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Code Issues Releases Activity

Remove discontinued AHRS files

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This commit is contained in:
Oleg Semyonov 2013-03-15 08:20:01 +02:00
parent 8c6f24afef
commit 304f366338
21 changed files with 2 additions and 2745 deletions
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90
flight/Doc/Architecture/ahrs_spi_link_fsm.dot
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// Regenerate using graphviz/dotty with this command
// dot -Tjpg ./flight/Doc/Architecture/ahrs_spi_link_fsm.dot > ./flight/Doc/Architecture/ahrs_spi_link_fsm.jpg
digraph ahrs_spi_protocol {
label="AHRS SPI Link State Machine"
labelloc=t
labeljust = l
// Stopped -- Undefined Wire State
{
node [ style=filled,color=lightgray ]
stopped [ shape="doublecircle" ]
stopping
}
// Wire State Inactive
{
node [ style=filled,color=lightblue ]
inactive
}
// Wire State Busy
{
node [ style=filled,color=red ]
user_busy
user_busy_tx_pending
user_busy_rx_pending
user_busy_rxtx_pending
}
{
node [ style=filled,color=yellow ]
user_tx_pending
user_rx_pending
user_rxtx_pending
}
// Wire State Ready
{
node [ style=filled,color=green ]
user_rx_active
user_tx_active
user_rxtx_active
}
//
// State transitions driven by the user
//
stopped -> inactive [ label="init link" ]
inactive -> stopping [ label="stop" ]
inactive -> user_busy_rx_pending [ label="user set rx" ]
inactive -> user_busy_tx_pending [ label="user set tx" ]
user_busy -> user_busy_tx_pending [ label="user set tx" ]
user_busy -> user_busy_rx_pending [ label="user set rx" ]
user_busy -> inactive [ label="user done" ]
user_busy -> stopping [ label="stop" ]
user_busy_tx_pending -> user_busy_rxtx_pending [ label="user set rx" ]
user_busy_tx_pending -> user_tx_pending [ label="user done" ]
user_busy_rx_pending -> user_busy_rxtx_pending [ label="user set tx" ]
user_busy_rx_pending -> user_rx_pending [ label="user done" ]
user_busy_rxtx_pending -> user_rxtx_pending [ label="user done" ]
//
// State transitions driven by messaging from the OP board
//
stopping -> stopped [ label="rx any" ]
user_tx_pending -> user_tx_active [ label="rx any" ]
user_rx_pending -> user_rx_active [ label="rx any" ]
user_rxtx_pending -> user_rxtx_active [ label="rx any" ]
// Active -> Busy
user_rx_active -> user_busy [ label="rx user" ]
user_tx_active -> inactive [ label="rx any" ]
user_rxtx_active -> user_busy [ label="rx user" ]
user_rxtx_active -> user_rx_active [ label="rx link" ]
user_rxtx_active -> user_rx_active [ label="rx unknown" ]
}

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flight/Doc/Architecture/ahrs_spi_link_fsm.jpg
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164
flight/Libraries/ahrs_comm_objects.c
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/**
******************************************************************************
*
* @file ahrs_comm_objects.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief AHRS comms AUVObjects. This file defined teh objects to be used.
*
* @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 "pios.h"
#include "ahrs_spi_comm.h"
#include "pios_debug.h"
static AttitudeRawData AttitudeRaw;
static AttitudeActualData AttitudeActual;
static BaroAltitudeData BaroAltitude;
static GPSPositionData GPSPosition;
static HomeLocationData HomeLocation;
static InsStatusData InsStatus;
static InsSettingsData InsSettings;
static FirmwareIAPObjData FirmwareIAPObj;
static PositionActualData PositionActual;
static VelocityActualData VelocityActual;
static GPSSatellitesData GPSSatellites;
static GPSTimeData GPSTime;
AhrsSharedObject objectHandles[MAX_AHRS_OBJECTS];
#ifndef NULL
#define NULL ((void *)0)
#endif
#ifdef IN_AHRS
//slightly hacky - implement our own version of the xxxHandle() functions
#define CREATEHANDLE(n,obj) \
void * obj##Handle() {return (&objectHandles[n]);}
CREATEHANDLE(0, AttitudeRaw);
CREATEHANDLE(1, AttitudeActual);
CREATEHANDLE(2, InsSettings);
CREATEHANDLE(3, InsStatus);
CREATEHANDLE(4, BaroAltitude);
CREATEHANDLE(5, GPSPosition);
CREATEHANDLE(6, PositionActual);
CREATEHANDLE(7, VelocityActual);
CREATEHANDLE(8, HomeLocation);
CREATEHANDLE(9, FirmwareIAPObj);
CREATEHANDLE(10, GPSSatellites);
CREATEHANDLE(11, GPSTime);
#if 12 != MAX_AHRS_OBJECTS //sanity check
#error We did not create the correct number of xxxHandle() functions
#endif
#define ADDHANDLE(idx,obj) {\
int n = idx;\
objectHandles[n].data = &obj;\
objectHandles[n].size = sizeof(obj);\
objectHandles[n].index = n;\
}
#else
static void ObjectUpdatedCb(UAVObjEvent * ev);
#define ADDHANDLE(idx,obj) {\
obj##Initialize();\
int n = idx;\
objectHandles[n].data = &obj;\
objectHandles[n].uavHandle = obj##Handle();\
objectHandles[n].size = sizeof(obj);\
objectHandles[n].index = n;\
}
#endif
void AhrsInitHandles(void)
{
int idx = 0;
//Note: the first item in this list has the highest priority
//the last has the lowest priority
ADDHANDLE(idx++, AttitudeRaw);
ADDHANDLE(idx++, AttitudeActual);
ADDHANDLE(idx++, InsSettings);
ADDHANDLE(idx++, InsStatus);
ADDHANDLE(idx++, BaroAltitude);
ADDHANDLE(idx++, GPSPosition);
ADDHANDLE(idx++, PositionActual);
ADDHANDLE(idx++, VelocityActual);
ADDHANDLE(idx++, HomeLocation);
ADDHANDLE(idx++, FirmwareIAPObj);
ADDHANDLE(idx++, GPSSatellites);
ADDHANDLE(idx++, GPSTime);
if (idx != MAX_AHRS_OBJECTS) {
PIOS_DEBUG_Assert(0);
}
//Note: Only connect objects that the AHRS needs to read
//When the AHRS writes to these the data does a round trip
//AHRS->OP->AHRS due to these events
#ifndef IN_AHRS
InsSettingsConnectCallback(ObjectUpdatedCb);
HomeLocationConnectCallback(ObjectUpdatedCb);
FirmwareIAPObjConnectCallback(ObjectUpdatedCb);
#endif
}
AhrsObjHandle AhrsFromIndex(uint8_t index)
{
if (index >= MAX_AHRS_OBJECTS) {
return (NULL);
}
return (&objectHandles[index]);
}
#ifndef IN_AHRS
AhrsObjHandle AhrsFromUAV(UAVObjHandle obj)
{
if (objectHandles[0].uavHandle == NULL) { //Oops - we haven't been initialised!
PIOS_DEBUG_Assert(0);
}
for (int ct = 0; ct < MAX_AHRS_OBJECTS; ct++) {
if (objectHandles[ct].uavHandle == obj) {
return (&objectHandles[ct]);
}
}
return (NULL);
}
/** Callback to update AHRS from UAVObjects
*/
static void ObjectUpdatedCb(UAVObjEvent * ev)
{
if (!(ev->event & EV_MASK_ALL_UPDATES)) {
return;
}
AhrsObjHandle hdl = AhrsFromUAV(ev->obj);
if (hdl) {
AhrsSharedData data; //this is guaranteed to be big enough
UAVObjGetData(ev->obj, &data);
AhrsSetData(hdl, &data);
}
}
#endif

