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Code Issues Releases Activity

Enable telemetry on revo

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This commit is contained in:
James Cotton 2011-11-13 16:06:55 -06:00
parent c0f16d2f44
commit 2b37d4bbb5
2 changed files with 75 additions and 5 deletions
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6
flight/Revolution/System/inc/pios_config.h
View File

@ -53,7 +53,6 @@
#define PIOS_INCLUDE_USART
//#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_GPS
#define PIOS_INCLUDE_BMA180
#define PIOS_INCLUDE_HMC5883
#define PIOS_INCLUDE_BMP085
@ -61,8 +60,7 @@
//#define PIOS_INCLUDE_HCSR04
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_GPS
//#define PIOS_INCLUDE_SDCARD
//#define PIOS_INCLUDE_GPS
#define PIOS_INCLUDE_SETTINGS
#define PIOS_INCLUDE_FREERTOS
//#define PIOS_INCLUDE_GPIO
@ -72,7 +70,7 @@
//#define PIOS_INCLUDE_I2C_ESC
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_COM_AUX
#define PIOS_INCLUDE_COM_TELEM
/* Defaults for Logging */
#define LOG_FILENAME "PIOS.LOG"

74
flight/Revolution/System/pios_board.c
View File

@ -285,9 +285,9 @@ void PIOS_SPI_accel_irq_handler(void)
#if defined(PIOS_INCLUDE_GPS)
#include <pios_usart_priv.h>
#if defined(PIOS_INCLUDE_GPS)
/*
* GPS USART
*/
@ -393,6 +393,57 @@ static uint8_t pios_com_gps_rx_buffer[PIOS_COM_GPS_RX_BUF_LEN];
#endif /* PIOS_COM_AUX */
#ifdef PIOS_INCLUDE_COM_TELEM
/*
* Telemetry on main USART
*/
static const struct pios_usart_cfg pios_usart_telem_main_cfg = {
.regs = UART4,
.remap = GPIO_AF_UART4,
.init = {
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl =
USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.init = {
.NVIC_IRQChannel = UART4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.tx = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 512
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 512
#endif /* PIOS_COM_TELEM */
#if defined(PIOS_INCLUDE_COM)
@ -758,6 +809,7 @@ void PIOS_Board_Init(void) {
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_GPS)
uint32_t pios_usart_gps_id;
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
PIOS_DEBUG_Assert(0);
@ -780,7 +832,27 @@ void PIOS_Board_Init(void) {
pios_com_aux_tx_buffer, sizeof(pios_com_aux_tx_buffer))) {
PIOS_DEBUG_Assert(0);
}
#endif
#if defined(PIOS_INCLUDE_COM_TELEM)
{ /* Eventually add switch for this port function */
uint32_t pios_usart_telem_rf_id;
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_main_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id,
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM_AUX */
#endif /* PIOS_INCLUDE_COM */
if (PIOS_I2C_Init(&pios_i2c_pres_mag_adapter_id, &pios_i2c_pres_mag_adapter_cfg)) {