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Code Issues Releases Activity

Merged in f5soh/librepilot/shared/LP-72_Sparky2_support_rebased (pull request #251)

Browse Source 
shared/LP-72_sparky2_support_rebased
This commit is contained in:
Lalanne Laurent 2016-05-28 18:31:02 +02:00
commit 343ae71ce1
89 changed files with 20727 additions and 557 deletions
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2
Makefile
View File

@ -304,7 +304,7 @@ uploader_clean:
#
##############################
# Firmware files to package
PACKAGE_FW_TARGETS := fw_coptercontrol fw_oplinkmini fw_revolution fw_osd fw_revoproto fw_gpsplatinum fw_revonano
PACKAGE_FW_TARGETS := fw_coptercontrol fw_oplinkmini fw_revolution fw_osd fw_revoproto fw_gpsplatinum fw_revonano fw_sparky2
# Rules to generate GCS resources used to embed firmware binaries into the GCS.
# They are used later by the vehicle setup wizard to update board firmware.

3
flight/Makefile
View File

@ -8,7 +8,7 @@ export OPUAVTALK := $(FLIGHT_ROOT_DIR)/uavtalk
export FLIGHT_OUT_DIR ?= $(CURDIR)
# Define supported board lists
ALL_BOARDS := coptercontrol oplinkmini revolution osd revoproto simposix discoveryf4bare gpsplatinum revonano
ALL_BOARDS := coptercontrol oplinkmini revolution osd revoproto simposix discoveryf4bare gpsplatinum revonano sparky2
# Short names of each board (used to display board name in parallel builds)
coptercontrol_short := 'cc '
@ -17,6 +17,7 @@ revolution_short := 'revo'
osd_short := 'osd '
revoproto_short := 'revp'
revonano_short := 'revn'
sparky2_short := 'spk2'
simposix_short := 'posx'
discoveryf4bare_short := 'df4b'
gpsplatinum_short := 'gps9'

5
flight/Project/Windows USB/OpenPilot-CDC.inf
View File

@ -3,7 +3,7 @@ Signature = "$Windows NT$"
Class = Ports
ClassGuid = {4D36E978-E325-11CE-BFC1-08002BE10318}
Provider = %ProviderName%
DriverVer=11/21/2014,3.0.0.0
DriverVer=05/25/2016,4.0.0.0
CatalogFile.NTx86 = OpenPilot-CDC_x86.cat
CatalogFile.NTamd64 = OpenPilot-CDC_amd64.cat
@ -15,12 +15,14 @@ CatalogFile.NTamd64 = OpenPilot-CDC_amd64.cat
%Revolution% = DriverInstall,USB\VID_20A0&PID_415e&MI_00
%OPLinkMini% = DriverInstall,USB\VID_20A0&PID_415c&MI_00
%OPLink1W% = DriverInstall,USB\VID_20A0&PID_4195&MI_00
%Sparky2% = DriverInstall,USB\VID_20A0&PID_41d0&MI_00
[DeviceList.NTamd64]
%CopterControl% = DriverInstall,USB\VID_20A0&PID_415b&MI_00
%Revolution% = DriverInstall,USB\VID_20A0&PID_415e&MI_00
%OPLinkMini% = DriverInstall,USB\VID_20A0&PID_415c&MI_00
%OPLink1W% = DriverInstall,USB\VID_20A0&PID_4195&MI_00
%Sparky2% = DriverInstall,USB\VID_20A0&PID_41d0&MI_00
[DriverInstall]
include = mdmcpq.inf
@ -41,3 +43,4 @@ CopterControl = "CopterControl Virtual COM Port"
Revolution = "Revolution Virtual COM Port"
OPLinkMini = "OPLinkMini Virtual COM Port"
OPLink1W = "OPLink1W Virtual COM Port"
Sparky2 = "Sparky2 Virtual COM Port"

2
flight/libraries/alarms.c
View File

@ -360,7 +360,7 @@ size_t AlarmString(SystemAlarmsData *alarm, char *buffer, size_t buffer_size, Sy
}
int current_len = strlen(current_msg);
if ((pos + current_len + 1) > buffer_size) {
break;
}

3
flight/modules/Receiver/receiver.c
View File

@ -655,6 +655,9 @@ static bool updateRcvrActivityCompare(uint32_t rcvr_id, struct rcvr_activity_fsm
case MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT:
group = RECEIVERACTIVITY_ACTIVEGROUP_DSMFLEXIPORT;
break;
case MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMRCVRPORT:
group = RECEIVERACTIVITY_ACTIVEGROUP_DSMRCVRPORT;
break;
case MANUALCONTROLSETTINGS_CHANNELGROUPS_EXBUS:
group = RECEIVERACTIVITY_ACTIVEGROUP_EXBUS;
break;

77
flight/modules/UAVOMSPBridge/UAVOMSPBridge.c
View File

@ -227,18 +227,18 @@ static const char msp_pidnames[] = "ROLL;"
#define MSP_ANALOG_CURRENT (1 << 1)
struct msp_bridge {
uintptr_t com;
uintptr_t com;
uint8_t sensors;
uint8_t analog;
uint8_t sensors;
uint8_t analog;
UAVObjHandle current_pid_bank;
msp_state state;
uint8_t cmd_size;
uint8_t cmd_id;
uint8_t cmd_i;
uint8_t checksum;
msp_state state;
uint8_t cmd_size;
uint8_t cmd_id;
uint8_t cmd_i;
uint8_t checksum;
union {
uint8_t data[0];
// Specific packed data structures go here.
@ -489,13 +489,13 @@ static void msp_send_analog(struct msp_bridge *m)
data.status.rssi = ((rssi - OPLINK_LOW_RSSI) * 1023) / (OPLINK_HIGH_RSSI - OPLINK_LOW_RSSI);
} else {
#endif /* PIOS_INCLUDE_OPLINKRCVR */
uint8_t quality;
ReceiverStatusQualityGet(&quality);
uint8_t quality;
ReceiverStatusQualityGet(&quality);
// MSP RSSI's range is 0-1023
data.status.rssi = (quality * 1023) / 100;
// MSP RSSI's range is 0-1023
data.status.rssi = (quality * 1023) / 100;
#ifdef PIOS_INCLUDE_OPLINKRCVR
}
}
#endif /* PIOS_INCLUDE_OPLINKRCVR */
if (data.status.rssi > 1023) {
@ -674,14 +674,14 @@ static void msp_send_pidnames(struct msp_bridge *m)
static void pid_native2msp(const float *native, msp_pid_t *piditem, float scale, unsigned numelem)
{
for(unsigned i = 0; i < numelem; ++i) {
for (unsigned i = 0; i < numelem; ++i) {
piditem->values[i] = lroundf(native[i] * scale);
}
}
static void pid_msp2native(const msp_pid_t *piditem, float *native, float scale, unsigned numelem)
{
for(unsigned i = 0; i < numelem; ++i) {
for (unsigned i = 0; i < numelem; ++i) {
native[i] = (float)piditem->values[i] / scale;
}
}
@ -699,23 +699,24 @@ static UAVObjHandle get_current_pid_bank_handle()
StabilizationSettingsFlightModeMapOptions flightModeMap[STABILIZATIONSETTINGS_FLIGHTMODEMAP_NUMELEM];
StabilizationSettingsFlightModeMapGet(flightModeMap);
switch(flightModeMap[fm])
{
case STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK1:
return StabilizationSettingsBank1Handle();
case STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK2:
return StabilizationSettingsBank2Handle();
case STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK3:
return StabilizationSettingsBank3Handle();
switch (flightModeMap[fm]) {
case STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK1:
return StabilizationSettingsBank1Handle();
case STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK2:
return StabilizationSettingsBank2Handle();
case STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK3:
return StabilizationSettingsBank3Handle();
}
return 0;
}
static void msp_send_pid(struct msp_bridge *m)
{
m->current_pid_bank = get_current_pid_bank_handle();
StabilizationBankData bankData;
UAVObjGetData(m->current_pid_bank, &bankData);
@ -736,7 +737,7 @@ static void msp_send_pid(struct msp_bridge *m)
static void msp_set_pid(struct msp_bridge *m)
{
if(m->current_pid_bank == 0) {
if (m->current_pid_bank == 0) {
return;
}
@ -752,18 +753,18 @@ static void msp_set_pid(struct msp_bridge *m)
pid_msp2native(&m->cmd_data.piditems[PIDAYAW], (float *)&bankData.YawPI, 10, 2);
UAVObjSetData(m->current_pid_bank, &bankData);
bool needSave = true;
if(needSave) {
if (needSave) {
FlightStatusArmedOptions armed;
FlightStatusArmedGet(&armed);
if(armed == FLIGHTSTATUS_ARMED_DISARMED) {
if (armed == FLIGHTSTATUS_ARMED_DISARMED) {
UAVObjSave(m->current_pid_bank, 0);
}
}
msp_send(m, MSP_SET_PID, 0, 0); // send ack.
}
@ -806,10 +807,10 @@ static void msp_send_alarms(__attribute__((unused)) struct msp_bridge *m)
sizeof(data.alarm.msg), SYSTEMALARMS_ALARM_CRITICAL, &state); // Include only CRITICAL and ERROR
// NOTE: LP alarm severity levels and MSP levels do not match. ERROR and CRITICAL are swapped.
// So far, MW-OSD code (MSP consumer) does not make difference between ALARM_ERROR and ALARM_CRITICAL.
// ALARM_WARN should be blinking if thats the highest severity level at the moment.
// There might be other types of MSP consumers.
// So far, MW-OSD code (MSP consumer) does not make difference between ALARM_ERROR and ALARM_CRITICAL.
// ALARM_WARN should be blinking if thats the highest severity level at the moment.
// There might be other types of MSP consumers.
switch (state) {
case SYSTEMALARMS_ALARM_WARNING:
data.alarm.state = ALARM_WARN;