452
flight/Libraries/ahrs_spi_comm.c
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/**
******************************************************************************
*
* @file ahrs_spi_comm.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief AHRS SPI communications.
*
* @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 <pios.h>
#include "ahrs_spi_comm.h"
#include "ahrs_spi_program.h"
#ifdef IN_AHRS
#include <string.h>
#include "pios_debug.h"
#include "pios_spi.h"
#include "pios_irq.h"
#include "ahrs_spi_program_slave.h"
//#include "STM32103CB_AHRS.h"
#endif
/*transmit and receive packet magic numbers.
These numbers are chosen to be very unlikely to occur due to noise.
CRC8 does not always catch noise from cross-coupling between data lines.
*/
#ifdef IN_AHRS
#define TXMAGIC 0xA55AF0C3
#define RXMAGIC 0x3C5AA50F
#else
#define RXMAGIC 0xA55AF0C3
#define TXMAGIC 0x3C5AA50F
#endif
//packet types
typedef enum { COMMS_NULL, COMMS_OBJECT } COMMSCOMMAND;
//The maximum number of objects that can be updated in one cycle.
//Currently the link is capable of sending 3 packets per cycle but 2 is enough
#define MAX_UPDATE_OBJECTS 2
//Number of transmissions + 1 before we expect to see the data acknowledge
//This is controlled by the SPI hardware.
#define ACK_LATENCY 4
/** All data for one object
*/
typedef struct {
uint8_t done;
uint8_t index;
AhrsSharedData object;
} ObjectPacketData;
/** One complete packet.
Other packet types are allowed for. The frame size will be the size of this
structure.
*/
typedef struct {
uint32_t magicNumber;
COMMSCOMMAND command;
AhrsEndStatus status;
union { //allow for expansion to other packet types.
ObjectPacketData objects[MAX_UPDATE_OBJECTS];
};
uint8_t dummy; //For some reason comms trashes the last byte
} CommsDataPacket;
static void FillObjectPacket();
static void CommsCallback(uint8_t crc_ok, uint8_t crc_val);
static void SetObjectDirty(const int idx);
static void HandleObjectPacket();
static void HandleRxPacket();
static void PollEvents();
#ifndef IN_AHRS
static void SendPacket(void);
static void AhrsUpdatedCb(AhrsObjHandle handle);
#endif
/** Receive data buffer
*/
static CommsDataPacket rxPacket;
/** Transmit data buffer
*/
static CommsDataPacket txPacket;
/** Objects that have changed and so should be transmitted
*/
static unsigned int dirtyObjects[MAX_AHRS_OBJECTS];
/** Objects that have been updated at startup
*/
static bool readyObjects[MAX_AHRS_OBJECTS];
/** List of event callbacks
*/
static AhrsEventCallback objCallbacks[MAX_AHRS_OBJECTS];
/** True for objects for which new data is received and callback needs to be called
*/
static bool callbackPending[MAX_AHRS_OBJECTS];
//More than this number of errors in a row will indicate the link is down
#define MAX_CRC_ERRORS 50
//At least this number of good frames are needed to indicate the link is up.
#define MIN_OK_FRAMES 50
//At least this number of empty objects are needed before the initial flood of events is over.
#define MIN_EMPTY_OBJECTS 10
static uint8_t linkOk = false;
static int okCount = MIN_OK_FRAMES;
static int emptyCount = MIN_EMPTY_OBJECTS;
static bool programReceive = false;
void AhrsInitComms(void)
{
programReceive = false;
AhrsInitHandles();
memset(objCallbacks, 0, sizeof(AhrsEventCallback) * MAX_AHRS_OBJECTS);
memset(callbackPending, 0, sizeof(bool) * MAX_AHRS_OBJECTS);
memset(dirtyObjects, 0, sizeof(unsigned int) * MAX_AHRS_OBJECTS);
memset(&txPacket, 0, sizeof(txPacket));
memset(&rxPacket, 0, sizeof(rxPacket));
memset(&readyObjects, 0, sizeof(bool) * MAX_AHRS_OBJECTS);
txPacket.command = COMMS_NULL;
rxPacket.command = COMMS_NULL;
}
static uint32_t opahrs_spi_id;
void AhrsConnect(uint32_t spi_id)
{
/* Bind this comms layer to the appropriate SPI id */
opahrs_spi_id = spi_id;
#ifndef IN_AHRS
/* Comms already init in OP code */
for (int ct = 0; ct < MAX_AHRS_OBJECTS; ct++) {
AhrsObjHandle hdl = AhrsFromIndex(ct);
if (hdl) {
AhrsConnectCallBack(hdl, AhrsUpdatedCb);
}
}
#endif
}
int32_t AhrsSetData(AhrsObjHandle obj, const void *dataIn)
{
if (obj == NULL || dataIn == NULL || obj->data == NULL) {
return (-1);
}
if (memcmp(obj->data, dataIn, obj->size) == 0) { //nothing to do, don't generate an event
return (0);
}
memcpy(obj->data, dataIn, obj->size);
SetObjectDirty(obj->index);
return (0);
}
int32_t AhrsGetData(AhrsObjHandle obj, void *dataOut)
{
if (obj == NULL || dataOut == NULL || obj->data == NULL) {
return (-1);
}
memcpy(dataOut, obj->data, obj->size);
return (0);
}
/** Mark an object to be sent
*/
void SetObjectDirty(const int idx)
{
if (idx < 0 || idx >= MAX_AHRS_OBJECTS) {
return;
}
dirtyObjects[idx] = ACK_LATENCY;
}
/** Work out what data needs to be sent.
If an object was not sent it will be retried 4 frames later
*/
static void FillObjectPacket()
{
txPacket.command = COMMS_OBJECT;
txPacket.magicNumber = TXMAGIC;
int idx = 0;
for (int ct = 0; ct < MAX_UPDATE_OBJECTS; ct++) {
txPacket.objects[ct].index = AHRS_NO_OBJECT;
for (; idx < MAX_AHRS_OBJECTS; idx++) {
if (dirtyObjects[idx] > 0) {
if (dirtyObjects[idx] == ACK_LATENCY) {
dirtyObjects[idx]--;
txPacket.objects[ct].index = idx;
AhrsObjHandle hdl = AhrsFromIndex(idx);
if (hdl) {
memcpy(&txPacket.objects[ct].object, hdl->data, hdl->size);
break;
}
} else {
dirtyObjects[idx]--;
if (dirtyObjects[idx] == 0) { //timed out
dirtyObjects[idx] = ACK_LATENCY;
txPacket.status.retries++;
}
}
}
}
}
for (; idx < MAX_AHRS_OBJECTS; idx++) {
if (dirtyObjects[idx] > 0 && dirtyObjects[idx] != ACK_LATENCY) {
dirtyObjects[idx]--;
if (dirtyObjects[idx] == 0) { //timed out
dirtyObjects[idx] = ACK_LATENCY;
txPacket.status.retries++;
}
}
}
}
/** Process a received packet
*/
static void HandleRxPacket()
{
switch (rxPacket.command) {
case COMMS_NULL:
// Empty packet, nothing to do
break;
case COMMS_OBJECT:
HandleObjectPacket();
break;
default:
txPacket.status.invalidPacket++;
}
}
/** Process a received UAVObject packet
*/
static void HandleObjectPacket()
{
for (int ct = 0; ct < MAX_UPDATE_OBJECTS; ct++) {
uint8_t idx;
// Flag objects that have been successfully received at the other end
idx = rxPacket.objects[ct].done;
txPacket.objects[ct].done = AHRS_NO_OBJECT;
if (idx < MAX_AHRS_OBJECTS) {
if (dirtyObjects[idx] == 1) { //this ack is the correct one for the last send
dirtyObjects[idx] = 0;
}
}
// Handle received object if there is one in this packet
idx = rxPacket.objects[ct].index;
if (idx == AHRS_NO_OBJECT) {
if (emptyCount > 0) {
emptyCount--;
}
continue;
}
AhrsObjHandle obj = AhrsFromIndex(idx);
if (obj) {
memcpy(obj->data, &rxPacket.objects[ct].object, obj->size);
txPacket.objects[ct].done = idx;
callbackPending[idx] = true; // New data available, call callback
readyObjects[idx] = true;
} else {
txPacket.status.invalidPacket++;
}
}
#ifdef IN_AHRS
FillObjectPacket(); //ready for the next frame
#endif
}
int32_t AhrsConnectCallBack(AhrsObjHandle obj, AhrsEventCallback cb)
{
if (obj == NULL || obj->data == NULL) {
return (-1);
}
objCallbacks[obj->index] = cb;
return (0);
}
void AhrsGetStatus(AhrsCommStatus * status)
{
status->remote = rxPacket.status;
status->local = txPacket.status;
status->linkOk = linkOk;
}
/** Function called after an SPI transfer
*/
static void CommsCallback(uint8_t crc_ok, uint8_t crc_val)
{
#ifndef IN_AHRS
PIOS_SPI_RC_PinSet(opahrs_spi_id, 1); //signal the end of the transfer
#endif
txPacket.command = COMMS_NULL; //we must send something so default to null
// While the crc is ok, there is a magic value in the received data for extra security
if (rxPacket.magicNumber != RXMAGIC) {
crc_ok = false;
}
if (crc_ok) {
// The received data is OK, update link state and handle data
if (!linkOk && okCount > 0) {
okCount--;
if (okCount == 0) {
linkOk = true;
okCount = MAX_CRC_ERRORS;
emptyCount = MIN_EMPTY_OBJECTS;
}
}
HandleRxPacket();
} else {
// The received data is incorrect, update state
#ifdef IN_AHRS //AHRS - do we neeed to enter program mode?
if (memcmp(&rxPacket, SPI_PROGRAM_REQUEST, SPI_PROGRAM_REQUEST_LENGTH) == 0)
{
rxPacket.magicNumber = 0;
programReceive = true; //flag it to be executed in program space
return;
}
#endif
txPacket.status.crcErrors++;
if (linkOk && okCount > 0) {
okCount--;
if (okCount == 0) {
linkOk = false;
okCount = MIN_OK_FRAMES;
}
}
}
rxPacket.magicNumber = 0;
#ifdef IN_AHRS
/*queue next frame
If PIOS_SPI_TransferBlock() fails for any reason, comms will stop working.
In that case, AhrsPoll() should kick start things again.
*/
PIOS_SPI_TransferBlock(opahrs_spi_id, (uint8_t *) & txPacket, (uint8_t *) & rxPacket, sizeof(CommsDataPacket), &CommsCallback);
#endif
}
/** Call callbacks for object where new data is received
*/
static void PollEvents(void)
{
for (int idx = 0; idx < MAX_AHRS_OBJECTS; idx++) {
if (objCallbacks[idx]) {
PIOS_IRQ_Disable();
if (callbackPending[idx]) {
callbackPending[idx] = false;
PIOS_IRQ_Enable();
objCallbacks[idx] (AhrsFromIndex(idx));
} else {
PIOS_IRQ_Enable();
}
}
}
}
#ifdef IN_AHRS
void AhrsPoll()
{
if(programReceive)
{
AhrsProgramReceive(opahrs_spi_id);
programReceive = false;
}
PollEvents();
if (PIOS_SPI_Busy(opahrs_spi_id) != 0) { //Everything is working correctly
return;
}
txPacket.status.kickStarts++;
//comms have broken down - try kick starting it.
txPacket.command = COMMS_NULL; //we must send something so default to null
PIOS_SPI_TransferBlock(opahrs_spi_id, (uint8_t *) & txPacket, (uint8_t *) & rxPacket, sizeof(CommsDataPacket), &CommsCallback);
}
bool AhrsLinkReady(void)
{
for (int ct = 0; ct < MAX_AHRS_OBJECTS; ct++) {
if (!readyObjects[ct]) {
return (false);
}
}
return (linkOk);
}
#else
void AhrsSendObjects(void)
{
static bool oldLink = false;
PollEvents();
if (oldLink != linkOk) {
oldLink = linkOk;
if (linkOk) {
for (int ct = 0; ct < MAX_AHRS_OBJECTS; ct++) {
AhrsObjHandle hdl = AhrsFromIndex(ct);
if (!hdl) { //paranoid - shouldn't ever happen
continue;
}
AhrsSharedData data;
UAVObjGetData(hdl->uavHandle, &data);
AhrsSetData(hdl, &data);
SetObjectDirty(ct); //force even unchanged data to be sent
}
}
}
FillObjectPacket();
SendPacket();
}
void SendPacket(void)
{
#ifndef IN_AHRS
PIOS_SPI_RC_PinSet(opahrs_spi_id, 0);
#endif
//no point checking if this failed. There isn't much we could do about it if it did fail
PIOS_SPI_TransferBlock(opahrs_spi_id, (uint8_t *) & txPacket, (uint8_t *) & rxPacket, sizeof(CommsDataPacket), &CommsCallback);
}
static void AhrsUpdatedCb(AhrsObjHandle handle)
{
UAVObjSetData(handle->uavHandle, handle->data);
return;
}
#endif

