00;
I2C_InitStructure.I2C_OwnAddress1 = 0x00;
I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
I2C_InitStructure.I2C_Timing = 0x00210507;
/* Apply sEE_I2C configuration after enabling it */
I2C_Init(I2C1, &I2C_InitStructure);
/* sEE_I2C Peripheral Enable */
I2C_Cmd(I2C1, ENABLE);
}
void gps_lowlevel_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* Configure the I2C clock source. The clock is derived from the HSI */
RCC_I2CCLKConfig(RCC_I2C1CLK_HSI);
/* sEE_I2C_SCL_GPIO_CLK and sEE_I2C_SDA_GPIO_CLK Periph clock enable */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
/* sEE_I2C Periph clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
/* Connect PXx to I2C_SCL*/
GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_1);
/* Connect PXx to I2C_SDA*/
GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_1);
/* GPIO configuration */
/* Configure sEE_I2C pins: SCL */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Configure sEE_I2C pins: SDA */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_Init(GPIOB, &GPIO_InitStructure);
}
#define sEE_FLAG_TIMEOUT ((uint32_t)0x1000)
#define sEE_LONG_TIMEOUT ((uint32_t)(10 * sEE_FLAG_TIMEOUT))
uint32_t I2C_ReadBuffer(I2C_TypeDef* I2Cx,uint8_t* pBuffer, uint8_t reg, uint16_t* NumByteToRead, uint8_t deviceAddress)
{
static volatile uint32_t sEETimeout = sEE_LONG_TIMEOUT;
uint32_t NumbOfSingle = 0, DataNum = 0;
/* Get number of reload cycles */
NumbOfSingle = (*NumByteToRead) % 255;
/* Configure slave address, nbytes, reload and generate start */
I2C_TransferHandling(I2Cx, deviceAddress, 1, I2C_SoftEnd_Mode, I2C_Generate_Start_Write);
/* Wait until TXIS flag is set */
sEETimeout = sEE_LONG_TIMEOUT;
while(I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET)
{
if((sEETimeout--) == 0)
return -2;
}
/* Send memory address */
I2C_SendData(I2Cx, (uint8_t)reg);
/* Wait until TC flag is set */
sEETimeout = sEE_LONG_TIMEOUT;
while(I2C_GetFlagStatus(I2Cx, I2C_ISR_TC) == RESET)
{
if((sEETimeout--) == 0)
return -2;
}
/* Update CR2 : set Slave Address , set read request, generate Start and set end mode */
I2C_TransferHandling(I2Cx, deviceAddress, (uint32_t)(NumbOfSingle), I2C_AutoEnd_Mode, I2C_Generate_Start_Read);
/* Reset local variable */
DataNum = 0;
/* Wait until all data are received */
while (DataNum != NumbOfSingle)
{
/* Wait until RXNE flag is set */
sEETimeout = sEE_LONG_TIMEOUT;
while(I2C_GetFlagStatus(I2Cx, I2C_ISR_RXNE) == RESET)
{
if((sEETimeout--) == 0)
return -2;
}
/* Read data from RXDR */
pBuffer[DataNum]= I2C_ReceiveData(I2Cx);
/* Update number of received data */
DataNum++;
(*NumByteToRead)--;
}
return 0;
}
/**
* @}
* @}
*/

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flight/modules/gpsp/inc/gpsdsysmod.h Normal file
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/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup SystemModule System Module
* @{
*
* @file systemmod.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief System module
*
* @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 SYSTEMMOD_H
#define SYSTEMMOD_H
int32_t GPSPSystemModInitialize(void);
#endif // SYSTEMMOD_H

1
flight/targets/boards/gpsplatinum/firmware/Makefile
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@ -48,6 +48,7 @@ endif
SRC += $(CMSIS_DEVICEDIR)/system_stm32f0xx.c
## Application Core
SRC += $(OPMODULEDIR)/gpsp/gpsdsysmod.c
SRC += $(OPSYSTEM)/gpsp.c
SRC += $(OPSYSTEM)/pios_board.c
SRC += $(FLIGHTLIB)/ubx_utils.c