73
flight/pios/common/pios_ms5611.c
View File

@ -45,6 +45,9 @@
// Running moving average smoothing factor
#define PIOS_MS5611_TEMP_SMOOTHING 10
//
#define PIOS_MS5611_I2C_RETRIES 5
/* Local Types */
typedef struct {
uint16_t C[6];
@ -94,6 +97,8 @@ static const struct pios_ms5611_cfg *dev_cfg;
static int32_t i2c_id;
static PIOS_SENSORS_1Axis_SensorsWithTemp results;
static bool sensorIsAlive = false;
// sensor driver interface
bool PIOS_MS5611_driver_Test(uintptr_t context);
void PIOS_MS5611_driver_Reset(uintptr_t context);
@ -116,13 +121,21 @@ const PIOS_SENSORS_Driver PIOS_MS5611_Driver = {
int32_t ms5611_read_flag;
void PIOS_MS5611_Init(const struct pios_ms5611_cfg *cfg, int32_t i2c_device)
{
i2c_id = i2c_device;
static uint32_t initTime;
oversampling = cfg->oversampling;
conversionDelayMs = PIOS_MS5611_GetDelay();
conversionDelayUs = PIOS_MS5611_GetDelayUs();
if (cfg) {
i2c_id = i2c_device;
dev_cfg = cfg; // Store cfg before enabling interrupt
oversampling = cfg->oversampling;
conversionDelayMs = PIOS_MS5611_GetDelay();
conversionDelayUs = PIOS_MS5611_GetDelayUs();
dev_cfg = cfg; // Store cfg before enabling interrupt
} else if (PIOS_DELAY_DiffuS(initTime) < 1000000) { // Do not reinitialize too often
return;
}
initTime = PIOS_DELAY_GetRaw();
PIOS_MS5611_WriteCommand(MS5611_RESET);
PIOS_DELAY_WaitmS(20);
@ -133,27 +146,35 @@ void PIOS_MS5611_Init(const struct pios_ms5611_cfg *cfg, int32_t i2c_device)
compensation_t2 = 0;
/* Calibration parameters */
for (int i = 0; i < 6; i++) {
while (PIOS_MS5611_Read(MS5611_CALIB_ADDR + i * 2, data, 2)) {}
;
if (PIOS_MS5611_Read(MS5611_CALIB_ADDR + i * 2, data, 2) != 0) {
return;
}
CalibData.C[i] = (data[0] << 8) | data[1];
}
sensorIsAlive = true;
}
/**
* Start the ADC conversion
* \param[in] PresOrTemp BMP085_PRES_ADDR or BMP085_TEMP_ADDR
* \return 0 for success, -1 for failure (conversion completed and not read)
* \return 0 for success, -1 for failure (conversion completed and not read), -2 if failure occurred
*/
int32_t PIOS_MS5611_StartADC(ConversionTypeTypeDef Type)
{
if (!sensorIsAlive) { /* if sensor is not alive, don't bother, wait for next poll to try to reinitialize */
return -2;
}
/* Start the conversion */
if (Type == MS5611_CONVERSION_TYPE_TemperatureConv) {
while (PIOS_MS5611_WriteCommand(MS5611_TEMP_ADDR + oversampling) != 0) {
continue;
if (PIOS_MS5611_WriteCommand(MS5611_TEMP_ADDR + oversampling) != 0) {
return -2;
}
} else if (Type == MS5611_CONVERSION_TYPE_PressureConv) {
while (PIOS_MS5611_WriteCommand(MS5611_PRES_ADDR + oversampling) != 0) {
continue;
if (PIOS_MS5611_WriteCommand(MS5611_PRES_ADDR + oversampling) != 0) {
return -2;
}
}
lastConversionStart = PIOS_DELAY_GetRaw();
@ -222,6 +243,10 @@ static uint32_t PIOS_MS5611_GetDelayUs()
*/
int32_t PIOS_MS5611_ReadADC(void)
{
if (!sensorIsAlive) { /* if sensor is not alive, don't bother, wait for next poll to try to reinitialize */
return -2;
}
uint8_t Data[3];
Data[0] = 0;
@ -350,7 +375,15 @@ static int32_t PIOS_MS5611_Read(uint8_t address, uint8_t *buffer, uint8_t len)
}
};
return PIOS_I2C_Transfer(i2c_id, txn_list, NELEMENTS(txn_list));
for (uint8_t retry = PIOS_MS5611_I2C_RETRIES; retry > 0; --retry) {
if (PIOS_I2C_Transfer(i2c_id, txn_list, NELEMENTS(txn_list)) == 0) {
return 0;
}
}
sensorIsAlive = false;
return -1;
}
/**
@ -373,7 +406,15 @@ static int32_t PIOS_MS5611_WriteCommand(uint8_t command)
,
};
return PIOS_I2C_Transfer(i2c_id, txn_list, NELEMENTS(txn_list));
for (uint8_t retry = PIOS_MS5611_I2C_RETRIES; retry > 0; --retry) {
if (PIOS_I2C_Transfer(i2c_id, txn_list, NELEMENTS(txn_list)) == 0) {
return 0;
}
}
sensorIsAlive = false;
return -1;
}
/**
@ -435,6 +476,10 @@ bool PIOS_MS5611_driver_poll(__attribute__((unused)) uintptr_t context)
static uint8_t temp_press_interleave_count = 1;
static MS5611_FSM_State next_state = MS5611_FSM_INIT;
if (!sensorIsAlive) { // try to reinit
PIOS_MS5611_Init(0, 0);
}
int32_t conversionResult = PIOS_MS5611_ReadADC();
if (__builtin_expect(conversionResult == -1, 1)) {

20
flight/pios/common/pios_wavplay.c
View File

@ -77,12 +77,12 @@ typedef enum {
Unvalid_RIFF_ID,
Unvalid_WAVE_Format,
Unvalid_FormatChunk_ID,
Unsupporetd_FormatTag,
Unsupporetd_Number_Of_Channel,
Unsupporetd_Sample_Rate,
Unsupporetd_Bits_Per_Sample,
Unsupported_FormatTag,
Unsupported_Number_Of_Channel,
Unsupported_Sample_Rate,
Unsupported_Bits_Per_Sample,
Unvalid_DataChunk_ID,
Unsupporetd_ExtraFormatBytes,
Unsupported_ExtraFormatBytes,
Unvalid_FactChunk_ID
} ErrorCode;
@ -256,13 +256,13 @@ static ErrorCode WavePlayer_WaveParsing(uint8_t *DirName, uint8_t *FileName, uin
/* Read the audio format, must be 0x01 (PCM) -------------------------------*/
WAVE_Format.FormatTag = ReadUnit(buffer1, 20, 2, LittleEndian);
if (WAVE_Format.FormatTag != WAVE_FORMAT_PCM) {
return Unsupporetd_FormatTag;
return Unsupported_FormatTag;
}
/* Read the number of channels, must be 0x01 (Mono) ------------------------*/
WAVE_Format.NumChannels = ReadUnit(buffer1, 22, 2, LittleEndian);
if (WAVE_Format.NumChannels != CHANNEL_MONO) {
return Unsupporetd_Number_Of_Channel;
return Unsupported_Number_Of_Channel;
}
/* Read the Sample Rate ----------------------------------------------------*/
@ -282,7 +282,7 @@ static ErrorCode WavePlayer_WaveParsing(uint8_t *DirName, uint8_t *FileName, uin
TIM6ARRValue = (PIOS_PERIPHERAL_APB1_CLOCK) / 44100;
break; /* 44.1KHz = 24MHz / 544 */
default:
return Unsupporetd_Sample_Rate;
return Unsupported_Sample_Rate;
}
/* Read the Byte Rate ------------------------------------------------------*/
@ -294,7 +294,7 @@ static ErrorCode WavePlayer_WaveParsing(uint8_t *DirName, uint8_t *FileName, uin
/* Read the number of bits per sample --------------------------------------*/
WAVE_Format.BitsPerSample = ReadUnit(buffer1, 34, 2, LittleEndian);
if (WAVE_Format.BitsPerSample != BITS_PER_SAMPLE_8) {
return Unsupporetd_Bits_Per_Sample;
return Unsupported_Bits_Per_Sample;
}
SpeechDataOffset = 36;
/* If there is Extra format bytes, these bytes will be defined in "Fact Chunk" */
@ -302,7 +302,7 @@ static ErrorCode WavePlayer_WaveParsing(uint8_t *DirName, uint8_t *FileName, uin
/* Read th Extra format bytes, must be 0x00 ------------------------------*/
Temp = ReadUnit(buffer1, 36, 2, LittleEndian);
if (Temp != 0x00) {
return Unsupporetd_ExtraFormatBytes;
return Unsupported_ExtraFormatBytes;
}
/* Read the Fact chunk, must be 'fact' -----------------------------------*/
Temp = ReadUnit(buffer1, 38, 4, BigEndian);

14
flight/pios/inc/pios_usb_defs.h
View File

@ -1,5 +1,5 @@
/**
******************************************************************************
****************************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_USB_DEFS USB standard types and definitions
@ -7,12 +7,12 @@
* @{
*
* @file pios_usb_defs.h
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief USB Standard types and 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
@ -358,8 +358,9 @@ enum usb_product_ids {
USB_PRODUCT_ID_OPLINK = 0x415C,
USB_PRODUCT_ID_CC3D = 0x415D,
USB_PRODUCT_ID_REVOLUTION = 0x415E,
USB_PRODUCT_ID_OSD = 0x4194,
USB_PRODUCT_ID_SPARE = 0x4195,
USB_PRODUCT_ID_SPARKY2 = 0x41D0, // was 0x415E during LP testing
USB_PRODUCT_ID_OSD = 0x4194,
USB_PRODUCT_ID_SPARE = 0x4195,
} __attribute__((packed));
enum usb_op_board_ids {
@ -368,7 +369,8 @@ enum usb_op_board_ids {
USB_OP_BOARD_ID_OPLINK = 3,
USB_OP_BOARD_ID_COPTERCONTROL = 4,
USB_OP_BOARD_ID_REVOLUTION = 5,
USB_OP_BOARD_ID_OSD = 6,
USB_OP_BOARD_ID_SPARKY2 = 5,
USB_OP_BOARD_ID_OSD = 6,
} __attribute__((packed));
enum usb_op_board_modes {

560
flight/pios/stm32f4xx/libraries/CMSIS/Device/ST/STM32F4xx/Source/sparky2/system_stm32f4xx.c Normal file
View File