95
flight/Libraries/inc/ahrs_comm_objects.h
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/**
******************************************************************************
*
* @file ahrs_comm_objects.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief AHRS SPI comms UAVObject definitions.
*
* @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 AHRS_COMM_OBJECTS_H
#define AHRS_COMM_OBJECTS_H
#include "attitudeactual.h"
#include "attituderaw.h"
#include "baroaltitude.h"
#include "gpsposition.h"
#include "homelocation.h"
#include "insstatus.h"
#include "inssettings.h"
#include "positionactual.h"
#include "velocityactual.h"
#include "firmwareiapobj.h"
#include "gpsposition.h"
#include "gpssatellites.h"
#include "gpstime.h"
/** union that will fit any UAVObject.
*/
typedef union {
AttitudeRawData AttitudeRaw;
AttitudeActualData AttitudeActual;
InsStatusData AhrsStatus;
BaroAltitudeData BaroAltitude;
GPSPositionData GPSPosition;
PositionActualData PositionActual;
VelocityActualData VelocityActual;
HomeLocationData HomeLocation;
InsSettingsData InsSettings;
FirmwareIAPObjData FirmwareIAPObj;
GPSSatellitesData GPSSatellites;
GPSTimeData GPSTime;
} __attribute__ ((packed)) AhrsSharedData;
/** The number of UAVObjects we will be dealing with.
*/
#define MAX_AHRS_OBJECTS 12
/** Our own version of a UAVObject.
*/
typedef struct {
void *data;
int size;
uint8_t index;
#ifndef IN_AHRS
UAVObjHandle uavHandle;
#endif
} AhrsSharedObject;
typedef AhrsSharedObject *AhrsObjHandle;
/** Initialise the object mapping.
It is important that this is called before any of the following functions.
*/
void AhrsInitHandles(void);
/** the AHRS object related to the given index.
Returns the AHRS object or NULL if not found
*/
AhrsObjHandle AhrsFromIndex(uint8_t index);
#ifndef IN_AHRS
/** Get the AHRS object associated with the UAVObject.
Returns the AHRS object or NULL if not found
*/
AhrsObjHandle AhrsFromUAV(UAVObjHandle obj);
#endif
#endif //#ifndef AHRS_COMMS_OBJECTS_H

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flight/Libraries/inc/ahrs_spi_comm.h
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/**
******************************************************************************
*
* @file ahrs_spi_comm.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Include file of the AHRS SPI comms exposed functionality.
*
* @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 AHRS_SPI_COMM_H_INCLUDED
#define AHRS_SPI_COMM_H_INCLUDED
#ifdef IN_AHRS //AHRS only
#include <stdint.h>
#include <stdbool.h>
/** Redirect UAVObjGetData call
*/
#define UAVObjGetData(obj, data) AhrsGetData(obj, data)
/** Redirect UAVObjSetData call
*/
#define UAVObjSetData(obj, data) AhrsSetData(obj, data)
/** Redirect UAVObjConnectCallback call
Note: in AHRS, mask is unused because there is only one event type
*/
#define UAVObjConnectCallback(obj, callback, mask) AhrsConnectCallBack(obj,callback)
/** define our own UAVObjHandle
*/
typedef void *UAVObjHandle;
#else
#include "openpilot.h"
#include "uavobjectmanager.h"
#endif
#define AHRS_NO_OBJECT 0xff
#include "ahrs_comm_objects.h"
/** Status of each end of the link
*/
typedef struct { //try to keep this short and in multiples of 4 bytes
uint8_t kickStarts; //AHRS end only
uint8_t crcErrors;
uint8_t retries;
uint8_t invalidPacket;
} AhrsEndStatus;
/** AHRS comms status
*/
typedef struct {
uint8_t linkOk;
AhrsEndStatus remote;
AhrsEndStatus local;
} AhrsCommStatus;
/** Event callback, this function is called when an object changes.
*/
typedef void (*AhrsEventCallback) (AhrsObjHandle obj);
/** Initialise comms.
Note: this must be called before you do anything else.
Comms will not start until the first call to AhrsPoll() or
AhrsSendObjects()
*/
void AhrsInitComms(void);
/** Connect Comms to a specific SPI interface instance.
*/
void AhrsConnect(uint32_t spi_id);
/** AHRS version of UAVObject xxxSetData.
Returns: 0 if ok, -1 if an error
*/
int32_t AhrsSetData(AhrsObjHandle obj, const void *dataIn);
/** AHRS version of UAVObject xxxGetData.
Returns: 0 if ok, -1 if an error
*/
int32_t AhrsGetData(AhrsObjHandle obj, void *dataOut);
/** Connect a callback for any changes to AHRS data.
Returns: 0 if ok, -1 if an error
*/
int32_t AhrsConnectCallBack(AhrsObjHandle obj, AhrsEventCallback cb);
/** Get the current link status.
Returns: the status.
Note: the remote status will only be valid if the link is up and running
*/
void AhrsGetStatus(AhrsCommStatus * status);
#ifdef IN_AHRS //slave only
/** Send the latest objects to the OP
This also polls any pending events and kick starts the DMA
if needed
*/
void AhrsPoll();
/** Check if the link is up and we have received the first batch of updates
Returns: True if the link is up and all objects are up to date
*/
bool AhrsLinkReady();
#else //master only
/** Send the latest objects to the AHRS
This also polls any pending events
*/
void AhrsSendObjects(void);
#endif
#endif //#ifndef AHRS_SPI_COMM_H_INCLUDED

143
flight/Modules/AHRSComms/ahrs_comms.c
View File

@ -1,143 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup AHRSCommsModule AHRSComms Module
* @brief Handles communication with AHRS and updating position
* Specifically updates the the @ref AttitudeActual "AttitudeActual" and @ref AttitudeRaw "AttitudeRaw" settings objects
* @{
*
* @file ahrs_comms.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Module to handle all comms to the AHRS on a periodic basis.
*
* @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
*/
/**
* Input objects: As defined in PiOS/inc/pios_ahrs_comms.h
* Output objects: As defined in PiOS/inc/pios_ahrs_comms.h
*
* This module will periodically update the values of latest attitude solution
* and other objects that are transferred to and from the AHRS
* The module settings can configure how often AHRS is polled for a new solution.
*
* The module executes in its own thread.
*
* UAVObjects are automatically generated by the UAVObjectGenerator from
* the object definition XML file.
*
* Modules have no API, all communication to other modules is done through UAVObjects.
* However modules may use the API exposed by shared libraries.
* See the OpenPilot wiki for more details.
* http://www.openpilot.org/OpenPilot_Application_Architecture
*
*/
#include "ahrs_comms.h"
#include "ahrs_spi_comm.h"
#include "insstatus.h"
// Private constants
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
// Private types
// Private variables
static xTaskHandle taskHandle;
// Private functions
static void ahrscommsTask(void *parameters);
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AHRSCommsStart(void)
{
// Start main task
xTaskCreate(ahrscommsTask, (signed char *)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_AHRSCOMMS, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_AHRS);
return 0;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AHRSCommsInitialize(void)
{
InsStatusInitialize();
InsSettingsInitialize();
AttitudeRawInitialize();
AttitudeActualInitialize();
VelocityActualInitialize();
PositionActualInitialize();
return 0;
}
MODULE_INITCALL(AHRSCommsInitialize, AHRSCommsStart)
/**
* Module thread, should not return.
*/
static void ahrscommsTask(void *parameters)
{
portTickType lastSysTime;
AlarmsSet(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_CRITICAL);
// Main task loop
while (1) {
PIOS_WDG_UpdateFlag(PIOS_WDG_AHRS);
AhrsCommStatus stat;
AhrsSendObjects();
AhrsGetStatus(&stat);
if (stat.linkOk) {
AlarmsClear(SYSTEMALARMS_ALARM_AHRSCOMMS);
} else {
AlarmsSet(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_WARNING);
}
InsStatusData sData;
InsStatusGet(&sData);
sData.LinkRunning = stat.linkOk;
sData.AhrsKickstarts = stat.remote.kickStarts;
sData.AhrsCrcErrors = stat.remote.crcErrors;
sData.AhrsRetries = stat.remote.retries;
sData.AhrsInvalidPackets = stat.remote.invalidPacket;
sData.OpCrcErrors = stat.local.crcErrors;
sData.OpRetries = stat.local.retries;
sData.OpInvalidPackets = stat.local.invalidPacket;
InsStatusSet(&sData);
/* Wait for the next update interval */
vTaskDelayUntil(&lastSysTime, 2 / portTICK_RATE_MS);
}
}
/**
* @}
* @}
*/

37
flight/Modules/AHRSComms/inc/ahrs_comms.h
View File

@ -1,37 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup AHRSCommsModule AHRSComms Module
* @{
*
* @file ahrs_comms.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Module to handle all comms to the AHRS on a periodic basis.
*
* @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 AHRS_COMMS_H
#define AHRS_COMMS_H
#include "openpilot.h"
int32_t AHRSCommsInitialize(void);
#endif // AHRS_COMMS_H

