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flight - BL AHRS Comms - fixes to make it compile, not tested yet.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1601 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
zedamota 2010-09-12 21:08:43 +00:00 committed by zedamota
parent be1dc09c29
commit 257b4d2c95
1 changed files with 39 additions and 17 deletions
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56
flight/PiOS/Common/pios_opahrs_v0.c
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@ -6,25 +6,25 @@
* @brief HAL code to interface to the OpenPilot AHRS module's bootloader
* @{
*
* @file pios_opahrs_download.c
* @file pios_opahrs_download.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Hardware commands to communicate with the AHRS bootloader
* @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
/*
* 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
*
* 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.,
*
* 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
*/
@ -36,6 +36,27 @@
#include "pios_opahrs_proto.h"
#include "pios_opahrs.h"
void PIOS_OPAHRS_Init(void)
{
PIOS_SPI_SetClockSpeed(PIOS_OPAHRS_SPI, PIOS_SPI_PRESCALER_8);
}
static int32_t opahrs_msg_txrx (const uint8_t * tx, uint8_t * rx, uint32_t len)
{
int32_t rc;
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(20 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(20);
#endif
rc = PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, tx, rx, len, NULL);
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
return (rc);
}
static enum opahrs_result opahrs_msg_v0_send_req (const struct opahrs_msg_v0 * req)
{
int32_t rc;
@ -137,7 +158,7 @@ static enum opahrs_result opahrs_msg_v0_recv_rsp (enum opahrs_msg_v0_tag tag, st
return OPAHRS_RESULT_TIMEOUT;
}
static enum opahrs_result PIOS_OPAHRS_v0_simple_req (enum opahrs_msg_v0_tag req_type, struct opahrs_msg_v0 * rsp, struct opahrs_msg_v0_tag rsp_type)
static enum opahrs_result PIOS_OPAHRS_v0_simple_req (enum opahrs_msg_v0_tag req_type, struct opahrs_msg_v0 * rsp, enum opahrs_msg_v0_tag rsp_type)
{
struct opahrs_msg_v0 req;
enum opahrs_result rc;
@ -145,7 +166,7 @@ static enum opahrs_result PIOS_OPAHRS_v0_simple_req (enum opahrs_msg_v0_tag req_
/* Make up an empty request */
opahrs_msg_v0_init_user_tx (&req, req_type);
/* Send the message until it is received */
/* Send the message until it is received */
rc = opahrs_msg_v0_send_req (&req);
if ((rc == OPAHRS_RESULT_OK) && rsp) {
/* We need a specific kind of reply, go get it */
@ -176,7 +197,7 @@ enum opahrs_result PIOS_OPAHRS_bl_GetSerial(struct opahrs_msg_v0 * rsp)
enum opahrs_result PIOS_OPAHRS_bl_FwupStart(struct opahrs_msg_v0 * req, struct opahrs_msg_v0 * rsp)
{
if (!req || !rsp) return OPAHRS_RESULT_FAILED;
enum opahrs_result rc;
/* Make up an attituderaw request */
opahrs_msg_v0_init_user_tx (req, OPAHRS_MSG_V0_REQ_FWUP_START);
@ -196,7 +217,7 @@ enum opahrs_result PIOS_OPAHRS_bl_FwupData(struct opahrs_msg_v0 * req, struct op
/* Make up an attituderaw request */
opahrs_msg_v0_init_user_tx (req, OPAHRS_MSG_V0_REQ_FWUP_DATA);
enum opahrs_result rc;
/* Send the message until it is received */
rc = opahrs_msg_v0_send_req (req);
if (rc != OPAHRS_RESULT_OK) {
@ -259,4 +280,5 @@ enum opahrs_result PIOS_OPAHRS_bl_resync(void)
return rc;
}
#endif /* PIOS_INCLUDE_OPAHRS */