@ -0,0 +1,560 @@
/**
******************************************************************************
* @file system_stm32f4xx.c
* @author MCD Application Team
* @version V1.1.0
* @date 11-January-2013
* @brief CMSIS Cortex-M4 Device Peripheral Access Layer System Source File.
* This file contains the system clock configuration for STM32F4xx devices,
* and is generated by the clock configuration tool
* stm32f4xx_Clock_Configuration_V1.1.0.xls
*
* 1. This file provides two functions and one global variable to be called from
* user application:
* - SystemInit(): Setups the system clock (System clock source, PLL Multiplier
* and Divider factors, AHB/APBx prescalers and Flash settings),
* depending on the configuration made in the clock xls tool.
* This function is called at startup just after reset and
* before branch to main program. This call is made inside
* the "startup_stm32f4xx.s" file.
*
* - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
* by the user application to setup the SysTick
* timer or configure other parameters.
*
* - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
* be called whenever the core clock is changed
* during program execution.
*
* 2. After each device reset the HSI (16 MHz) is used as system clock source.
* Then SystemInit() function is called, in "startup_stm32f4xx.s" file, to
* configure the system clock before to branch to main program.
*
* 3. If the system clock source selected by user fails to startup, the SystemInit()
* function will do nothing and HSI still used as system clock source. User can
* add some code to deal with this issue inside the SetSysClock() function.
*
* 4. The default value of HSE crystal is set to 25MHz, refer to "HSE_VALUE" define
* in "stm32f4xx.h" file. When HSE is used as system clock source, directly or
* through PLL, and you are using different crystal you have to adapt the HSE
* value to your own configuration.
*
* 5. This file configures the system clock as follows:
*=============================================================================
*=============================================================================
* Supported STM32F40xx/41xx/427x/437x devices
*-----------------------------------------------------------------------------
* System Clock source | PLL (HSE)
*-----------------------------------------------------------------------------
* SYSCLK(Hz) | 168000000
*-----------------------------------------------------------------------------
* HCLK(Hz) | 168000000
*-----------------------------------------------------------------------------
* AHB Prescaler | 1
*-----------------------------------------------------------------------------
* APB1 Prescaler | 4
*-----------------------------------------------------------------------------
* APB2 Prescaler | 2
*-----------------------------------------------------------------------------
* HSE Frequency(Hz) | 8000000
*-----------------------------------------------------------------------------
* PLL_M | 10
*-----------------------------------------------------------------------------
* PLL_N | 420
*-----------------------------------------------------------------------------
* PLL_P | 2
*-----------------------------------------------------------------------------
* PLL_Q | 7
*-----------------------------------------------------------------------------
* PLLI2S_N | NA
*-----------------------------------------------------------------------------
* PLLI2S_R | NA
*-----------------------------------------------------------------------------
* I2S input clock | NA
*-----------------------------------------------------------------------------
* VDD(V) | 3.3
*-----------------------------------------------------------------------------
* Main regulator output voltage | Scale1 mode
*-----------------------------------------------------------------------------
* Flash Latency(WS) | 5
*-----------------------------------------------------------------------------
* Prefetch Buffer | ON
*-----------------------------------------------------------------------------
* Instruction cache | ON
*-----------------------------------------------------------------------------
* Data cache | ON
*-----------------------------------------------------------------------------
* Require 48MHz for USB OTG FS, | Enabled
* SDIO and RNG clock |
*-----------------------------------------------------------------------------
*=============================================================================
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT 2013 STMicroelectronics</center></h2>
*
* Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
* You may not use this file except in compliance with the License.
* You may obtain a copy of the License at:
*
* http://www.st.com/software_license_agreement_liberty_v2
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32f4xx_system
* @{
*/
/** @addtogroup STM32F4xx_System_Private_Includes
* @{
*/
#include "stm32f4xx.h"
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_TypesDefinitions
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Defines
* @{
*/
/************************* Miscellaneous Configuration ************************/
/*!< Uncomment the following line if you need to use external SRAM mounted
on STM324xG_EVAL/STM324x7I_EVAL boards as data memory */
/* #define DATA_IN_ExtSRAM */
/*!< Uncomment the following line if you need to relocate your vector Table in
Internal SRAM. */
/* #define VECT_TAB_SRAM */
#define VECT_TAB_OFFSET 0x00 /*!< Vector Table base offset field.
This value must be a multiple of 0x200. */
/******************************************************************************/
/************************* PLL Parameters *************************************/
/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N */
#define PLL_M 10
#define PLL_N 420
/* SYSCLK = PLL_VCO / PLL_P */
#define PLL_P 2
/* USB OTG FS, SDIO and RNG Clock = PLL_VCO / PLLQ */
#define PLL_Q 7
/******************************************************************************/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Macros
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Variables
* @{
*/
uint32_t SystemCoreClock = 168000000;
__I uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_FunctionPrototypes
* @{
*/
static void SetSysClock(void);
#ifdef DATA_IN_ExtSRAM
static void SystemInit_ExtMemCtl(void);
#endif /* DATA_IN_ExtSRAM */
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Functions
* @{
*/
/**
* @brief Setup the microcontroller system
* Initialize the Embedded Flash Interface, the PLL and update the
* SystemFrequency variable.
* @param None
* @retval None
*/
void SystemInit(void)
{
/* FPU settings ------------------------------------------------------------*/
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */
#endif
/* Reset the RCC clock configuration to the default reset state ------------*/
/* Set HSION bit */
RCC->CR |= (uint32_t)0x00000001;
/* Reset CFGR register */
RCC->CFGR = 0x00000000;
/* Reset HSEON, CSSON and PLLON bits */
RCC->CR &= (uint32_t)0xFEF6FFFF;
/* Reset PLLCFGR register */
RCC->PLLCFGR = 0x24003010;
/* Reset HSEBYP bit */
RCC->CR &= (uint32_t)0xFFFBFFFF;
/* Disable all interrupts */
RCC->CIR = 0x00000000;
#ifdef DATA_IN_ExtSRAM
SystemInit_ExtMemCtl();
#endif /* DATA_IN_ExtSRAM */
/* Configure the System clock source, PLL Multiplier and Divider factors,
AHB/APBx prescalers and Flash settings ----------------------------------*/
SetSysClock();
/* Configure the Vector Table location add offset address ------------------*/
#ifdef VECT_TAB_SRAM
SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */
#else
SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH */
#endif
}
/**
* @brief Update SystemCoreClock variable according to Clock Register Values.
* The SystemCoreClock variable contains the core clock (HCLK), it can
* be used by the user application to setup the SysTick timer or configure
* other parameters.
*
* @note Each time the core clock (HCLK) changes, this function must be called
* to update SystemCoreClock variable value. Otherwise, any configuration
* based on this variable will be incorrect.
*
* @note - The system frequency computed by this function is not the real
* frequency in the chip. It is calculated based on the predefined
* constant and the selected clock source:
*
* - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
*
* - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
*
* - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**)
* or HSI_VALUE(*) multiplied/divided by the PLL factors.
*
* (*) HSI_VALUE is a constant defined in stm32f4xx.h file (default value
* 16 MHz) but the real value may vary depending on the variations
* in voltage and temperature.
*
* (**) HSE_VALUE is a constant defined in stm32f4xx.h file (default value
* 25 MHz), user has to ensure that HSE_VALUE is same as the real
* frequency of the crystal used. Otherwise, this function may
* have wrong result.
*
* - The result of this function could be not correct when using fractional
* value for HSE crystal.
*
* @param None
* @retval None
*/
void SystemCoreClockUpdate(void)
{
uint32_t tmp = 0, pllvco = 0, pllp = 2, pllsource = 0, pllm = 2;
/* Get SYSCLK source -------------------------------------------------------*/
tmp = RCC->CFGR & RCC_CFGR_SWS;
switch (tmp)
{
case 0x00: /* HSI used as system clock source */
SystemCoreClock = HSI_VALUE;
break;
case 0x04: /* HSE used as system clock source */
SystemCoreClock = HSE_VALUE;
break;
case 0x08: /* PLL used as system clock source */
/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N
SYSCLK = PLL_VCO / PLL_P
*/
pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) >> 22;
pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM;
if (pllsource != 0)
{
/* HSE used as PLL clock source */
pllvco = (HSE_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
}
else
{
/* HSI used as PLL clock source */
pllvco = (HSI_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
}
pllp = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >>16) + 1 ) *2;
SystemCoreClock = pllvco/pllp;
break;
default:
SystemCoreClock = HSI_VALUE;
break;
}
/* Compute HCLK frequency --------------------------------------------------*/
/* Get HCLK prescaler */
tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)];
/* HCLK frequency */
SystemCoreClock >>= tmp;
}
/**
* @brief Configures the System clock source, PLL Multiplier and Divider factors,
* AHB/APBx prescalers and Flash settings
* @Note This function should be called only once the RCC clock configuration
* is reset to the default reset state (done in SystemInit() function).
* @param None
* @retval None
*/
static void SetSysClock(void)
{
/******************************************************************************/
/* PLL (clocked by HSE) used as System clock source */
/******************************************************************************/
__IO uint32_t StartUpCounter = 0, HSEStatus = 0;
/* Enable HSE */
RCC->CR |= ((uint32_t)RCC_CR_HSEON);
/* Wait till HSE is ready and if Time out is reached exit */
do
{
HSEStatus = RCC->CR & RCC_CR_HSERDY;
StartUpCounter++;
} while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT));
if ((RCC->CR & RCC_CR_HSERDY) != RESET)
{
HSEStatus = (uint32_t)0x01;
}
else
{
HSEStatus = (uint32_t)0x00;
}
if (HSEStatus == (uint32_t)0x01)
{
/* Select regulator voltage output Scale 1 mode, System frequency up to 168 MHz */
RCC->APB1ENR |= RCC_APB1ENR_PWREN;
PWR->CR |= PWR_CR_VOS;
/* HCLK = SYSCLK / 1*/
RCC->CFGR |= RCC_CFGR_HPRE_DIV1;
/* PCLK2 = HCLK / 2*/
RCC->CFGR |= RCC_CFGR_PPRE2_DIV2;
/* PCLK1 = HCLK / 4*/
RCC->CFGR |= RCC_CFGR_PPRE1_DIV4;
/* Configure the main PLL */
RCC->PLLCFGR = PLL_M | (PLL_N << 6) | (((PLL_P >> 1) -1) << 16) |
(RCC_PLLCFGR_PLLSRC_HSE) | (PLL_Q << 24);
/* Enable the main PLL */
RCC->CR |= RCC_CR_PLLON;
/* Wait till the main PLL is ready */
while((RCC->CR & RCC_CR_PLLRDY) == 0)
{
}
/* Configure Flash prefetch, Instruction cache, Data cache and wait state */
FLASH->ACR = FLASH_ACR_PRFTEN | FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_5WS;
/* Select the main PLL as system clock source */
RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
RCC->CFGR |= RCC_CFGR_SW_PLL;
/* Wait till the main PLL is used as system clock source */
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL);
{
}
}
else
{ /* If HSE fails to start-up, the application will have wrong clock
configuration. User can add here some code to deal with this error */
}
}
/**
* @brief Setup the external memory controller. Called in startup_stm32f4xx.s
* before jump to __main
* @param None
* @retval None
*/
#ifdef DATA_IN_ExtSRAM
/**
* @brief Setup the external memory controller.
* Called in startup_stm32f4xx.s before jump to main.
* This function configures the external SRAM mounted on STM324xG_EVAL/STM324x7I boards
* This SRAM will be used as program data memory (including heap and stack).
* @param None
* @retval None
*/
void SystemInit_ExtMemCtl(void)
{
/*-- GPIOs Configuration -----------------------------------------------------*/
/*
+-------------------+--------------------+------------------+------------------+
+ SRAM pins assignment +
+-------------------+--------------------+------------------+------------------+
| PD0 <-> FSMC_D2 | PE0 <-> FSMC_NBL0 | PF0 <-> FSMC_A0 | PG0 <-> FSMC_A10 |
| PD1 <-> FSMC_D3 | PE1 <-> FSMC_NBL1 | PF1 <-> FSMC_A1 | PG1 <-> FSMC_A11 |
| PD4 <-> FSMC_NOE | PE2 <-> FSMC_A23 | PF2 <-> FSMC_A2 | PG2 <-> FSMC_A12 |
| PD5 <-> FSMC_NWE | PE3 <-> FSMC_A19 | PF3 <-> FSMC_A3 | PG3 <-> FSMC_A13 |
| PD8 <-> FSMC_D13 | PE4 <-> FSMC_A20 | PF4 <-> FSMC_A4 | PG4 <-> FSMC_A14 |
| PD9 <-> FSMC_D14 | PE5 <-> FSMC_A21 | PF5 <-> FSMC_A5 | PG5 <-> FSMC_A15 |
| PD10 <-> FSMC_D15 | PE6 <-> FSMC_A22 | PF12 <-> FSMC_A6 | PG9 <-> FSMC_NE2 |
| PD11 <-> FSMC_A16 | PE7 <-> FSMC_D4 | PF13 <-> FSMC_A7 |------------------+
| PD12 <-> FSMC_A17 | PE8 <-> FSMC_D5 | PF14 <-> FSMC_A8 |
| PD13 <-> FSMC_A18 | PE9 <-> FSMC_D6 | PF15 <-> FSMC_A9 |
| PD14 <-> FSMC_D0 | PE10 <-> FSMC_D7 |------------------+
| PD15 <-> FSMC_D1 | PE11 <-> FSMC_D8 |
+-------------------| PE12 <-> FSMC_D9 |
| PE13 <-> FSMC_D10 |
| PE14 <-> FSMC_D11 |
| PE15 <-> FSMC_D12 |
+--------------------+
*/
/* Enable GPIOD, GPIOE, GPIOF and GPIOG interface clock */
RCC->AHB1ENR |= 0x00000078;
/* Connect PDx pins to FSMC Alternate function */
GPIOD->AFR[0] = 0x00cc00cc;
GPIOD->AFR[1] = 0xcccccccc;
/* Configure PDx pins in Alternate function mode */
GPIOD->MODER = 0xaaaa0a0a;
/* Configure PDx pins speed to 100 MHz */
GPIOD->OSPEEDR = 0xffff0f0f;
/* Configure PDx pins Output type to push-pull */
GPIOD->OTYPER = 0x00000000;
/* No pull-up, pull-down for PDx pins */
GPIOD->PUPDR = 0x00000000;
/* Connect PEx pins to FSMC Alternate function */
GPIOE->AFR[0] = 0xcccccccc;
GPIOE->AFR[1] = 0xcccccccc;
/* Configure PEx pins in Alternate function mode */
GPIOE->MODER = 0xaaaaaaaa;
/* Configure PEx pins speed to 100 MHz */
GPIOE->OSPEEDR = 0xffffffff;
/* Configure PEx pins Output type to push-pull */
GPIOE->OTYPER = 0x00000000;
/* No pull-up, pull-down for PEx pins */
GPIOE->PUPDR = 0x00000000;
/* Connect PFx pins to FSMC Alternate function */
GPIOF->AFR[0] = 0x00cccccc;
GPIOF->AFR[1] = 0xcccc0000;
/* Configure PFx pins in Alternate function mode */
GPIOF->MODER = 0xaa000aaa;
/* Configure PFx pins speed to 100 MHz */
GPIOF->OSPEEDR = 0xff000fff;
/* Configure PFx pins Output type to push-pull */
GPIOF->OTYPER = 0x00000000;
/* No pull-up, pull-down for PFx pins */
GPIOF->PUPDR = 0x00000000;
/* Connect PGx pins to FSMC Alternate function */
GPIOG->AFR[0] = 0x00cccccc;
GPIOG->AFR[1] = 0x000000c0;
/* Configure PGx pins in Alternate function mode */
GPIOG->MODER = 0x00080aaa;
/* Configure PGx pins speed to 100 MHz */
GPIOG->OSPEEDR = 0x000c0fff;
/* Configure PGx pins Output type to push-pull */
GPIOG->OTYPER = 0x00000000;
/* No pull-up, pull-down for PGx pins */
GPIOG->PUPDR = 0x00000000;
/*-- FSMC Configuration ------------------------------------------------------*/
/* Enable the FSMC interface clock */
RCC->AHB3ENR |= 0x00000001;
/* Configure and enable Bank1_SRAM2 */
FSMC_Bank1->BTCR[2] = 0x00001011;
FSMC_Bank1->BTCR[3] = 0x00000201;
FSMC_Bank1E->BWTR[2] = 0x0fffffff;
/*
Bank1_SRAM2 is configured as follow:
p.FSMC_AddressSetupTime = 1;
p.FSMC_AddressHoldTime = 0;
p.FSMC_DataSetupTime = 2;
p.FSMC_BusTurnAroundDuration = 0;
p.FSMC_CLKDivision = 0;
p.FSMC_DataLatency = 0;
p.FSMC_AccessMode = FSMC_AccessMode_A;
FSMC_NORSRAMInitStructure.FSMC_Bank = FSMC_Bank1_NORSRAM2;
FSMC_NORSRAMInitStructure.FSMC_DataAddressMux = FSMC_DataAddressMux_Disable;
FSMC_NORSRAMInitStructure.FSMC_MemoryType = FSMC_MemoryType_SRAM;
FSMC_NORSRAMInitStructure.FSMC_MemoryDataWidth = FSMC_MemoryDataWidth_16b;
FSMC_NORSRAMInitStructure.FSMC_BurstAccessMode = FSMC_BurstAccessMode_Disable;
FSMC_NORSRAMInitStructure.FSMC_AsynchronousWait = FSMC_AsynchronousWait_Disable;
FSMC_NORSRAMInitStructure.FSMC_WaitSignalPolarity = FSMC_WaitSignalPolarity_Low;
FSMC_NORSRAMInitStructure.FSMC_WrapMode = FSMC_WrapMode_Disable;
FSMC_NORSRAMInitStructure.FSMC_WaitSignalActive = FSMC_WaitSignalActive_BeforeWaitState;
FSMC_NORSRAMInitStructure.FSMC_WriteOperation = FSMC_WriteOperation_Enable;
FSMC_NORSRAMInitStructure.FSMC_WaitSignal = FSMC_WaitSignal_Disable;
FSMC_NORSRAMInitStructure.FSMC_ExtendedMode = FSMC_ExtendedMode_Disable;
FSMC_NORSRAMInitStructure.FSMC_WriteBurst = FSMC_WriteBurst_Disable;
FSMC_NORSRAMInitStructure.FSMC_ReadWriteTimingStruct = &p;
FSMC_NORSRAMInitStructure.FSMC_WriteTimingStruct = &p;
*/
}
#endif /* DATA_IN_ExtSRAM */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/