243
flight/PiOS/Boards/STM32103CB_AHRS.h
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@ -1,243 +0,0 @@
/**
******************************************************************************
*
* @file pios_board.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Defines board hardware for the OpenPilot Version 1.1 hardware.
* @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 STM32103CB_AHRS_H_
#define STM32103CB_AHRS_H_
//------------------------
// Timers and Channels Used
//------------------------
/*
Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
------+-----------+-----------+-----------+----------
TIM1 | | | |
TIM2 | --------------- PIOS_DELAY -----------------
TIM3 | | | |
TIM4 | | | |
TIM5 | | | |
TIM6 | | | |
TIM7 | | | |
TIM8 | | | |
------+-----------+-----------+-----------+----------
*/
//------------------------
// DMA Channels Used
//------------------------
/* Channel 1 - */
/* Channel 2 - */
/* Channel 3 - */
/* Channel 4 - */
/* Channel 5 - */
/* Channel 6 - */
/* Channel 7 - */
/* Channel 8 - */
/* Channel 9 - */
/* Channel 10 - */
/* Channel 11 - */
/* Channel 12 - */
//------------------------
// BOOTLOADER_SETTINGS
//------------------------
#define BOARD_READABLE TRUE
#define BOARD_WRITABLE TRUE
#define MAX_DEL_RETRYS 3
//------------------------
// PIOS_LED
//------------------------
#define PIOS_LED_HEARTBEAT 0
//-------------------------
// System Settings
//-------------------------
#define PIOS_MASTER_CLOCK 72000000
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
//-------------------------
// Interrupt Priorities
//-------------------------
#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS
#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS
#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
//------------------------
// PIOS_I2C
// See also pios_board.c
//------------------------
#define PIOS_I2C_MAX_DEVS 1
extern uint32_t pios_i2c_main_adapter_id;
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_main_adapter_id)
//-------------------------
// SPI
//
// See also pios_board.c
//-------------------------
#define PIOS_SPI_MAX_DEVS 1
//-------------------------
// PIOS_USART
//-------------------------
#define PIOS_USART_MAX_DEVS 2
//-------------------------
// PIOS_COM
//
// See also pios_board.c
//-------------------------
#define PIOS_COM_MAX_DEVS 2
extern uint32_t pios_com_aux_id;
#define PIOS_COM_AUX (pios_com_aux_id)
#define PIOS_COM_DEBUG PIOS_COM_AUX
//-------------------------
// ADC
// PIOS_ADC_PinGet(0) = Accel Z
// PIOS_ADC_PinGet(2) = Accel Y
// PIOS_ADC_PinGet(4) = Accel X
// PIOS_ADC_PinGet(1) = Gyro X
// PIOS_ADC_PinGet(3) = Gyro Y
// PIOS_ADC_PinGet(5) = Gyro Z
// PIOS_ADC_PinGet(6) = XY Temp
// PIOS_ADC_PinGet(7) = Z Temp
//-------------------------
//#define PIOS_ADC_OVERSAMPLING_RATE 1
#define PIOS_ADC_USE_TEMP_SENSOR 0
#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
#define PIOS_ADC_PIN1_GPIO_PORT GPIOA // PA2 (Accel X)
#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_2 // ADC12_IN2
#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_2
#define PIOS_ADC_PIN1_ADC ADC1
#define PIOS_ADC_PIN1_ADC_NUMBER 1
#define PIOS_ADC_PIN2_GPIO_PORT GPIOA // PA1 (Accel Y)
#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_1 // ADC123_IN1
#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_1
#define PIOS_ADC_PIN2_ADC ADC1
#define PIOS_ADC_PIN2_ADC_NUMBER 2
#define PIOS_ADC_PIN3_GPIO_PORT GPIOA // PA0 (Accel Z)
#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_0 // ADC12_IN0
#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_0
#define PIOS_ADC_PIN3_ADC ADC1
#define PIOS_ADC_PIN3_ADC_NUMBER 3
#define PIOS_ADC_PIN4_GPIO_PORT GPIOA // PA6 (Temp_XY)
#define PIOS_ADC_PIN4_GPIO_PIN GPIO_Pin_6 // ADC12_IN6
#define PIOS_ADC_PIN4_GPIO_CHANNEL ADC_Channel_6
#define PIOS_ADC_PIN4_ADC ADC1
#define PIOS_ADC_PIN4_ADC_NUMBER 4
#define PIOS_ADC_PIN5_GPIO_PORT GPIOA // PA4 (Gyro X)
#define PIOS_ADC_PIN5_GPIO_PIN GPIO_Pin_4 // ADC12_IN4
#define PIOS_ADC_PIN5_GPIO_CHANNEL ADC_Channel_4
#define PIOS_ADC_PIN5_ADC ADC2
#define PIOS_ADC_PIN5_ADC_NUMBER 1
#define PIOS_ADC_PIN6_GPIO_PORT GPIOA // PA5 (Gyro Y)
#define PIOS_ADC_PIN6_GPIO_PIN GPIO_Pin_5 // ADC12_IN5
#define PIOS_ADC_PIN6_GPIO_CHANNEL ADC_Channel_5
#define PIOS_ADC_PIN6_ADC ADC2
#define PIOS_ADC_PIN6_ADC_NUMBER 2
#define PIOS_ADC_PIN7_GPIO_PORT GPIOA // PA7 (Gyro Z)
#define PIOS_ADC_PIN7_GPIO_PIN GPIO_Pin_7 // ADC12_IN7
#define PIOS_ADC_PIN7_GPIO_CHANNEL ADC_Channel_7
#define PIOS_ADC_PIN7_ADC ADC2
#define PIOS_ADC_PIN7_ADC_NUMBER 3
#define PIOS_ADC_PIN8_GPIO_PORT GPIOB // PB1 (Z Temp)
#define PIOS_ADC_PIN8_GPIO_PIN GPIO_Pin_1 // ADC12_IN9
#define PIOS_ADC_PIN8_GPIO_CHANNEL ADC_Channel_9
#define PIOS_ADC_PIN8_ADC ADC2
#define PIOS_ADC_PIN8_ADC_NUMBER 4
#define PIOS_ADC_NUM_PINS 8
#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT, PIOS_ADC_PIN4_GPIO_PORT, PIOS_ADC_PIN5_GPIO_PORT, PIOS_ADC_PIN6_GPIO_PORT, PIOS_ADC_PIN7_GPIO_PORT, PIOS_ADC_PIN8_GPIO_PORT }
#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN, PIOS_ADC_PIN4_GPIO_PIN, PIOS_ADC_PIN5_GPIO_PIN, PIOS_ADC_PIN6_GPIO_PIN, PIOS_ADC_PIN7_GPIO_PIN, PIOS_ADC_PIN8_GPIO_PIN }
#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL, PIOS_ADC_PIN4_GPIO_CHANNEL, PIOS_ADC_PIN5_GPIO_CHANNEL, PIOS_ADC_PIN6_GPIO_CHANNEL, PIOS_ADC_PIN7_GPIO_CHANNEL, PIOS_ADC_PIN8_GPIO_CHANNEL }
#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC, PIOS_ADC_PIN4_ADC, PIOS_ADC_PIN5_ADC, PIOS_ADC_PIN6_ADC, PIOS_ADC_PIN7_ADC, PIOS_ADC_PIN8_ADC }
#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER, PIOS_ADC_PIN4_ADC_NUMBER, PIOS_ADC_PIN5_ADC_NUMBER, PIOS_ADC_PIN6_ADC_NUMBER, PIOS_ADC_PIN7_ADC_NUMBER, PIOS_ADC_PIN8_ADC_NUMBER }
#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
#define PIOS_ADC_NUM_ADC_CHANNELS 2
#define PIOS_ADC_USE_ADC2 1
#define PIOS_ADC_ADCCLK RCC_PCLK2_Div2
#define PIOS_ADC_PCLK2 RCC_HCLK_Div16
#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE); RCC_PCLK2Config(PIOS_ADC_PCLK2);
/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
/* Sample time: */
/* With an ADCCLK = 14 MHz and a sampling time of 239.5 cycles: */
/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_LOW
// Currently analog acquistion hard coded at 480 Hz
// PCKL2 = HCLK / 16
// ADCCLK = PCLK2 / 2
#define PIOS_ADC_RATE (72.0e6 / 16 / 2 / 252 / (PIOS_ADC_NUM_PINS / 2))
#define EKF_RATE (PIOS_ADC_RATE / adc_oversampling / 2)
#define PIOS_ADC_MAX_OVERSAMPLING 50
//-------------------------
// GPIO
//-------------------------
#define PIOS_GPIO_1_PORT GPIOB
#define PIOS_GPIO_1_PIN GPIO_Pin_9
#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOB
#define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT }
#define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN }
#define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK }
#define PIOS_GPIO_NUM 1
#define SET_ACCEL_2G PIOS_GPIO_On(0);
#define SET_ACCEL_6G PIOS_GPIO_Off(0)
//------------------------
// PIOS_HMC5843
//------------------------
#define PIOS_HMC5843_DRDY_GPIO_PORT GPIOB
#define PIOS_HMC5843_DRDY_GPIO_PIN GPIO_Pin_8
#define PIOS_HMC5843_DRDY_PORT_SOURCE GPIO_PortSourceGPIOB
#define PIOS_HMC5843_DRDY_PIN_SOURCE GPIO_PinSource8
#define PIOS_HMC5843_DRDY_CLK RCC_APB2Periph_GPIOB
#define PIOS_HMC5843_DRDY_EXTI_LINE EXTI_Line8
#define PIOS_HMC5843_DRDY_IRQn EXTI9_5_IRQn
#define PIOS_HMC5843_DRDY_PRIO PIOS_IRQ_PRIO_HIGH
#endif /* STM32103CB_AHRS_H_ */

2
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
View File

@ -275,4 +275,4 @@ extern uint32_t pios_com_debug_id;
#define PIOS_USB_DETECT_GPIO_PORT GPIOC
#define PIOS_USB_MAX_DEVS 1
#define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_15
#endif /* STM32103CB_AHRS_H_ */
#endif /* STM32103CB_CC_H_ */

4
flight/PiOS/Boards/pios_board.h
View File

@ -1,9 +1,7 @@
#ifndef PIOS_BOARD_H_
#define PIOS_BOARD_H_
#ifdef USE_STM32103CB_AHRS
#include "STM32103CB_AHRS.h"
#elif USE_STM3210E_OP
#ifdef USE_STM3210E_OP
#include "STM3210E_OP.h"
#elif USE_STM32103CB_PIPXTREME
#include "STM32103CB_PIPXTREME_Rev1.h"