25
flight/pios/stm32f4xx/pios_tim.c
View File

@ -129,6 +129,25 @@ int32_t PIOS_TIM_InitClock(const struct pios_tim_clock_cfg *cfg)
/* Enable Interrupts */
NVIC_Init(&cfg->irq.init);
// Advanced timers TIM1 & TIM8 need special handling:
// There are up to 4 separate interrupts handlers for each advanced timer, but
// pios_tim_clock_cfg has provision for only one irq init, so we take care here
// to enable additional irq channels that we intend to use.
if (cfg->timer == TIM1) {
NVIC_InitTypeDef init = cfg->irq.init;
init.NVIC_IRQChannel = TIM1_UP_TIM10_IRQn;
NVIC_Init(&init);
#if !defined(STM32F401xx) && !defined(STM32F411xE)
} else if (cfg->timer == TIM8) {
NVIC_InitTypeDef init = cfg->irq.init;
init.NVIC_IRQChannel = TIM8_UP_TIM13_IRQn;
NVIC_Init(&init);
#endif
}
return 0;
}
@ -376,12 +395,6 @@ static void PIOS_TIM_7_irq_handler(void)
PIOS_TIM_generic_irq_handler(TIM7);
}
void TIM8_UP_IRQHandler(void) __attribute__((alias("PIOS_TIM_8_UP_irq_handler")));
static void PIOS_TIM_8_UP_irq_handler(void)
{
PIOS_TIM_generic_irq_handler(TIM8);
}
void TIM8_CC_IRQHandler(void) __attribute__((alias("PIOS_TIM_8_CC_irq_handler")));
static void PIOS_TIM_8_CC_irq_handler(void)
{

2
flight/targets/boards/discoveryf4bare/firmware/pios_board.c
View File

@ -863,7 +863,7 @@ void PIOS_Board_Init(void)
OPLinkStatusSet(&oplinkStatus);
#endif /* PIOS_INCLUDE_RFM22B */
#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PWM)
#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM)
const struct pios_servo_cfg *pios_servo_cfg;
// default to servo outputs only

2
flight/targets/boards/revolution/firmware/pios_board.c
View File

@ -944,7 +944,7 @@ void PIOS_Board_Init(void)
OPLinkStatusSet(&oplinkStatus);
#endif /* PIOS_INCLUDE_RFM22B */
#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PWM)
#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM)
const struct pios_servo_cfg *pios_servo_cfg;
// default to servo outputs only
pios_servo_cfg = &pios_servo_cfg_out;

2
flight/targets/boards/revonano/firmware/pios_board.c
View File

@ -775,7 +775,7 @@ void PIOS_Board_Init(void)
} /* hwsettings_rm_flexiport */
#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PWM)
#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM)
const struct pios_servo_cfg *pios_servo_cfg;
// default to servo outputs only

2
flight/targets/boards/revonano/pios_usb_board_data.c
View File

@ -33,7 +33,7 @@
#include <pios_usbhook.h> /* PIOS_USBHOOK_* */
#include <pios_usb_util.h> /* PIOS_USB_UTIL_AsciiToUtf8 */
static const uint8_t usb_product_id[22] = {
static const uint8_t usb_product_id[10] = {
sizeof(usb_product_id),
USB_DESC_TYPE_STRING,
'N', 0,

47
flight/targets/boards/sparky2/board-info.mk Normal file
View File

@ -0,0 +1,47 @@
BOARD_TYPE := 0x92
BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x06
HW_TYPE := 0x00
MCU := cortex-m4
CHIP := STM32F405RGT
BOARD := STM32F4xx_RM
MODEL := HD
MODEL_SUFFIX :=
OPENOCD_JTAG_CONFIG := stlink-v2.cfg
OPENOCD_CONFIG := stm32f4xx.stlink.cfg
# Flash memory map for Sparky2:
# Sector start size use
# 0 0x0800 0000 16k BL
# 1 0x0800 4000 16k BL
# 2 0x0800 8000 16k EE
# 3 0x0800 C000 16k EE
# 4 0x0801 0000 64k Unused
# 5 0x0802 0000 128k FW
# 6 0x0804 0000 128k FW
# 7 0x0806 0000 128k FW
# 8 0x0808 0000 128k Unused
# 9 0x080A 0000 128k Unused
# 10 0x080C 0000 128k Unused ..
# 11 0x080E 0000 128k Unused
# Note: These must match the values in link_$(BOARD)_memory.ld
BL_BANK_BASE := 0x08000000 # Start of bootloader flash
BL_BANK_SIZE := 0x00008000 # Should include BD_INFO region
# 16KB for settings storage
EE_BANK_BASE := 0x08008000 # EEPROM storage area
EE_BANK_SIZE := 0x00008000 # Size of EEPROM storage area
# Leave the remaining 64KB sectors for other uses
FW_BANK_BASE := 0x08020000 # Start of firmware flash
FW_BANK_SIZE := 0x000A0000 # Should include FW_DESC_SIZE
FW_DESC_SIZE := 0x00000064
OSCILLATOR_FREQ := 8000000
SYSCLK_FREQ := 168000000