343
flight/PiOS/Common/pios_opahrs.c
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@ -1,343 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_OPAHRS OPAHRS Functions
* @brief HAL code to interface to the OpenPilot AHRS module
* @{
*
* @file pios_opahrs.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Hardware commands to communicate with the AHRS
* @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
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_OPAHRS)
#include "pios_opahrs_proto.h"
#include "pios_opahrs.h"
/**
* Initialise the OpenPilot AHRS
*/
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(1 / 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_v1_send_req(const struct opahrs_msg_v1 *req)
{
int32_t rc;
struct opahrs_msg_v1 link_rx;
for (uint8_t retries = 0; retries < 20; retries++) {
struct opahrs_msg_v1 *rsp = &link_rx;
if ((rc = opahrs_msg_txrx((const uint8_t *)req, (uint8_t *) rsp, sizeof(*rsp))) < 0) {
return OPAHRS_RESULT_FAILED;
}
/* Make sure we got a sane response by checking the magic */
if ((rsp->head.magic != OPAHRS_MSG_MAGIC_HEAD) || (rsp->tail.magic != OPAHRS_MSG_MAGIC_TAIL)) {
return OPAHRS_RESULT_FAILED;
}
switch (rsp->head.type) {
case OPAHRS_MSG_TYPE_LINK:
switch (rsp->payload.link.state) {
case OPAHRS_MSG_LINK_STATE_BUSY:
case OPAHRS_MSG_LINK_STATE_INACTIVE:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(1 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(20);
#endif
continue;
case OPAHRS_MSG_LINK_STATE_READY:
/* Peer was ready when we Tx'd so they have now Rx'd our message */
return OPAHRS_RESULT_OK;
}
break;
case OPAHRS_MSG_TYPE_USER_V0:
case OPAHRS_MSG_TYPE_USER_V1:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(1 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(50);
#endif
continue;
}
}
return OPAHRS_RESULT_TIMEOUT;
}
static enum opahrs_result opahrs_msg_v1_recv_rsp(enum opahrs_msg_v1_tag tag, struct opahrs_msg_v1 *rsp)
{
struct opahrs_msg_v1 link_tx;
opahrs_msg_v1_init_link_tx(&link_tx, OPAHRS_MSG_LINK_TAG_NOP);
for (uint8_t retries = 0; retries < 20; retries++) {
if (opahrs_msg_txrx((const uint8_t *)&link_tx, (uint8_t *) rsp, sizeof(*rsp)) < 0) {
return OPAHRS_RESULT_FAILED;
}
/* Make sure we got a sane response by checking the magic */
if ((rsp->head.magic != OPAHRS_MSG_MAGIC_HEAD) || (rsp->tail.magic != OPAHRS_MSG_MAGIC_TAIL)) {
return OPAHRS_RESULT_FAILED;
}
switch (rsp->head.type) {
case OPAHRS_MSG_TYPE_LINK:
switch (rsp->payload.link.state) {
case OPAHRS_MSG_LINK_STATE_BUSY:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(1 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(20);
#endif
continue;
case OPAHRS_MSG_LINK_STATE_INACTIVE:
case OPAHRS_MSG_LINK_STATE_READY:
/* somehow, we've missed our response */
return OPAHRS_RESULT_FAILED;
}
break;
case OPAHRS_MSG_TYPE_USER_V0:
/* This isn't the type we expected */
return OPAHRS_RESULT_FAILED;
break;
case OPAHRS_MSG_TYPE_USER_V1:
if (rsp->payload.user.t == tag) {
return OPAHRS_RESULT_OK;
} else {
return OPAHRS_RESULT_FAILED;
}
break;
}
}
return OPAHRS_RESULT_TIMEOUT;
}
static enum opahrs_result PIOS_OPAHRS_v1_simple_req(enum opahrs_msg_v1_tag req_type, struct opahrs_msg_v1 *rsp, enum opahrs_msg_v1_tag rsp_type)
{
struct opahrs_msg_v1 req;
enum opahrs_result rc;
/* Make up an empty request */
opahrs_msg_v1_init_user_tx(&req, req_type);
/* Send the message until it is received */
rc = opahrs_msg_v1_send_req(&req);
if ((rc == OPAHRS_RESULT_OK) && rsp) {
/* We need a specific kind of reply, go get it */
return opahrs_msg_v1_recv_rsp(rsp_type, rsp);
}
return rc;
}
enum opahrs_result PIOS_OPAHRS_GetSerial(struct opahrs_msg_v1 *rsp)
{
if (!rsp)
return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v1_simple_req(OPAHRS_MSG_V1_REQ_SERIAL, rsp, OPAHRS_MSG_V1_RSP_SERIAL));
}
enum opahrs_result PIOS_OPAHRS_resync(void)
{
struct opahrs_msg_v1 req;
struct opahrs_msg_v1 rsp;
enum opahrs_result rc = OPAHRS_RESULT_FAILED;
opahrs_msg_v1_init_link_tx(&req, OPAHRS_MSG_LINK_TAG_NOP);
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(1 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(20);
#endif
for (uint32_t i = 0; i < sizeof(req); i++) {
/* Tx a shortened (by one byte) message to walk through all byte positions */
opahrs_msg_v1_init_rx(&rsp);
PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, (uint8_t *) & req, (uint8_t *) & rsp, sizeof(req) - 1, NULL);
/* Good magic means we're sync'd */
if ((rsp.head.magic == OPAHRS_MSG_MAGIC_HEAD) && (rsp.tail.magic == OPAHRS_MSG_MAGIC_TAIL)) {
/* We need to shift out one more byte to compensate for the short tx */
PIOS_SPI_TransferByte(PIOS_OPAHRS_SPI, 0x00);
rc = OPAHRS_RESULT_OK;
break;
}
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(1 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(10);
#endif
}
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
//vTaskDelay(5 / portTICK_RATE_MS);
return rc;
}
enum opahrs_result PIOS_OPAHRS_GetAttitudeRaw(struct opahrs_msg_v1 *rsp)
{
if (!rsp)
return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v1_simple_req(OPAHRS_MSG_V1_REQ_ATTITUDERAW, rsp, OPAHRS_MSG_V1_RSP_ATTITUDERAW));
}
extern enum opahrs_result PIOS_OPAHRS_SetAlgorithm(struct opahrs_msg_v1 *req)
{
struct opahrs_msg_v1 rsp;
enum opahrs_result rc;
if (!req)
return OPAHRS_RESULT_FAILED;
/* Make up an attituderaw request */
opahrs_msg_v1_init_user_tx(req, OPAHRS_MSG_V1_REQ_ALGORITHM);
/* Send the message until it is received */
rc = opahrs_msg_v1_send_req(req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v1_recv_rsp(OPAHRS_MSG_V1_RSP_ALGORITHM, &rsp);
}
enum opahrs_result PIOS_OPAHRS_SetMagNorth(struct opahrs_msg_v1 *req)
{
struct opahrs_msg_v1 rsp;
enum opahrs_result rc;
if (!req)
return OPAHRS_RESULT_FAILED;
/* Make up an attituderaw request */
opahrs_msg_v1_init_user_tx(req, OPAHRS_MSG_V1_REQ_NORTH);
/* Send the message until it is received */
rc = opahrs_msg_v1_send_req(req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v1_recv_rsp(OPAHRS_MSG_V1_RSP_NORTH, &rsp);
}
enum opahrs_result PIOS_OPAHRS_SetGetUpdate(struct opahrs_msg_v1 *req, struct opahrs_msg_v1 *rsp)
{
enum opahrs_result rc;
if (!req)
return OPAHRS_RESULT_FAILED;
/* Make up an attituderaw request */
opahrs_msg_v1_init_user_tx(req, OPAHRS_MSG_V1_REQ_UPDATE);
/* Send the message until it is received */
rc = opahrs_msg_v1_send_req(req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v1_recv_rsp(OPAHRS_MSG_V1_RSP_UPDATE, rsp);
}
enum opahrs_result PIOS_OPAHRS_SetGetCalibration(struct opahrs_msg_v1 *req, struct opahrs_msg_v1 *rsp)
{
enum opahrs_result rc;
if (!req)
return OPAHRS_RESULT_FAILED;
/* Make up an attituderaw request */
opahrs_msg_v1_init_user_tx(req, OPAHRS_MSG_V1_REQ_CALIBRATION);
/* Send the message until it is received */
rc = opahrs_msg_v1_send_req(req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v1_recv_rsp(OPAHRS_MSG_V1_RSP_CALIBRATION, rsp);
}
enum opahrs_result PIOS_OPAHRS_SetGetInitialized(struct opahrs_msg_v1 *req, struct opahrs_msg_v1 *rsp)
{
enum opahrs_result rc;
if (!req)
return OPAHRS_RESULT_FAILED;
/* Make up an attituderaw request */
opahrs_msg_v1_init_user_tx(req, OPAHRS_MSG_V1_REQ_INITIALIZED);
/* Send the message until it is received */
rc = opahrs_msg_v1_send_req(req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v1_recv_rsp(OPAHRS_MSG_V1_RSP_INITIALIZED, rsp);
}
#endif /* PIOS_INCLUDE_OPAHRS */
/**
* @}
* @}
*/

76
flight/PiOS/Common/pios_opahrs_proto.c
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@ -1,76 +0,0 @@
/**
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_OPAHRS OPAHRS Functions
* @{
*
* @file pios_opahrs_proto.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief PPM Input functions
* @see The GNU Public License (GPL) Version 3
*
*/
#include "pios_opahrs_proto.h"
#include <string.h> /* memset */
void opahrs_msg_v0_init_rx(struct opahrs_msg_v0 *msg)
{
/* Make sure we start with bad magic in the rx buffer */
msg->head.magic = 0;
msg->head.type = 0;
msg->tail.magic = 0;
}
void opahrs_msg_v0_init_user_tx(struct opahrs_msg_v0 *msg, enum opahrs_msg_v0_tag tag)
{
msg->head.magic = OPAHRS_MSG_MAGIC_HEAD;
msg->head.type = OPAHRS_MSG_TYPE_USER_V0;
msg->payload.user.t = tag;
msg->tail.magic = OPAHRS_MSG_MAGIC_TAIL;
}
void opahrs_msg_v0_init_link_tx(struct opahrs_msg_v0 *msg, enum opahrs_msg_link_tag tag)
{
msg->head.magic = OPAHRS_MSG_MAGIC_HEAD;
msg->head.type = OPAHRS_MSG_TYPE_LINK;
msg->payload.link.t = tag;
msg->tail.magic = OPAHRS_MSG_MAGIC_TAIL;
}
void opahrs_msg_v1_init_rx(struct opahrs_msg_v1 *msg)
{
/* Make sure we start with bad magic in the rx buffer */
msg->head.magic = 0;
msg->head.type = 0;
msg->tail.magic = 0;
}
void opahrs_msg_v1_init_user_tx(struct opahrs_msg_v1 *msg, enum opahrs_msg_v1_tag tag)
{
msg->head.magic = OPAHRS_MSG_MAGIC_HEAD;
msg->head.type = OPAHRS_MSG_TYPE_USER_V1;
msg->payload.user.t = tag;
msg->tail.magic = OPAHRS_MSG_MAGIC_TAIL;
}
void opahrs_msg_v1_init_link_tx(struct opahrs_msg_v1 *msg, enum opahrs_msg_link_tag tag)
{
msg->head.magic = OPAHRS_MSG_MAGIC_HEAD;
msg->head.type = OPAHRS_MSG_TYPE_LINK;
msg->payload.link.t = tag;
msg->tail.magic = OPAHRS_MSG_MAGIC_TAIL;
}
/**
* @}
* @}
*/