1779
flight/targets/boards/sparky2/board_hw_defs.c Normal file
View File

@ -0,0 +1,1779 @@
/**
****************************************************************************************
* @file board_hw_defs.c
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
* @brief Defines board specific static initializers for hardware for the Sparky2 board.
***************************************************************************************/
/*
* 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
*/
#if defined(PIOS_INCLUDE_LED)
#include <pios_led_priv.h>
static const struct pios_gpio pios_leds_v2[] = {
[PIOS_LED_HEARTBEAT] = {
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_5,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.active_low = true
},
[PIOS_LED_ALARM] = {
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_4,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.active_low = true
},
// the other LED in the TL code is accessed this way
[PIOS_LED_LINK] = {
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.active_low = true
},
#if (0 && defined(PIOS_RFM22B_DEBUG_ON_TELEM))
// Revo hardware config
[PIOS_LED_D1] = {
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_13,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
},
[PIOS_LED_D2] = {
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_14,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
},
[PIOS_LED_D3] = {
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
},
[PIOS_LED_D4] = {
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
},
#endif /* (0 && defined(PIOS_RFM22B_DEBUG_ON_TELEM)) */
};
static const struct pios_gpio_cfg pios_led_v2_cfg = {
.gpios = pios_leds_v2,
.num_gpios = NELEMENTS(pios_leds_v2),
};
const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision)
{
return &pios_led_v2_cfg;
}
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_SPI)
#include <pios_spi_priv.h>
/*
* SPI1 Interface
* Used for MPU9250 gyro, accelerometer and mag
*/
void PIOS_SPI_gyro_irq_handler(void);
void DMA2_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
void DMA2_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
static const struct pios_spi_cfg pios_spi_gyro_cfg = {
.regs = SPI1,
.remap = GPIO_AF_SPI1,
.init = {
.SPI_Mode = SPI_Mode_Master,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
.SPI_DataSize = SPI_DataSize_8b,
.SPI_NSS = SPI_NSS_Soft,
.SPI_FirstBit = SPI_FirstBit_MSB,
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16,
},
.use_crc = false,
.dma = {
.irq = {
.flags = (DMA_IT_TCIF0 | DMA_IT_TEIF0 | DMA_IT_HTIF0),
.init = {
.NVIC_IRQChannel = DMA2_Stream0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA2_Stream0,
.init = {
.DMA_Channel = DMA_Channel_3,
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
.DMA_DIR = DMA_DIR_PeripheralToMemory,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_FIFOMode = DMA_FIFOMode_Disable,
/* .DMA_FIFOThreshold */
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
.tx = {
.channel = DMA2_Stream3,
.init = {
.DMA_Channel = DMA_Channel_3,
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_High,
.DMA_FIFOMode = DMA_FIFOMode_Disable,
/* .DMA_FIFOThreshold */
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
},
.sclk = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_5,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.miso = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.mosi = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.slave_count = 1,
.ssel = {
{
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_4,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
}
}
}
};
static uint32_t pios_spi_gyro_id;
void PIOS_SPI_gyro_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_gyro_id);
}
/*
* SPI3 Interface
* Used for Flash and the RFM22B
*/
void PIOS_SPI_telem_flash_irq_handler(void);
void DMA1_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_telem_flash_irq_handler")));
void DMA1_Stream5_IRQHandler(void) __attribute__((alias("PIOS_SPI_telem_flash_irq_handler")));
static const struct pios_spi_cfg pios_spi_telem_flash_cfg = {
.regs = SPI3,
.remap = GPIO_AF_SPI3,
.init = {
.SPI_Mode = SPI_Mode_Master,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
.SPI_DataSize = SPI_DataSize_8b,
.SPI_NSS = SPI_NSS_Soft,
.SPI_FirstBit = SPI_FirstBit_MSB,
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_Low,
.SPI_CPHA = SPI_CPHA_1Edge,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
},
.use_crc = false,
.dma = {
.irq = {
// Note this is the stream ID that triggers interrupts (in this case RX)
.flags = (DMA_IT_TCIF0 | DMA_IT_TEIF0 | DMA_IT_HTIF0),
.init = {
.NVIC_IRQChannel = DMA1_Stream0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA1_Stream0,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI3->DR),
.DMA_DIR = DMA_DIR_PeripheralToMemory,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
// TODO: Enable FIFO
.DMA_FIFOMode = DMA_FIFOMode_Disable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
.tx = {
.channel = DMA1_Stream5,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI3->DR),
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_FIFOMode = DMA_FIFOMode_Disable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
},
.sclk = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.miso = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.mosi = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.slave_count = 2,
.ssel = {
{ // RFM22b
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
}
},
{ // Flash
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_3,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
}
},
},
};
uint32_t pios_spi_telem_flash_id;
void PIOS_SPI_telem_flash_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_telem_flash_id);
}
#if defined(PIOS_INCLUDE_RFM22B)
#include <pios_rfm22b_priv.h>
static const struct pios_exti_cfg pios_exti_rfm22b_cfg __exti_config = {
.vector = PIOS_RFM22_EXT_Int,
.line = EXTI_Line2,
.pin = {
.gpio = GPIOD,
.init = {
.GPIO_Pin = GPIO_Pin_2,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_IN,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.irq = {
.init = {
.NVIC_IRQChannel = EXTI2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.exti = {
.init = {
.EXTI_Line = EXTI_Line2, // matches above GPIO pin
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Falling,
.EXTI_LineCmd = ENABLE,
},
},
};
const struct pios_rfm22b_cfg pios_rfm22b_rm2_cfg = {
.spi_cfg = &pios_spi_telem_flash_cfg,
.exti_cfg = &pios_exti_rfm22b_cfg,
.RFXtalCap = 0x7f,
.slave_num = 0,
.gpio_direction = GPIO0_TX_GPIO1_RX,
};
const struct pios_rfm22b_cfg *PIOS_BOARD_HW_DEFS_GetRfm22Cfg(__attribute__((unused)) uint32_t board_revision)
{
return &pios_rfm22b_rm2_cfg;
}
#endif /* PIOS_INCLUDE_RFM22B */
#endif /* PIOS_INCLUDE_SPI */
#if defined(PIOS_INCLUDE_FLASH)
#include "pios_flashfs_logfs_priv.h"
#include "pios_flash_jedec_priv.h"
#include "pios_flash_internal_priv.h"
static const struct flashfs_logfs_cfg flashfs_external_user_cfg = {
.fs_magic = 0x99abceff,
.total_fs_size = 0x001C0000, /* 2M bytes (32 sectors = entire chip) */
.arena_size = 0x000E0000, /* biggest possible arena size fssize/2 */
.slot_size = 0x00000100, /* 256 bytes */
.start_offset = 0x00040000, /* start offset */
.sector_size = 0x00010000, /* 64K bytes */
.page_size = 0x00000100, /* 256 bytes */
};
static const struct flashfs_logfs_cfg flashfs_external_system_cfg = {
.fs_magic = 0x99bbcdef,
.total_fs_size = 0x00040000, /* 2M bytes (32 sectors = entire chip) */
.arena_size = 0x00010000, /* 256 * slot size */
.slot_size = 0x00000100, /* 256 bytes */
.start_offset = 0, /* start at the beginning of the chip */
.sector_size = 0x00010000, /* 64K bytes */
.page_size = 0x00000100, /* 256 bytes */
};
static const struct pios_flash_internal_cfg flash_internal_cfg = {};
static const struct flashfs_logfs_cfg flashfs_internal_cfg = {
.fs_magic = 0x99abcfef,
.total_fs_size = EE_BANK_SIZE, /* 32K bytes (2x16KB sectors) */
.arena_size = 0x00004000, /* 64 * slot size = 16K bytes = 1 sector */
.slot_size = 0x00000100, /* 256 bytes */
.start_offset = EE_BANK_BASE, /* start after the bootloader */
.sector_size = 0x00004000, /* 16K bytes */
.page_size = 0x00004000, /* 16K bytes */
};
#endif /* PIOS_INCLUDE_FLASH */
#include <pios_usart_priv.h>
#ifdef PIOS_INCLUDE_COM_TELEM
/*
* MAIN PORT
*/
static const struct pios_usart_cfg pios_usart_main_cfg = {
.regs = USART1,
.remap = GPIO_AF_USART1,
.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 = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.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
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
#endif /* PIOS_INCLUDE_COM_TELEM */
#ifdef PIOS_INCLUDE_DSM
#include "pios_dsm_priv.h"
static const struct pios_usart_cfg pios_usart_dsm_main_cfg = {
.regs = USART1,
.remap = GPIO_AF_USART1,
.init = {
.USART_BaudRate = 115200,
.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,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.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
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
// Because of the inverter on the main port this will not
// work. Notice the mode is set to IN to maintain API
// compatibility but protect the pins
static const struct pios_dsm_cfg pios_dsm_main_cfg = {
.bind = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IN,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
};
#endif /* PIOS_INCLUDE_DSM */
#ifdef PIOS_INCLUDE_COM_FLEXI
/*
* FLEXI PORT
*/
static const struct pios_usart_cfg pios_usart_flexi_cfg = {
.regs = USART3,
.remap = GPIO_AF_USART3,
.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 = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOB,
.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 = GPIOB,
.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
},
},
};
#endif /* PIOS_INCLUDE_COM_FLEXI */
#ifdef PIOS_INCLUDE_DSM
#include "pios_dsm_priv.h"
static const struct pios_usart_cfg pios_usart_dsm_flexi_cfg = {
.regs = USART3,
.remap = GPIO_AF_USART3,
.init = {
.USART_BaudRate = 115200,
.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,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOB,
.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 = GPIOB,
.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
},
},
};
static const struct pios_dsm_cfg pios_dsm_flexi_cfg = {
.bind = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
};
#endif /* PIOS_INCLUDE_DSM */
#if defined(PIOS_INCLUDE_SRXL)
/*
* SRXL USART
*/
#include <pios_srxl_priv.h>
static const struct pios_usart_cfg pios_usart_srxl_flexi_cfg = {
.regs = USART3,
.remap = GPIO_AF_USART3,
.init = {
.USART_BaudRate = 115200,
.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,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOB,
.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 = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
static const struct pios_usart_cfg pios_usart_srxl_rcvr_cfg = {
.regs = USART6,
.remap = GPIO_AF_USART6,
.init = {
.USART_BaudRate = 115200,
.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,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART6_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
#endif /* PIOS_INCLUDE_SRXL */
// these were copied from Revo support
// they might need to be further modified for Sparky2 support
#if defined(PIOS_INCLUDE_HOTT)
/*
* HOTT USART
*/
#include <pios_hott_priv.h>
static const struct pios_usart_cfg pios_usart_hott_flexi_cfg = {
.regs = USART3,
.remap = GPIO_AF_USART3,
.init = {
.USART_BaudRate = 115200,
.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,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOB,
.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 = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
static const struct pios_usart_cfg pios_usart_hott_rcvr_cfg = {
.regs = USART6,
.remap = GPIO_AF_USART6,
.init = {
.USART_BaudRate = 115200,
.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,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART6_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
#endif /* PIOS_INCLUDE_HOTT */
#if defined(PIOS_INCLUDE_EXBUS)
/*
* EXBUS USART
*/
#include <pios_exbus_priv.h>
static const struct pios_usart_cfg pios_usart_exbus_flexi_cfg = {
.regs = USART3,
.remap = GPIO_AF_USART3,
.init = {
.USART_BaudRate = 125000,
.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,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOB,
.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 = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
static const struct pios_usart_cfg pios_usart_exbus_rcvr_cfg = {
.regs = USART6,
.remap = GPIO_AF_USART6,
.init = {
.USART_BaudRate = 125000,
.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,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART6_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
#endif /* PIOS_INCLUDE_EXBUS */
/*
* HK OSD
*/
static const struct pios_usart_cfg pios_usart_hkosd_main_cfg = {
.regs = USART1,
.remap = GPIO_AF_USART1,
.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 = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.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
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
static const struct pios_usart_cfg pios_usart_hkosd_flexi_cfg = {
.regs = USART3,
.remap = GPIO_AF_USART3,
.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 = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOB,
.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 = GPIOB,
.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
},
},
};
/*
* RCVR PORT
*/
#if defined(PIOS_INCLUDE_SBUS)
/*
* S.Bus USART
*/
#include <pios_sbus_priv.h>
static const struct pios_usart_cfg pios_usart_sbus_rcvr_cfg = {
.regs = USART6,
.remap = GPIO_AF_USART6,
.init = {
.USART_BaudRate = 100000,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_Even,
.USART_StopBits = USART_StopBits_2,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART6_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
static const struct pios_sbus_cfg pios_sbus_cfg = {
/* Inverter configuration */
.inv = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.gpio_inv_enable = Bit_SET,
.gpio_inv_disable = Bit_RESET,
.gpio_clk_func = RCC_AHB1PeriphClockCmd,
.gpio_clk_periph = RCC_AHB1Periph_GPIOC,
};
#endif /* PIOS_INCLUDE_SBUS */
#ifdef PIOS_INCLUDE_DSM
// It looks like TL notes originally came from OP's pios_dsm_main_cfg
// (TL note) Because of the inverter on the main port this will not
// (TL note) work. Notice the mode is set to IN to maintain API
// (TL note) compatibility but protect the pins
static const struct pios_dsm_cfg pios_dsm_rcvr_cfg = {
.bind = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
};
static const struct pios_usart_cfg pios_usart_dsm_rcvr_cfg = {
.regs = USART6,
.remap = GPIO_AF_USART6,
.init = {
.USART_BaudRate = 115200,
.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,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART6_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
#endif /* PIOS_INCLUDE_DSM */
#if defined(PIOS_INCLUDE_COM)
#include <pios_com_priv.h>
#endif /* PIOS_INCLUDE_COM */
#if defined(PIOS_INCLUDE_I2C)
#include <pios_i2c_priv.h>
/*
* I2C Adapters
*/
void PIOS_i2c_mag_pressure_adapter_ev_irq_handler(void);
void PIOS_i2c_mag_pressure_adapter_er_irq_handler(void);
void I2C1_EV_IRQHandler()
__attribute__((alias("PIOS_i2c_mag_pressure_adapter_ev_irq_handler")));
void I2C1_ER_IRQHandler()
__attribute__((alias("PIOS_i2c_mag_pressure_adapter_er_irq_handler")));
static const struct pios_i2c_adapter_cfg pios_i2c_mag_pressure_adapter_cfg = {
.regs = I2C1,
.remapSCL = GPIO_AF_I2C1,
.remapSDA = GPIO_AF_I2C1,
.init = {
.I2C_Mode = I2C_Mode_I2C,
.I2C_OwnAddress1 = 0,
.I2C_Ack = I2C_Ack_Enable,
.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
.I2C_DutyCycle = I2C_DutyCycle_2,
.I2C_ClockSpeed = 400000, /* bits/s */
},
.transfer_timeout_ms = 50,
.scl = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_8,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.sda = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.event = {
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_EV_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.error = {
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_ER_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
uint32_t pios_i2c_mag_pressure_adapter_id;
void PIOS_i2c_mag_pressure_adapter_ev_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_I2C_EV_IRQ_Handler(pios_i2c_mag_pressure_adapter_id);
}
void PIOS_i2c_mag_pressure_adapter_er_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_I2C_ER_IRQ_Handler(pios_i2c_mag_pressure_adapter_id);
}
void PIOS_I2C_flexiport_adapter_ev_irq_handler(void);
void PIOS_I2C_flexiport_adapter_er_irq_handler(void);
void I2C2_EV_IRQHandler() __attribute__((alias("PIOS_I2C_flexiport_adapter_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__((alias("PIOS_I2C_flexiport_adapter_er_irq_handler")));
static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
.regs = I2C2,
.remapSCL = GPIO_AF_I2C2,
.remapSDA = GPIO_AF_I2C2,
.init = {
.I2C_Mode = I2C_Mode_I2C,
.I2C_OwnAddress1 = 0,
.I2C_Ack = I2C_Ack_Enable,
.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
.I2C_DutyCycle = I2C_DutyCycle_2,
.I2C_ClockSpeed = 400000, /* bits/s */
},
.transfer_timeout_ms = 50,
.scl = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.sda = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.event = {
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_EV_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.error = {
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_ER_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
uint32_t pios_i2c_flexiport_adapter_id;
void PIOS_I2C_flexiport_adapter_ev_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_I2C_EV_IRQ_Handler(pios_i2c_flexiport_adapter_id);
}
void PIOS_I2C_flexiport_adapter_er_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_I2C_ER_IRQ_Handler(pios_i2c_flexiport_adapter_id);
}
void PIOS_i2c_mag_pressure_adapter_ev_irq_handler(void);
void PIOS_i2c_mag_pressure_adapter_er_irq_handler(void);
#endif /* PIOS_INCLUDE_I2C */
#if defined(PIOS_INCLUDE_RTC)
/*
* Realtime Clock (RTC)
*/
#include <pios_rtc_priv.h>
void PIOS_RTC_IRQ_Handler(void);
void RTC_WKUP_IRQHandler() __attribute__((alias("PIOS_RTC_IRQ_Handler")));
static const struct pios_rtc_cfg pios_rtc_main_cfg = {
.clksrc = RCC_RTCCLKSource_HSE_Div8, // Divide 8 Mhz crystal down to 1
// For some reason it's acting like crystal is 16 Mhz. This clock is then divided
// by another 16 to give a nominal 62.5 khz clock
.prescaler = 100, // Every 100 cycles gives 625 Hz
.irq = {
.init = {
.NVIC_IRQChannel = RTC_WKUP_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
void PIOS_RTC_IRQ_Handler(void)
{
PIOS_RTC_irq_handler();
}
#endif /* if defined(PIOS_INCLUDE_RTC) */
#include "pios_tim_priv.h"
static const TIM_TimeBaseInitTypeDef tim_3_5_time_base = {
.TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000) - 1,
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
.TIM_RepetitionCounter = 0x0000,
};
static const TIM_TimeBaseInitTypeDef tim_9_10_11_time_base = {
.TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1,
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
.TIM_RepetitionCounter = 0x0000,
};
static const struct pios_tim_clock_cfg tim_2_cfg = {
.timer = TIM2,
.time_base_init = &tim_3_5_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
static const struct pios_tim_clock_cfg tim_3_cfg = {
.timer = TIM3,
.time_base_init = &tim_3_5_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
static const struct pios_tim_clock_cfg tim_5_cfg = {
.timer = TIM5,
.time_base_init = &tim_3_5_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM5_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
static const struct pios_tim_clock_cfg tim_9_cfg = {
.timer = TIM9,
.time_base_init = &tim_9_10_11_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM1_BRK_TIM9_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
static const struct pios_tim_clock_cfg tim_10_cfg = {
.timer = TIM10,
.time_base_init = &tim_9_10_11_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM1_UP_TIM10_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
static const struct pios_tim_clock_cfg tim_11_cfg = {
.timer = TIM11,
.time_base_init = &tim_9_10_11_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM1_TRG_COM_TIM11_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
// Set up timers that only have inputs on APB1
// TIM2,3,4,5,6,7,12,13,14
static const TIM_TimeBaseInitTypeDef tim_apb1_time_base = {
.TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000) - 1,
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = 0xFFFF,
.TIM_RepetitionCounter = 0x0000,
};
// Set up timers that only have inputs on APB2
// TIM1,8,9,10,11
static const TIM_TimeBaseInitTypeDef tim_apb2_time_base = {
.TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1,
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = 0xFFFF,
.TIM_RepetitionCounter = 0x0000,
};
static const struct pios_tim_clock_cfg tim_1_cfg = {
.timer = TIM1,
.time_base_init = &tim_apb2_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM1_CC_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
static const struct pios_tim_clock_cfg tim_4_cfg = {
.timer = TIM4,
.time_base_init = &tim_apb1_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
static const struct pios_tim_clock_cfg tim_8_cfg = {
.timer = TIM8,
.time_base_init = &tim_apb2_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM8_CC_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
static const struct pios_tim_clock_cfg tim_12_cfg = {
.timer = TIM12,
.time_base_init = &tim_apb1_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM8_BRK_TIM12_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
#include <pios_servo_priv.h>
#include <pios_servo_config.h>
static const struct pios_tim_channel dummmy_timer =
TIM_SERVO_CHANNEL_CONFIG(TIM9, 1, E, 5); // dummy unused timer + gpio. Hack to free tim1
/**
* Pios servo configuration structures
* Using TIM3, TIM9, TIM2, TIM5
*/
static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
TIM_SERVO_CHANNEL_CONFIG(TIM3, 3, B, 0),
TIM_SERVO_CHANNEL_CONFIG(TIM3, 4, B, 1),
TIM_SERVO_CHANNEL_CONFIG(TIM9, 2, A, 3),
TIM_SERVO_CHANNEL_CONFIG(TIM2, 3, A, 2),
TIM_SERVO_CHANNEL_CONFIG(TIM5, 2, A, 1),
TIM_SERVO_CHANNEL_CONFIG(TIM5, 1, A, 0),
// PWM pins on CONN7
TIM_SERVO_CHANNEL_CONFIG(TIM8, 4, C, 9),
TIM_SERVO_CHANNEL_CONFIG(TIM8, 3, C, 8),
TIM_SERVO_CHANNEL_CONFIG(TIM12, 2, B, 15),
TIM_SERVO_CHANNEL_CONFIG(TIM12, 1, B, 14),
};
#define PIOS_SERVOPORT_ALL_PINS_PWMOUT (NELEMENTS(pios_tim_servoport_all_pins))
const struct pios_servo_cfg pios_servo_cfg_out = {
.tim_oc_init = {
.TIM_OCMode = TIM_OCMode_PWM1,
.TIM_OutputState = TIM_OutputState_Enable,
.TIM_OutputNState = TIM_OutputNState_Disable,
.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
.TIM_OCPolarity = TIM_OCPolarity_High,
.TIM_OCNPolarity = TIM_OCPolarity_High,
.TIM_OCIdleState = TIM_OCIdleState_Reset,
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
},
.channels = pios_tim_servoport_all_pins,
.num_channels = PIOS_SERVOPORT_ALL_PINS_PWMOUT,
};
#if defined(PIOS_INCLUDE_PPM)
#include <pios_pwm_priv.h>
static const struct pios_tim_channel pios_tim_rcvr_all_channels[] = {
TIM_SERVO_CHANNEL_CONFIG(TIM8, 2, C, 7),
};
/*
* PPM Input
*/
#include <pios_ppm_priv.h>
static const struct pios_ppm_cfg pios_ppm_cfg = {
.tim_ic_init = {
.TIM_ICPolarity = TIM_ICPolarity_Rising,
.TIM_ICSelection = TIM_ICSelection_DirectTI,
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
.TIM_ICFilter = 0x0,
.TIM_Channel = TIM_Channel_2,
},
/* Use only the first channel for ppm */
.channels = &pios_tim_rcvr_all_channels[0],
.num_channels = 1,
};
#endif // PPM
#if defined(PIOS_INCLUDE_GCSRCVR)
#include "pios_gcsrcvr_priv.h"
#endif /* PIOS_INCLUDE_GCSRCVR */
#if defined(PIOS_INCLUDE_RCVR)
#include "pios_rcvr_priv.h"
#endif /* PIOS_INCLUDE_RCVR */
#if defined(PIOS_INCLUDE_USB)
#include "pios_usb_priv.h"
static const struct pios_usb_cfg pios_usb_main_rm2_cfg = {
.irq = {
.init = {
.NVIC_IRQChannel = OTG_FS_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0, // PriorityGroup=4
.NVIC_IRQChannelCmd = ENABLE,
},
},
.vsense = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_8,
.GPIO_Speed = GPIO_Speed_25MHz,
.GPIO_Mode = GPIO_Mode_IN,
.GPIO_OType = GPIO_OType_OD,
},
},
.vsense_active_low = false
};
const struct pios_usb_cfg *PIOS_BOARD_HW_DEFS_GetUsbCfg(__attribute__((unused)) uint32_t board_revision)
{
return &pios_usb_main_rm2_cfg;
}
#include "pios_usb_board_data_priv.h"
#include "pios_usb_desc_hid_cdc_priv.h"
#include "pios_usb_desc_hid_only_priv.h"
#include "pios_usbhook.h"
#endif /* PIOS_INCLUDE_USB */
#if defined(PIOS_INCLUDE_COM_MSG)
#include <pios_com_msg_priv.h>
#endif /* PIOS_INCLUDE_COM_MSG */
#if defined(PIOS_INCLUDE_USB_HID) && !defined(PIOS_INCLUDE_USB_CDC)
#include <pios_usb_hid_priv.h>
const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
.data_if = 0,
.data_rx_ep = 1,
.data_tx_ep = 1,
};
#endif /* PIOS_INCLUDE_USB_HID && !PIOS_INCLUDE_USB_CDC */
#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_USB_CDC)
#include <pios_usb_cdc_priv.h>
const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = {
.ctrl_if = 0,
.ctrl_tx_ep = 2,
.data_if = 1,
.data_rx_ep = 3,
.data_tx_ep = 3,
};
#include <pios_usb_hid_priv.h>
const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
.data_if = 2,
.data_rx_ep = 1,
.data_tx_ep = 1,
};
#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_USB_CDC */
#ifdef PIOS_INCLUDE_WS2811
#include <pios_ws2811_cfg.h>
#include <hwsettings.h>
#define PIOS_WS2811_TIM_DIVIDER (PIOS_PERIPHERAL_APB2_CLOCK / (800000 * PIOS_WS2811_TIM_PERIOD))
void DMA2_Stream1_IRQHandler(void) __attribute__((alias("PIOS_WS2811_irq_handler")));
// list of pin configurable as ws281x outputs.
// this will not clash with PWM in or servo output as
// pins will be reconfigured as _OUT so the alternate function is disabled.
const struct pios_ws2811_pin_cfg pios_ws2811_pin_cfg[] = {
[HWSETTINGS_WS2811LED_OUT_SERVOOUT1] = {
.gpio = GPIOB,
.gpioInit = {
.GPIO_Pin = GPIO_Pin_0,
.GPIO_Speed = GPIO_Speed_25MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
},
},
[HWSETTINGS_WS2811LED_OUT_SERVOOUT2] = {
.gpio = GPIOB,
.gpioInit = {
.GPIO_Pin = GPIO_Pin_1,
.GPIO_Speed = GPIO_Speed_25MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
},
},
[HWSETTINGS_WS2811LED_OUT_SERVOOUT3] = {
.gpio = GPIOA,
.gpioInit = {
.GPIO_Pin = GPIO_Pin_3,
.GPIO_Speed = GPIO_Speed_25MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
},
},
[HWSETTINGS_WS2811LED_OUT_SERVOOUT4] = {
.gpio = GPIOA,
.gpioInit = {
.GPIO_Pin = GPIO_Pin_2,
.GPIO_Speed = GPIO_Speed_25MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
},
},
[HWSETTINGS_WS2811LED_OUT_SERVOOUT5] = {
.gpio = GPIOA,
.gpioInit = {
.GPIO_Pin = GPIO_Pin_1,
.GPIO_Speed = GPIO_Speed_25MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
},
},
[HWSETTINGS_WS2811LED_OUT_SERVOOUT6] = {
.gpio = GPIOA,
.gpioInit = {
.GPIO_Pin = GPIO_Pin_0,
.GPIO_Speed = GPIO_Speed_25MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
},
},
};
const struct pios_ws2811_cfg pios_ws2811_cfg = {
.timer = TIM1,
.timerInit = {
.TIM_Prescaler = PIOS_WS2811_TIM_DIVIDER - 1,
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
// period (1.25 uS per period
.TIM_Period = PIOS_WS2811_TIM_PERIOD,
.TIM_RepetitionCounter = 0x0000,
},
.timerCh1 = 1,
.streamCh1 = DMA2_Stream1,
.timerCh2 = 3,
.streamCh2 = DMA2_Stream6,
.streamUpdate = DMA2_Stream5,
// DMA streamCh1, triggered by timerCh1 pwm signal.
// if FrameBuffer indicates, reset output value early to indicate "0" bit to ws2812
.dmaInitCh1 = PIOS_WS2811_DMA_CH1_CONFIG(DMA_Channel_6),
.dmaItCh1 = DMA_IT_TEIF1 | DMA_IT_TCIF1,
// DMA streamCh2, triggered by timerCh2 pwm signal.
// Reset output value late to indicate "1" bit to ws2812.
.dmaInitCh2 = PIOS_WS2811_DMA_CH2_CONFIG(DMA_Channel_6),
.dmaItCh2 = DMA_IT_TEIF6 | DMA_IT_TCIF6,
// DMA streamUpdate Triggered by timer update event
// Outputs a high logic level at beginning of a cycle
.dmaInitUpdate = PIOS_WS2811_DMA_UPDATE_CONFIG(DMA_Channel_6),
.dmaItUpdate = DMA_IT_TEIF5 | DMA_IT_TCIF5,
.dmaSource = TIM_DMA_CC1 | TIM_DMA_CC3 | TIM_DMA_Update,
// DMAInitCh1 interrupt vector, used to block timer at end of framebuffer transfer
.irq = {
.flags = (DMA_IT_TCIF1),
.init = {
.NVIC_IRQChannel = DMA2_Stream1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
void PIOS_WS2811_irq_handler(void)
{
PIOS_WS2811_DMA_irq_handler();
}
#endif // PIOS_INCLUDE_WS2811