330
flight/PiOS/Common/pios_opahrs_v0.c
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@ -1,330 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_OPAHRS OPAHRS Functions
* @brief HAL code to interface to the OpenPilot AHRS module's bootloader
* @{
*
* @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
* (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
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_OPAHRS)
#include "pios_opahrs_proto.h"
#include "pios_opahrs.h"
static uint32_t PIOS_OPAHRS_SPI;
void PIOS_OPAHRS_Attach(uint32_t spi_id)
{
PIOS_OPAHRS_SPI = spi_id;
}
void PIOS_OPAHRS_ForceSlaveSelected(bool selected)
{
if (selected) {
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
} else {
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
}
}
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(1);
#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;
struct opahrs_msg_v0 link_rx;
for (uint8_t retries = 0; retries < 20; retries++) {
struct opahrs_msg_v0 *rsp = &link_rx;
if ((rc = opahrs_msg_txrx((const uint8_t *)req, (uint8_t *) rsp, sizeof(*rsp))) < 0) {
return OPAHRS_RESULT_FAILED;
}
/* Make sure we got a sane response by checking the magic */
if ((rsp->head.magic != OPAHRS_MSG_MAGIC_HEAD) || (rsp->tail.magic != OPAHRS_MSG_MAGIC_TAIL)) {
return OPAHRS_RESULT_FAILED;
}
switch (rsp->head.type) {
case OPAHRS_MSG_TYPE_LINK:
switch (rsp->payload.link.state) {
case OPAHRS_MSG_LINK_STATE_BUSY:
case OPAHRS_MSG_LINK_STATE_INACTIVE:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(20 / portTICK_RATE_MS);
#else
//PIOS_DELAY_WaitmS(1);
#endif
continue;
case OPAHRS_MSG_LINK_STATE_READY:
/* Peer was ready when we Tx'd so they have now Rx'd our message */
return OPAHRS_RESULT_OK;
}
break;
case OPAHRS_MSG_TYPE_USER_V0:
case OPAHRS_MSG_TYPE_USER_V1:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(50 / portTICK_RATE_MS);
#else
//PIOS_DELAY_WaitmS(1);
#endif
continue;
}
}
return OPAHRS_RESULT_TIMEOUT;
}
static enum opahrs_result opahrs_msg_v0_recv_rsp(enum opahrs_msg_v0_tag tag, struct opahrs_msg_v0 *rsp)
{
struct opahrs_msg_v0 link_tx;
opahrs_msg_v0_init_link_tx(&link_tx, OPAHRS_MSG_LINK_TAG_NOP);
for (uint8_t retries = 0; retries < 20; retries++) {
if (opahrs_msg_txrx((const uint8_t *)&link_tx, (uint8_t *) rsp, sizeof(*rsp)) < 0) {
return OPAHRS_RESULT_FAILED;
}
/* Make sure we got a sane response by checking the magic */
if ((rsp->head.magic != OPAHRS_MSG_MAGIC_HEAD) || (rsp->tail.magic != OPAHRS_MSG_MAGIC_TAIL)) {
return OPAHRS_RESULT_FAILED;
}
switch (rsp->head.type) {
case OPAHRS_MSG_TYPE_LINK:
switch (rsp->payload.link.state) {
case OPAHRS_MSG_LINK_STATE_BUSY:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(20 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(1);
#endif
continue;
case OPAHRS_MSG_LINK_STATE_INACTIVE:
case OPAHRS_MSG_LINK_STATE_READY:
/* somehow, we've missed our response */
return OPAHRS_RESULT_FAILED;
}
break;
case OPAHRS_MSG_TYPE_USER_V0:
if (rsp->payload.user.t == tag) {
return OPAHRS_RESULT_OK;
} else {
return OPAHRS_RESULT_FAILED;
}
break;
case OPAHRS_MSG_TYPE_USER_V1:
/* This isn't the type we expected */
return OPAHRS_RESULT_FAILED;
break;
}
}
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, enum opahrs_msg_v0_tag rsp_type)
{
struct opahrs_msg_v0 req;
enum opahrs_result rc;
/* Make up an empty request */
opahrs_msg_v0_init_user_tx(&req, req_type);
/* 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 */
return opahrs_msg_v0_recv_rsp(rsp_type, rsp);
}
return rc;
}
enum opahrs_result PIOS_OPAHRS_bl_GetVersions(struct opahrs_msg_v0 *rsp)
{
if (!rsp)
return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v0_simple_req(OPAHRS_MSG_V0_REQ_VERSIONS, rsp, OPAHRS_MSG_V0_RSP_VERSIONS));
}
enum opahrs_result PIOS_OPAHRS_bl_GetMemMap(struct opahrs_msg_v0 *rsp)
{
if (!rsp)
return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v0_simple_req(OPAHRS_MSG_V0_REQ_MEM_MAP, rsp, OPAHRS_MSG_V0_RSP_MEM_MAP));
}
enum opahrs_result PIOS_OPAHRS_bl_GetSerial(struct opahrs_msg_v0 *rsp)
{
if (!rsp)
return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v0_simple_req(OPAHRS_MSG_V0_REQ_SERIAL, rsp, OPAHRS_MSG_V0_RSP_SERIAL));
}
enum opahrs_result PIOS_OPAHRS_bl_FwupStart(struct opahrs_msg_v0 *rsp)
{
if (!rsp)
return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v0_simple_req(OPAHRS_MSG_V0_REQ_FWUP_START, rsp, OPAHRS_MSG_V0_RSP_FWUP_STATUS));
}
enum opahrs_result PIOS_OPAHRS_bl_FwupStatus(struct opahrs_msg_v0 *rsp)
{
if (!rsp)
return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v0_simple_req(OPAHRS_MSG_V0_REQ_FWUP_STATUS, rsp, OPAHRS_MSG_V0_RSP_FWUP_STATUS));
}
enum opahrs_result PIOS_OPAHRS_bl_FwupData(struct opahrs_msg_v0 *req, struct opahrs_msg_v0 *rsp)
{
if (!req || !rsp)
return OPAHRS_RESULT_FAILED;
/* 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) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v0_recv_rsp(OPAHRS_MSG_V0_RSP_FWUP_STATUS, rsp);
}
enum opahrs_result PIOS_OPAHRS_bl_FwDlData(struct opahrs_msg_v0 *req, struct opahrs_msg_v0 *rsp)
{
if (!req || !rsp)
return OPAHRS_RESULT_FAILED;
/* Make up an attituderaw request */
opahrs_msg_v0_init_user_tx(req, OPAHRS_MSG_V0_REQ_FWDN_DATA);
enum opahrs_result rc;
/* Send the message until it is received */
rc = opahrs_msg_v0_send_req(req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v0_recv_rsp(OPAHRS_MSG_V0_RSP_FWDN_DATA, rsp);
}
enum opahrs_result PIOS_OPAHRS_bl_FwupVerify(struct opahrs_msg_v0 *rsp)
{
if (!rsp)
return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v0_simple_req(OPAHRS_MSG_V0_REQ_FWUP_VERIFY, rsp, OPAHRS_MSG_V0_RSP_FWUP_STATUS));
}
enum opahrs_result PIOS_OPAHRS_bl_resync(void)
{
struct opahrs_msg_v0 req;
struct opahrs_msg_v0 rsp;
enum opahrs_result rc = OPAHRS_RESULT_FAILED;
opahrs_msg_v0_init_link_tx(&req, OPAHRS_MSG_LINK_TAG_NOP);
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(20 / portTICK_RATE_MS);
#else
//PIOS_DELAY_WaitmS(1);
#endif
for (uint32_t i = 0; i < sizeof(req); i++) {
/* Tx a shortened (by one byte) message to walk through all byte positions */
opahrs_msg_v0_init_rx(&rsp);
PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, (uint8_t *) & req, (uint8_t *) & rsp, sizeof(req) - 1, NULL);
/* Good magic means we're sync'd */
if ((rsp.head.magic == OPAHRS_MSG_MAGIC_HEAD) && (rsp.tail.magic == OPAHRS_MSG_MAGIC_TAIL)) {
/* We need to shift out one more byte to compensate for the short tx */
PIOS_SPI_TransferByte(PIOS_OPAHRS_SPI, 0x00);
rc = OPAHRS_RESULT_OK;
break;
}
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(10 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(1);
#endif
}
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
//vTaskDelay(5 / portTICK_RATE_MS);
return rc;
}
enum opahrs_result PIOS_OPAHRS_bl_reset(uint32_t delay)
{
struct opahrs_msg_v0 req;
/* Make up an attituderaw request */
opahrs_msg_v0_init_user_tx(&req, OPAHRS_MSG_V0_REQ_RESET);
req.payload.user.v.req.reset.reset_delay_in_ms = delay;
/* Send the message until it is received */
return opahrs_msg_v0_send_req(&req);
}
enum opahrs_result PIOS_OPAHRS_bl_boot(uint32_t delay)
{
struct opahrs_msg_v0 req;
/* Make up an attituderaw request */
opahrs_msg_v0_init_user_tx(&req, OPAHRS_MSG_V0_REQ_BOOT);
req.payload.user.v.req.boot.boot_delay_in_ms = delay;
/* Send the message until it is received */
return opahrs_msg_v0_send_req(&req);
}
#endif /* PIOS_INCLUDE_OPAHRS */