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#
# Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
#
# 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 FLIGHT_MAKEFILE
$(error Top level Makefile must be used to build this target)
endif
include ../board-info.mk
include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk
include $(FLIGHT_ROOT_DIR)/make/boot-defs.mk
include $(FLIGHT_ROOT_DIR)/make/common-defs.mk

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/**
******************************************************************************
* @addtogroup CopterControlBL CopterControl BootLoader
* @brief These files contain the code to the CopterControl Bootloader.
*
* @{
* @file common.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief This file contains various common defines for the 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
*/
#ifndef COMMON_H_
#define COMMON_H_
// #include "board.h"
typedef enum {
start, keepgoing,
} DownloadAction;
/**************************************************/
/* OP_DFU states */
/**************************************************/
typedef enum {
DFUidle, // 0
uploading, // 1
wrong_packet_received, // 2
too_many_packets, // 3
too_few_packets, // 4
Last_operation_Success, // 5
downloading, // 6
BLidle, // 7
Last_operation_failed, // 8
uploadingStarting, // 9
outsideDevCapabilities, // 10
CRC_Fail, // 11
failed_jump,
// 12
} DFUStates;
/**************************************************/
/* OP_DFU commands */
/**************************************************/
typedef enum {
Reserved, // 0
Req_Capabilities, // 1
Rep_Capabilities, // 2
EnterDFU, // 3
JumpFW, // 4
Reset, // 5
Abort_Operation, // 6
Upload, // 7
Op_END, // 8
Download_Req, // 9
Download, // 10
Status_Request, // 11
Status_Rep
// 12
} DFUCommands;
typedef enum {
High_Density, Medium_Density
} DeviceType;
/**************************************************/
/* OP_DFU transfer types */
/**************************************************/
typedef enum {
FW, // 0
Descript
// 2
} DFUTransfer;
/**************************************************/
/* OP_DFU transfer port */
/**************************************************/
typedef enum {
Usb, // 0
Serial
// 2
} DFUPort;
/**************************************************/
/* OP_DFU programable programable HW types */
/**************************************************/
typedef enum {
Self_flash, // 0
Remote_flash_via_spi
// 1
} DFUProgType;
/**************************************************/
/* OP_DFU programable sources */
/**************************************************/
#define USB 0
#define SPI 1
#define DownloadDelay 100000
#define MAX_DEL_RETRYS 3
#define MAX_WRI_RETRYS 3
#endif /* COMMON_H_ */

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/**
******************************************************************************
*
* @file pios_config.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief PiOS configuration header.
* - Central compile time config for the project.
* @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_CONFIG_H
#define PIOS_CONFIG_H
#define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_USB
#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_IAP
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_COM_MSG
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
#endif /* PIOS_CONFIG_H */

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/**
***********************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_USB_BOARD Board specific USB definitions
* @brief Board specific USB definitions
* @{
*
* @file pios_usb_board_data.h
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Board specific USB 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 PIOS_USB_BOARD_DATA_H
#define PIOS_USB_BOARD_DATA_H
// Note : changing below length will require changes to the USB buffer setup
#define PIOS_USB_BOARD_HID_DATA_LENGTH 64
#define PIOS_USB_BOARD_EP_NUM 2
#include <pios_usb_defs.h> /* struct usb_* */
#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_SPARKY2
#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_SPARKY2, USB_OP_BOARD_MODE_BL)
#define PIOS_USB_BOARD_SN_SUFFIX "+BL"
/*
* The bootloader uses a simplified report structure
* BL: <REPORT_ID><DATA>...<DATA>
* FW: <REPORT_ID><LENGTH><DATA>...<DATA>
* This define changes the behaviour in pios_usb_hid.c
*/
#define PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE
#endif /* PIOS_USB_BOARD_DATA_H */

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/**
***********************************************************************************
* @addtogroup Sparky2BL Sparky2 BootLoader
* @brief These files contain the code to the Sparky2 Bootloader.
*
* @{
* @file main.c
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief This is the file with the main function of the Sparky2 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
*/
#include <pios.h>
#include <pios_board_info.h>
#include <op_dfu.h>
#include <pios_iap.h>
#include <fifo_buffer.h>
#include <pios_com_msg.h>
#include <pios_usbhook.h> /* PIOS_USBHOOK_* */
#include <stdbool.h>
#include <pios_board_init.h>
extern void FLASH_Download();
void check_bor();
#define BSL_HOLD_STATE ((PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) ? 0 : 1)
/* Private typedef -----------------------------------------------------------*/
typedef void (*pFunction)(void);
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
pFunction Jump_To_Application;
uint32_t JumpAddress;
/// LEDs PWM
uint32_t period1 = 5000; // 5 mS
uint32_t sweep_steps1 = 100; // * 5 mS -> 500 mS
uint32_t period2 = 5000; // 5 mS
uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
////////////////////////////////////////
uint8_t tempcount = 0;
/* Extern variables ----------------------------------------------------------*/
DFUStates DeviceState;
int16_t status = 0;
bool JumpToApp = false;
bool GO_dfu = false;
bool USB_connected = false;
bool User_DFU_request = false;
static uint8_t mReceive_Buffer[63];
/* Private function prototypes -----------------------------------------------*/
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
uint8_t processRX();
void jump_to_app();
int main()
{
PIOS_SYS_Init();
PIOS_Board_Init();
PIOS_IAP_Init();
// Make sure the brown out reset value for this chip
// is 2.7 volts
check_bor();
USB_connected = PIOS_USB_CheckAvailable(0);
if (PIOS_IAP_CheckRequest() == true) {
PIOS_DELAY_WaitmS(1000);
User_DFU_request = true;
PIOS_IAP_ClearRequest();
}
GO_dfu = (USB_connected == true) || (User_DFU_request == true);
if (GO_dfu == true) {
if (User_DFU_request == true) {
DeviceState = DFUidle;
} else {
DeviceState = BLidle;
}
} else {
JumpToApp = true;
}
uint32_t stopwatch = 0;
uint32_t prev_ticks = PIOS_DELAY_GetuS();
while (true) {
/* Update the stopwatch */
uint32_t elapsed_ticks = PIOS_DELAY_GetuSSince(prev_ticks);
prev_ticks += elapsed_ticks;
stopwatch += elapsed_ticks;
if (JumpToApp == true) {
jump_to_app();
}
switch (DeviceState) {
case Last_operation_Success:
case uploadingStarting:
case DFUidle:
period1 = 5000;
sweep_steps1 = 100;
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
case uploading:
period1 = 5000;
sweep_steps1 = 100;
period2 = 2500;
sweep_steps2 = 50;
break;
case downloading:
period1 = 2500;
sweep_steps1 = 50;
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
case BLidle:
period1 = 0;
PIOS_LED_On(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
default: // error
period1 = 5000;
sweep_steps1 = 100;
period2 = 5000;
sweep_steps2 = 100;
}
if (period1 != 0) {
if (LedPWM(period1, sweep_steps1, stopwatch)) {
PIOS_LED_On(PIOS_LED_HEARTBEAT);
} else {
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
}
} else {
PIOS_LED_On(PIOS_LED_HEARTBEAT);
}
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, stopwatch)) {
PIOS_LED_On(PIOS_LED_HEARTBEAT);
} else {
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
}
} else {
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
}
if (stopwatch > 50 * 1000 * 1000) {
stopwatch = 0;
}
if ((stopwatch > 6 * 1000 * 1000) && ((DeviceState == BLidle) || (DeviceState == DFUidle && !USB_connected))) {
JumpToApp = true;
}
processRX();
DataDownload(start);
}
}
void jump_to_app()
{
const struct pios_board_info *bdinfo = &pios_board_info_blob;
PIOS_LED_On(PIOS_LED_HEARTBEAT);
// Look at cm3_vectors struct in startup. In a fw image the first uint32_t contains the address of the top of irqstack
uint32_t fwIrqStackBase = (*(__IO uint32_t *)bdinfo->fw_base) & 0xFFFE0000;
// Check for the two possible irqstack locations (sram or core coupled sram)
if (fwIrqStackBase == 0x20000000 || fwIrqStackBase == 0x10000000) {
/* Jump to user application */
FLASH_Lock();
RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
PIOS_USBHOOK_Deactivate();
JumpAddress = *(__IO uint32_t *)(bdinfo->fw_base + 4);
Jump_To_Application = (pFunction)JumpAddress;
/* Initialize user application's Stack Pointer */
__set_MSP(*(__IO uint32_t *)bdinfo->fw_base);
Jump_To_Application();
} else {
DeviceState = failed_jump;
return;
}
}
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count)
{
uint32_t curr_step = (count / pwm_period) % pwm_sweep_steps; /* 0 - pwm_sweep_steps */
uint32_t pwm_duty = pwm_period * curr_step / pwm_sweep_steps; /* fraction of pwm_period */
uint32_t curr_sweep = (count / (pwm_period * pwm_sweep_steps)); /* ticks once per full sweep */
if (curr_sweep & 1) {
pwm_duty = pwm_period - pwm_duty; /* reverse direction in odd sweeps */
}
return ((count % pwm_period) > pwm_duty) ? 1 : 0;
}
uint8_t processRX()
{
if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
processComand(mReceive_Buffer);
}
return true;
}
/**
* Check the brown out reset threshold is 2.7 volts and if not
* resets it. This solves an issue that can prevent boards
* powering up with some BEC
*/
void check_bor()
{
uint8_t bor = FLASH_OB_GetBOR();
if (bor != OB_BOR_LEVEL3) {
FLASH_OB_Unlock();
FLASH_OB_BORConfig(OB_BOR_LEVEL3);
FLASH_OB_Launch();
while (FLASH_WaitForLastOperation() == FLASH_BUSY) {
;
}
FLASH_OB_Lock();
while (FLASH_WaitForLastOperation() == FLASH_BUSY) {
;
}
}
}
int32_t platform_senddata(const uint8_t *msg, uint16_t msg_len)
{
return PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, msg, msg_len);
}

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/**
******************************************************************************
*
* @file pios_board.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Defines board specific static initializers for hardware for the AHRS board.
* @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 <pios_board_info.h>
/*
* Pull in the board-specific static HW definitions.
* Including .c files is a bit ugly but this allows all of
* the HW definitions to be const and static to limit their
* scope.
*
* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
*/
#include "../board_hw_defs.c"
uint32_t pios_com_telem_usb_id;
static bool board_init_complete = false;
void PIOS_Board_Init()
{
if (board_init_complete) {
return;
}
/* Delay system */
PIOS_DELAY_Init();
const struct pios_board_info *bdinfo = &pios_board_info_blob;
#if defined(PIOS_INCLUDE_LED)
const struct pios_gpio_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
PIOS_Assert(led_cfg);
PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_USB)
/* Initialize board specific USB data */
PIOS_USB_BOARD_DATA_Init();
/* Activate the HID-only USB configuration */
PIOS_USB_DESC_HID_ONLY_Init();
uint32_t pios_usb_id;
PIOS_USB_Init(&pios_usb_id, PIOS_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev));
#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
uint32_t pios_usb_hid_id;
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */
PIOS_USBHOOK_Activate();
#endif /* PIOS_INCLUDE_USB */
board_init_complete = true;
}

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#
# Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
# Copyright (c) 2012, PhoenixPilot, http://github.com/PhoenixPilot
#
# 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 FLIGHT_MAKEFILE
$(error Top level Makefile must be used to build this target)
endif
include ../board-info.mk
include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk
# Sparky2 C++ support
USE_CXX = YES
# ARM DSP library
USE_DSP_LIB ?= NO
# List of mandatory modules to include
MODULES += Sensors
MODULES += StateEstimation
MODULES += Airspeed
MODULES += Stabilization
MODULES += ManualControl
MODULES += Receiver
MODULES += Actuator
MODULES += GPS
MODULES += TxPID
MODULES += CameraStab
MODULES += Battery
MODULES += FirmwareIAP
MODULES += Radio
MODULES += PathPlanner
MODULES += PathFollower
MODULES += Osd/osdoutout
MODULES += Logging
MODULES += Telemetry
MODULES += Notify
OPTMODULES += ComUsbBridge
SRC += $(FLIGHTLIB)/notification.c
# Include all camera options
CDEFS += -DUSE_INPUT_LPF -DUSE_GIMBAL_LPF -DUSE_GIMBAL_FF
# Some diagnostics
CDEFS += -DDIAG_TASKS
# Misc options
CFLAGS += -ffast-math
# List C source files here (C dependencies are automatically generated).
# Use file-extension c for "c-only"-files
ifndef TESTAPP
## Application Core
SRC += ../pios_usb_board_data.c
SRC += $(OPMODULEDIR)/System/systemmod.c
CPPSRC += $(OPSYSTEM)/sparky2.cpp
SRC += $(OPSYSTEM)/pios_board.c
SRC += $(FLIGHTLIB)/alarms.c
SRC += $(FLIGHTLIB)/instrumentation.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/uavobjectpersistence.c
SRC += $(OPUAVOBJ)/eventdispatcher.c
SRC += $(PIOSCOMMON)/pios_flashfs_logfs.c
SRC += $(PIOSCOMMON)/pios_flash_jedec.c
#ifeq ($(DEBUG), YES)
SRC += $(OPSYSTEM)/dcc_stdio.c
SRC += $(OPSYSTEM)/cm3_fault_handlers.c
#endif
## Misc library functions
SRC += $(FLIGHTLIB)/paths.c
SRC += $(FLIGHTLIB)/plans.c
SRC += $(FLIGHTLIB)/WorldMagModel.c
SRC += $(FLIGHTLIB)/insgps13state.c
SRC += $(FLIGHTLIB)/auxmagsupport.c
SRC += $(FLIGHTLIB)/lednotification.c
SRC += $(FLIGHTLIB)/sha1.c
## UAVObjects
include ./UAVObjects.inc
SRC += $(UAVOBJSRC)
else
## Test Code
SRC += $(OPTESTS)/test_common.c
SRC += $(OPTESTS)/$(TESTAPP).c
endif
# Optional component libraries
include $(FLIGHTLIB)/rscode/library.mk
#include $(FLIGHTLIB)/PyMite/pymite.mk
include $(FLIGHT_ROOT_DIR)/make/apps-defs.mk
include $(FLIGHT_ROOT_DIR)/make/common-defs.mk