56
flight/PiOS/STM32F10x/link_STM32103CB_AHRS_BL_sections.ld
View File

@ -1,56 +0,0 @@
_estack = 0x20004FF0;
/* Section Definitions */
SECTIONS
{
.text :
{
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector .isr_vector.*))
*(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7)
*(.rodata .rodata* .gnu.linkonce.r.*)
} > BL_FLASH
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)
} > BL_FLASH
.ARM.exidx :
{
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
} > BL_FLASH
. = ALIGN(4);
_etext = .;
_sidata = .;
.data : AT (_etext)
{
_sdata = .;
*(.data .data.*)
. = ALIGN(4);
_edata = . ;
} > SRAM
/* .bss section which is used for uninitialized data */
.bss (NOLOAD) :
{
_sbss = . ;
*(.bss .bss.*)
*(COMMON)
. = ALIGN(4);
_ebss = . ;
} > SRAM
. = ALIGN(4);
_end = . ;
.boardinfo :
{
. = ALIGN(4);
KEEP(*(.boardinfo))
. = ALIGN(4);
} > BD_INFO
}

7
flight/PiOS/STM32F10x/link_STM32103CB_AHRS_memory.ld
View File

@ -1,7 +0,0 @@
MEMORY
{
BL_FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 0x02000 - 0x00080
BD_INFO (r) : ORIGIN = 0x08002000 - 0x80, LENGTH = 0x00080
FLASH (rx) : ORIGIN = 0x08002000, LENGTH = 0x20000 - 0x02000
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x05000
}

51
flight/PiOS/STM32F10x/link_STM32103CB_AHRS_sections.ld
View File

@ -1,51 +0,0 @@
PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
_estack = 0x20004FF0;
/* Section Definitions */
SECTIONS
{
.text :
{
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector .isr_vector.*))
*(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7)
*(.rodata .rodata* .gnu.linkonce.r.*)
} > FLASH
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)
} > FLASH
.ARM.exidx :
{
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
} > FLASH
. = ALIGN(4);
_etext = .;
_sidata = .;
.data : AT (_etext)
{
_sdata = .;
*(.data .data.*)
. = ALIGN(4);
_edata = . ;
} > SRAM
/* .bss section which is used for uninitialized data */
.bss (NOLOAD) :
{
_sbss = . ;
*(.bss .bss.*)
*(COMMON)
. = ALIGN(4);
_ebss = . ;
} > SRAM
. = ALIGN(4);
_end = . ;
}

77
flight/PiOS/inc/pios_opahrs.h
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@ -1,77 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_OPAHRS OPAHRS Functions
* @{
*
* @file pios_opahrs.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief OpenPilot AHRS functions header.
* @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 PIOS_OPAHRS_H
#define PIOS_OPAHRS_H
#include "pios_opahrs_proto.h" /* opahrs message structs */
enum opahrs_result {
OPAHRS_RESULT_OK = 0,
OPAHRS_RESULT_TIMEOUT,
OPAHRS_RESULT_FAILED,
};
extern void PIOS_OPAHRS_Attach(uint32_t spi_id);
extern void PIOS_OPAHRS_ForceSlaveSelected(bool selected);
/*
* Protocol V0 messages used to talk to bootloaders
*/
extern enum opahrs_result PIOS_OPAHRS_bl_GetVersions(struct opahrs_msg_v0 *rsp);
extern enum opahrs_result PIOS_OPAHRS_bl_GetSerial(struct opahrs_msg_v0 *rsp);
extern enum opahrs_result PIOS_OPAHRS_bl_FwupStart(struct opahrs_msg_v0 *rsp);
extern enum opahrs_result PIOS_OPAHRS_bl_FwupStatus(struct opahrs_msg_v0 *rsp);
extern enum opahrs_result PIOS_OPAHRS_bl_FwupData(struct opahrs_msg_v0 *req, struct opahrs_msg_v0 *rsp);
extern enum opahrs_result PIOS_OPAHRS_bl_FwupVerify(struct opahrs_msg_v0 *rsp);
extern enum opahrs_result PIOS_OPAHRS_bl_resync(void);
extern enum opahrs_result PIOS_OPAHRS_bl_GetMemMap(struct opahrs_msg_v0 *rsp);
extern enum opahrs_result PIOS_OPAHRS_bl_reset(uint32_t delay);
extern enum opahrs_result PIOS_OPAHRS_bl_boot(uint32_t delay);
extern enum opahrs_result PIOS_OPAHRS_bl_FwDlData(struct opahrs_msg_v0 *req, struct opahrs_msg_v0 *rsp);
/*
* Protocol V1 messages used by application
*/
extern enum opahrs_result PIOS_OPAHRS_Sync(struct opahrs_msg_v1 *rsp);
extern enum opahrs_result PIOS_OPAHRS_GetSerial(struct opahrs_msg_v1 *rsp);
extern enum opahrs_result PIOS_OPAHRS_SetGetUpdate(struct opahrs_msg_v1 *rsp, struct opahrs_msg_v1 *req);
extern enum opahrs_result PIOS_OPAHRS_GetAttitudeRaw(struct opahrs_msg_v1 *rsp);
extern enum opahrs_result PIOS_OPAHRS_SetAlgorithm(struct opahrs_msg_v1 *req);
extern enum opahrs_result PIOS_OPAHRS_SetMagNorth(struct opahrs_msg_v1 *req);
extern enum opahrs_result PIOS_OPAHRS_SetGetCalibration(struct opahrs_msg_v1 *req, struct opahrs_msg_v1 *rsp);
extern enum opahrs_result PIOS_OPAHRS_SetGetInitialized(struct opahrs_msg_v1 *req, struct opahrs_msg_v1 *rsp);
extern enum opahrs_result PIOS_OPAHRS_resync(void);
#endif /* PIOS_OPAHRS_H */
/**
* @}
* @}
*/

406
flight/PiOS/inc/pios_opahrs_proto.h
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@ -1,406 +0,0 @@
/**
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_OPAHRS OPAHRS Functions
* @{
*
* @file pios_opahrs_proto.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief PPM Input functions
* @see The GNU Public License (GPL) Version 3
*
*/
#ifndef PIOS_OPAHRS_PROTO_H
#define PIOS_OPAHRS_PROTO_H
#include <stdint.h>
enum opahrs_msg_type {
OPAHRS_MSG_TYPE_LINK = 0x00,
OPAHRS_MSG_TYPE_USER_V0,
OPAHRS_MSG_TYPE_USER_V1,
};
enum opahrs_msg_link_state {
OPAHRS_MSG_LINK_STATE_INACTIVE,
OPAHRS_MSG_LINK_STATE_BUSY,
OPAHRS_MSG_LINK_STATE_READY,
};
#define OPAHRS_MSG_MAGIC_HEAD 0x53524841 /* ASCII "AHRS" */
struct opahrs_msg_link_head {
uint32_t magic; /* Set to OPAHRS_MSG_MAGIC_HEAD */
enum opahrs_msg_type type;
} __attribute__ ((__packed__));
#define OPAHRS_MSG_MAGIC_TAIL 0xFEFE
struct opahrs_msg_link_tail {
uint16_t magic;
uint8_t crc8;
} __attribute__ ((__packed__));
enum opahrs_msg_link_tag {
OPAHRS_MSG_LINK_TAG_NOP,
};
#define SPI_MSG_LINK_ERROR_BADCRC 0x00000001
struct opahrs_msg_link {
enum opahrs_msg_link_state state;
uint16_t errors;
enum opahrs_msg_link_tag t;
union {
} v;
} __attribute__ ((__packed__));
/********
* SPI protocol v0 definitions
*
* This protocol version is NOT to be changed after release since it is the
* protocol used for upgrading the firmware of AHRS boards that are already
* in end user hands.
*
********/
struct opahrs_msg_v0_req_nop {
} __attribute__ ((__packed__));
struct opahrs_msg_v0_req_versions {
} __attribute__ ((__packed__));
struct opahrs_msg_v0_req_reset {
uint32_t reset_delay_in_ms;
} __attribute__ ((__packed__));
struct opahrs_msg_v0_req_boot {
uint32_t boot_delay_in_ms;
} __attribute__ ((__packed__));
struct opahrs_msg_v0_req_serial {
} __attribute__ ((__packed__));
struct opahrs_msg_v0_req_fwup_start {
} __attribute__ ((__packed__));
struct opahrs_msg_v0_req_fwup_status {
} __attribute__ ((__packed__));
struct opahrs_msg_v0_req_fwup_data {
uint32_t adress;
uint32_t data[14];
uint8_t size;
} __attribute__ ((__packed__));
struct opahrs_msg_v0_req_fwdn_data {
uint32_t adress;
} __attribute__ ((__packed__));
struct opahrs_msg_v0_req_mem_map {
} __attribute__ ((__packed__));
struct opahrs_msg_v0_req_fwup_verify {
} __attribute__ ((__packed__));
union opahrs_msg_v0_req {
struct opahrs_msg_v0_req_nop nop;
struct opahrs_msg_v0_req_versions versions;
struct opahrs_msg_v0_req_reset reset;
struct opahrs_msg_v0_req_boot boot;
struct opahrs_msg_v0_req_serial serial;
struct opahrs_msg_v0_req_fwup_status status_req;
struct opahrs_msg_v0_req_fwdn_data fwdn_data;
struct opahrs_msg_v0_req_mem_map mem_map;
struct opahrs_msg_v0_req_fwup_start fwup_start;
struct opahrs_msg_v0_req_fwup_data fwup_data;
struct opahrs_msg_v0_req_fwup_verify fwup_verify;
} __attribute__ ((__packed__));
struct opahrs_msg_v0_rsp_fwdn_data {
uint8_t data[4];
} __attribute__ ((__packed__));
struct opahrs_msg_v0_rsp_versions {
uint16_t hw_version;
uint16_t bl_version;
uint32_t fw_crc;
} __attribute__ ((__packed__));
struct opahrs_msg_v0_rsp_serial {
uint8_t serial_bcd[24];
} __attribute__ ((__packed__));
enum bootloader_status { idle, started, start_failed, write_error, outside_dev_capabilities, jump_failed };
struct opahrs_msg_v0_rsp_fwup_status {
enum bootloader_status status;
} __attribute__ ((__packed__));
enum hw_density { high_density, medium_density };
struct opahrs_msg_v0_rsp_mem_map {
uint32_t start_of_user_code;
uint32_t size_of_code_memory;
uint8_t size_of_description;
uint8_t rw_flags;
enum hw_density density;
} __attribute__ ((__packed__));
union opahrs_msg_v0_rsp {
struct opahrs_msg_v0_rsp_versions versions;
struct opahrs_msg_v0_rsp_serial serial;
struct opahrs_msg_v0_rsp_fwup_status fwup_status;
struct opahrs_msg_v0_rsp_mem_map mem_map;
struct opahrs_msg_v0_rsp_fwdn_data fw_dn;
} __attribute__ ((__packed__));
enum opahrs_msg_v0_tag {
OPAHRS_MSG_V0_REQ_NOP = 0x00,
OPAHRS_MSG_V0_REQ_VERSIONS,
OPAHRS_MSG_V0_REQ_RESET,
OPAHRS_MSG_V0_REQ_BOOT,
OPAHRS_MSG_V0_REQ_SERIAL,
OPAHRS_MSG_V0_REQ_FWDN_DATA,
OPAHRS_MSG_V0_REQ_MEM_MAP,
OPAHRS_MSG_V0_REQ_FWUP_START,
OPAHRS_MSG_V0_REQ_FWUP_DATA,
OPAHRS_MSG_V0_REQ_FWUP_VERIFY,
OPAHRS_MSG_V0_REQ_FWUP_STATUS,
OPAHRS_MSG_V0_RSP_VERSIONS,
OPAHRS_MSG_V0_RSP_SERIAL,
OPAHRS_MSG_V0_RSP_FWUP_STATUS,
OPAHRS_MSG_V0_RSP_FWDN_DATA,
OPAHRS_MSG_V0_RSP_MEM_MAP,
};
struct opahrs_msg_v0_payload {
enum opahrs_msg_v0_tag t;
union {
union opahrs_msg_v0_req req;
union opahrs_msg_v0_rsp rsp;
} v;
} __attribute__ ((__packed__));
struct opahrs_msg_v0 {
struct opahrs_msg_link_head head;
union {
struct opahrs_msg_link link;
struct opahrs_msg_v0_payload user;
} payload;
struct opahrs_msg_link_tail tail;
} __attribute__ ((__packed__));
/********
* SPI protocol v1 definitions
********/
struct opahrs_msg_v1_req_nop {
} __attribute__ ((__packed__));
struct opahrs_msg_v1_req_versions {
} __attribute__ ((__packed__));
struct opahrs_msg_v1_req_reset {
uint32_t reset_delay_in_ms;
} __attribute__ ((__packed__));
struct opahrs_msg_v1_req_serial {
} __attribute__ ((__packed__));
enum initialized_mode { AHRS_UNINITIALIZED, AHRS_INITIALIZED, AHRS_INIT_QUERY };
struct opahrs_msg_v1_req_initialized {
enum initialized_mode initialized;
} __attribute__ ((__packed__));
struct opahrs_msg_v1_req_north {
float Be[3];
} __attribute__ ((__packed__));
enum algorithms { SIMPLE_Algo, INSGPS_Algo };
struct opahrs_msg_v1_req_algorithm {
enum algorithms algorithm;
} __attribute__ ((__packed__));
struct opahrs_msg_v1_req_update {
struct {
uint8_t updated;
float NED[3];
float groundspeed;
float heading;
float quality;
} gps;
struct {
uint8_t updated;
float altitude;
} barometer;
} __attribute__ ((__packed__));
struct opahrs_msg_v1_req_attituderaw {
} __attribute__ ((__packed__));
enum measure_mode { AHRS_SET, AHRS_MEASURE, AHRS_ECHO };
struct opahrs_msg_v1_req_calibration {
enum measure_mode measure_var;
float accel_bias[3];
float accel_scale[3];
float accel_var[3];
float gyro_bias[3];
float gyro_scale[3];
float gyro_var[3];
float mag_bias[3];
float mag_scale[3];
float mag_var[3];
} __attribute__ ((__packed__));
union opahrs_msg_v1_req {
struct opahrs_msg_v1_req_nop nop;
struct opahrs_msg_v1_req_versions versions;
struct opahrs_msg_v1_req_reset reset;
struct opahrs_msg_v1_req_initialized initialized;
struct opahrs_msg_v1_req_serial serial;
struct opahrs_msg_v1_req_update update;
struct opahrs_msg_v1_req_algorithm algorithm;
struct opahrs_msg_v1_req_north north;
struct opahrs_msg_v1_req_attituderaw attituderaw;
struct opahrs_msg_v1_req_calibration calibration;
} __attribute__ ((__packed__));
struct opahrs_msg_v1_rsp_versions {
uint8_t hw_version;
uint16_t bl_version;
uint32_t fw_crc;
} __attribute__ ((__packed__));
struct opahrs_msg_v1_rsp_serial {
uint8_t serial_bcd[25];
} __attribute__ ((__packed__));
struct opahrs_msg_v1_rsp_initialized {
enum initialized_mode initialized;
} __attribute__ ((__packed__));
struct opahrs_msg_v1_rsp_north {
} __attribute__ ((__packed__));
struct opahrs_msg_v1_rsp_algorithm {
} __attribute__ ((__packed__));
struct opahrs_msg_v1_rsp_attituderaw {
struct {
int16_t x;
int16_t y;
int16_t z;
} mags;
struct {
uint16_t x;
uint16_t y;
uint16_t z;
uint16_t xy_temp;
uint16_t z_temp;
} gyros;
struct {
float x;
float y;
float z;
} gyros_filtered;
struct {
uint16_t x;
uint16_t y;
uint16_t z;
} accels;
struct {
float x;
float y;
float z;
} accels_filtered;
} __attribute__ ((__packed__));
struct opahrs_msg_v1_rsp_update {
struct {
float q1;
float q2;
float q3;
float q4;
} quaternion;
int32_t NED[3];
int32_t Vel[3];
uint8_t load;
uint8_t idle_time;
uint8_t run_time;
uint8_t dropped_updates;
} __attribute__ ((__packed__));
struct opahrs_msg_v1_rsp_calibration {
float accel_var[3];
float gyro_var[3];
float mag_var[3];
} __attribute__ ((__packed__));
union opahrs_msg_v1_rsp {
struct opahrs_msg_v1_rsp_versions versions;
struct opahrs_msg_v1_rsp_serial serial;
struct opahrs_msg_v1_rsp_initialized initialized;
struct opahrs_msg_v1_rsp_north north;
struct opahrs_msg_v1_rsp_algorithm algorithm;
struct opahrs_msg_v1_rsp_attituderaw attituderaw;
struct opahrs_msg_v1_rsp_update update;
struct opahrs_msg_v1_rsp_calibration calibration;
} __attribute__ ((__packed__));
enum opahrs_msg_v1_tag {
OPAHRS_MSG_V1_REQ_NOP = 0x02000000,
OPAHRS_MSG_V1_REQ_VERSIONS,
OPAHRS_MSG_V1_REQ_RESET,
OPAHRS_MSG_V1_REQ_SERIAL,
OPAHRS_MSG_V1_REQ_INITIALIZED,
OPAHRS_MSG_V1_REQ_NORTH,
OPAHRS_MSG_V1_REQ_ALGORITHM,
OPAHRS_MSG_V1_REQ_UPDATE,
OPAHRS_MSG_V1_REQ_ATTITUDERAW,
OPAHRS_MSG_V1_REQ_CALIBRATION,
OPAHRS_MSG_V1_RSP_VERSIONS,
OPAHRS_MSG_V1_RSP_SERIAL,
OPAHRS_MSG_V1_RSP_INITIALIZED,
OPAHRS_MSG_V1_RSP_NORTH,
OPAHRS_MSG_V1_RSP_ALGORITHM,
OPAHRS_MSG_V1_RSP_UPDATE,
OPAHRS_MSG_V1_RSP_ATTITUDERAW,
OPAHRS_MSG_V1_RSP_CALIBRATION,
};
struct opahrs_msg_v1_payload {
enum opahrs_msg_v1_tag t;
union {
union opahrs_msg_v1_req req;
union opahrs_msg_v1_rsp rsp;
} v;
} __attribute__ ((__packed__));
struct opahrs_msg_v1 {
struct opahrs_msg_link_head head;
union {
struct opahrs_msg_link link;
struct opahrs_msg_v1_payload user;
} payload;
struct opahrs_msg_link_tail tail;
} __attribute__ ((__packed__));
/* Helper functions for setting up messages */
extern void opahrs_msg_v0_init_rx(struct opahrs_msg_v0 *msg);
extern void opahrs_msg_v0_init_user_tx(struct opahrs_msg_v0 *msg, enum opahrs_msg_v0_tag tag);
extern void opahrs_msg_v0_init_link_tx(struct opahrs_msg_v0 *msg, enum opahrs_msg_link_tag tag);
extern void opahrs_msg_v1_init_rx(struct opahrs_msg_v1 *msg);
extern void opahrs_msg_v1_init_user_tx(struct opahrs_msg_v1 *msg, enum opahrs_msg_v1_tag tag);
extern void opahrs_msg_v1_init_link_tx(struct opahrs_msg_v1 *msg, enum opahrs_msg_link_tag tag);
#endif /* PIOS_OPAHRS_PROTO_H */
/**
* @}
* @}
*/

15
flight/Project/OpenOCD/foss-jtag.revb.ahrs.cfg
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@ -1,15 +0,0 @@
#
# Floss JTAG OpenPilot
#
interface ft2232
ft2232_vid_pid 0x0403 0x6010
#ft2232_device_desc "Dual RS232-HS"
#ft2232_bus_addr "002:088"
#ft2232_serial "1234567890"
ft2232_layout "usbjtag"
ft2232_latency 2
gdb_port 3334
tcl_port 6666
telnet_port 4444

20
make/boards/ahrs/board-info.mk
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@ -1,20 +0,0 @@
BOARD_TYPE := 0x02
BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x00
HW_TYPE := 0x00
MCU := cortex-m3
CHIP := STM32F103CBT
BOARD := STM32103CB_AHRS
MODEL := MD
MODEL_SUFFIX :=
OPENOCD_CONFIG := stm32f1x.cfg
# Note: These must match the values in link_$(BOARD)_memory.ld
BL_BANK_BASE := 0x08000000 # Start of bootloader flash
BL_BANK_SIZE := 0x00002000 # Should include BD_INFO region
FW_BANK_BASE := 0x08002000 # Start of firmware flash
FW_BANK_SIZE := 0x0001E000 # Should include FW_DESC_SIZE
FW_DESC_SIZE := 0x00000064