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flight/targets/boards/sparky2/firmware/Makefile.osx Normal file
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#####
# Project: RevoMini
#
#
# Makefile for OpenPilot project build PiOS and the AP.
#
# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2012.
#
#
# 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
#####
# Set developer code and compile options
# Set to YES to compile for debugging
DEBUG ?= YES
# Set to YES to use the Servo output pins for debugging via scope or logic analyser
ENABLE_DEBUG_PINS ?= NO
# Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
ENABLE_AUX_UART ?= NO
#
USE_BOOTLOADER ?= NO
# Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= NO
# Remove command is different for Code Sourcery on Windows
REMOVE_CMD ?= rm
FLASH_TOOL = OPENOCD
# YES enables -mthumb option to flags for source-files listed
# in SRC and CPPSRC
USE_THUMB_MODE = YES
# List of modules to include
MODULES += Actuator ManualControl Stabilization
MODULES += AltitudeHold FixedWingPathFollower PathPlanner
#MODULES += VtolPathFollower ## OP-700: VtolPathFollower disabled because its currently unsafe - remove this line once Sambas code has been merged
MODULES += Attitude/revolution
#MODULES += OveroSync/simulated
# To run simulation instead of connect to SITL
MODULES += Sensors/simulated
MODULES += Telemetry
# MCU name, submodel and board
# - MCU used for compiler-option (-mtune)
# - MODEL used for linker-script name (-T) and passed as define
# - BOARD just passed as define (optional)
MCU = i686
#CHIP = STM32F103RET
#BOARD = STM3210E_OP
MODEL = HD
ifeq ($(USE_BOOTLOADER), YES)
BOOT_MODEL = $(MODEL)_BL
else
BOOT_MODEL = $(MODEL)_NB
endif
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = ../../build/sim_osx
# Target file name (without extension).
TARGET = RevoMini
# Paths
OPSYSTEM = ./System
OPSYSTEMINC = $(OPSYSTEM)/inc
OPUAVTALK = ../UAVTalk
OPUAVTALKINC = $(OPUAVTALK)/inc
OPUAVOBJ = ../UAVObjects
OPUAVOBJINC = $(OPUAVOBJ)/inc
OPTESTS = ./Tests
OPMODULEDIR = ../modules
FLIGHTLIB = ../libraries
FLIGHTLIBINC = $(FLIGHTLIB)/inc
PIOS = ../PiOS.osx
PIOSINC = $(PIOS)/inc
PIOSPOSIX = $(PIOS)/osx
APPLIBDIR = $(PIOSPOSIX)/libraries
RTOSDIR = $(APPLIBDIR)/FreeRTOS
RTOSSRCDIR = $(RTOSDIR)/Source
RTOSINCDIR = $(RTOSSRCDIR)/include
DOXYGENDIR = ../Doc/Doxygen
PYMITE = $(FLIGHTLIB)/PyMite
PYMITELIB = $(PYMITE)/lib
PYMITEPLAT = $(PYMITE)/platform/openpilot_sitl
PYMITETOOLS = $(PYMITE)/tools
PYMITEVM = $(PYMITE)/vm
PYMITEINC = $(PYMITEVM)
PYMITEINC += $(PYMITEPLAT)
PYMITEINC += $(OUTDIR)
FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
UAVOBJPYTHONSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/python
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files
MODNAMES = $(notdir ${MODULES})
ifndef TESTAPP
## PyMite files
SRC += $(OUTDIR)/pmlib_img.c
SRC += $(OUTDIR)/pmlib_nat.c
SRC += $(OUTDIR)/pmlibusr_img.c
SRC += $(OUTDIR)/pmlibusr_nat.c
SRC += $(wildcard ${PYMITEVM}/*.c)
SRC += $(wildcard ${PYMITEPLAT}/*.c)
## MODULES
SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
SRC += ${OUTDIR}/InitMods.c
## OPENPILOT CORE:
SRC += ${OPMODULEDIR}/System/systemmod.c
SRC += $(OPSYSTEM)/revolution.c
SRC += $(OPSYSTEM)/pios_board_sim.c
SRC += $(OPSYSTEM)/alarms.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/eventdispatcher.c
SRC += $(FLIGHT_UAVOBJ_DIR)/uavobjectsinit.c
else
## TESTCODE
SRC += $(OPTESTS)/test_common.c
SRC += $(OPTESTS)/$(TESTAPP).c
endif
## UAVOBJECTS
ifndef TESTAPP
#include $(FLIGHT_UAVOBJ_DIR)/Makefile.inc
include ./UAVObjects.inc
UAVOBJSRCFILENAMES += attitudesimulated
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(FLIGHT_UAVOBJ_DIR)/$(UAVOBJSRCFILE).c )
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )
SRC += $(UAVOBJSRC)
CFLAGS_UAVOBJECTS = $(UAVOBJDEFINE)
endif
## PIOS Hardware (posix)
SRC += $(PIOSPOSIX)/pios_crc.c
SRC += $(PIOSPOSIX)/pios_sys.c
SRC += $(PIOSPOSIX)/pios_led.c
SRC += $(PIOSPOSIX)/pios_irq.c
SRC += $(PIOSPOSIX)/pios_delay.c
SRC += $(PIOSPOSIX)/pios_sdcard.c
SRC += $(PIOSPOSIX)/pios_udp.c
SRC += $(PIOSPOSIX)/pios_tcp.c
SRC += $(PIOSPOSIX)/pios_com.c
SRC += $(PIOSPOSIX)/pios_servo.c
SRC += $(PIOSPOSIX)/pios_wdg.c
SRC += $(PIOSPOSIX)/pios_debug.c
SRC += $(PIOSPOSIX)/pios_rcvr.c
SRC += $(PIOSPOSIX)/pios_gcsrcvr.c
## Libraries for flight calculations
SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(FLIGHTLIB)/WorldMagModel.c
SRC += $(FLIGHTLIB)/CoordinateConversions.c
SRC += $(FLIGHTLIB)/paths.c
SRC += $(FLIGHTLIB)/insgps13state.c
## RTOS and RTOS Portable
SRC += $(RTOSSRCDIR)/list.c
SRC += $(RTOSSRCDIR)/queue.c
UNAME := $(shell uname)
SRC += $(RTOSSRCDIR)/task.c
SRC += $(RTOSSRCDIR)/timers.c
SRC += $(RTOSSRCDIR)/portable/GCC/Posix/port.c
SRC += $(RTOSSRCDIR)/portable/MemMang/heap_3.c
# List C source files here which must be compiled in ARM-Mode (no -mthumb).
# use file-extension c for "c-only"-files
## just for testing, timer.c could be compiled in thumb-mode too
SRCARM =
# List C++ source files here.
# use file-extension .cpp for C++-files (not .C)
CPPSRC =
# List C++ source files here which must be compiled in ARM-Mode.
# use file-extension .cpp for C++-files (not .C)
#CPPSRCARM = $(TARGET).cpp
CPPSRCARM =
# List any extra directories to look for include files here.
# Each directory must be seperated by a space.
EXTRAINCDIRS = $(OPSYSTEM)
EXTRAINCDIRS += $(OPSYSTEMINC)
EXTRAINCDIRS += $(OPUAVTALK)
EXTRAINCDIRS += $(OPUAVTALKINC)
EXTRAINCDIRS += $(OPUAVOBJ)
EXTRAINCDIRS += $(OPUAVOBJINC)
EXTRAINCDIRS += $(FLIGHT_UAVOBJ_DIR)
EXTRAINCDIRS += $(PIOS)
EXTRAINCDIRS += $(PIOSINC)
EXTRAINCDIRS += $(FLIGHTLIBINC)
EXTRAINCDIRS += $(PIOSPOSIX)
EXTRAINCDIRS += $(RTOSINCDIR)
EXTRAINCDIRS += $(APPLIBDIR)
EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/Posix
EXTRAINCDIRS += $(PYMITEINC)
EXTRAINCDIRS += ${foreach MOD, ${MODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
# List any extra directories to look for library files here.
# Also add directories where the linker should search for
# includes from linker-script to the list
# Each directory must be seperated by a space.
EXTRA_LIBDIRS =
# Extra Libraries
# Each library-name must be seperated by a space.
# i.e. to link with libxyz.a, libabc.a and libefsl.a:
# EXTRA_LIBS = xyz abc efsl
# for newlib-lpc (file: libnewlibc-lpc.a):
# EXTRA_LIBS = newlib-lpc
EXTRA_LIBS =
# Path to Linker-Scripts
LINKERSCRIPTPATH = $(PIOSSTM32F10X)
# Optimization level, can be [0, 1, 2, 3, s].
# 0 = turn off optimization. s = optimize for size.
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
ifeq ($(DEBUG),YES)
OPT = 0
else
OPT = s
endif
# Output format. (can be ihex or binary or both)
# binary to create a load-image in raw-binary format i.e. for SAM-BA,
# ihex to create a load-image in Intel hex format
#LOADFORMAT = ihex
#LOADFORMAT = binary
LOADFORMAT = both
# Debugging format.
#DEBUGF = dwarf-2
# Place project-specific -D (define) and/or
# -U options for C here.
ifeq ($(ENABLE_DEBUG_PINS), YES)
CDEFS += -DPIOS_ENABLE_DEBUG_PINS
endif
ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
endif
ifeq ($(USE_BOOTLOADER), YES)
CDEFS += -DUSE_BOOTLOADER
endif
# Compiler flag to set the C Standard level.
# c89 - "ANSI" C
# gnu89 - c89 plus GCC extensions
# c99 - ISO C99 standard (not yet fully implemented)
# gnu99 - c99 plus GCC extensions
CSTANDARD = -std=gnu99
#-----
# Compiler flags.
# -g*: generate debugging information
# -O*: optimization level
# -f...: tuning, see GCC manual and avr-libc documentation
# -Wall...: warning level
# -Wa,...: tell GCC to pass this to the assembler.
# -adhlns...: create assembler listing
#
# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
ifeq ($(DEBUG),YES)
CFLAGS = -g$(DEBUGF) -DDEBUG
endif
CFLAGS += -DDIAG_TASKS
CFLAGS += $(CFLAGS_UAVOBJECTS)
CFLAGS += -DARCH_POSIX
CFLAGS += -O$(OPT)
CFLAGS += -mtune=$(MCU)
CFLAGS += $(CDEFS)
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
#CFLAGS += ARCH=arm
#CROSS_COMPILE=/usr/local/android-ndk-r5/toolchains/arm-linux-androideabi-4.4.3/prebuilt/darwin-x86/bin/arm-linux-androideabi-
CFLAGS += -fomit-frame-pointer
ifeq ($(CODE_SOURCERY), YES)
CFLAGS += -fpromote-loop-indices
endif
CFLAGS += -Wall
CFLAGS += -Werror
# Compiler flags to generate dependency files:
CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
# flags only for C
#CONLYFLAGS += -Wnested-externs
CONLYFLAGS += $(CSTANDARD)
# Assembler flags.
# -Wa,...: tell GCC to pass this to the assembler.
# -ahlns: create listing
ASFLAGS = -mtune=$(MCU) -I. -x assembler-with-cpp
ASFLAGS += $(ADEFS)
ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
MATH_LIB = -lm
# Linker flags.
# -Wl,...: tell GCC to pass this to linker.
# -Map: create map file
# --cref: add cross reference to map file
LDFLAGS += -lpthread
LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
LDFLAGS += -lc
LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
LDFLAGS += $(MATH_LIB)
LDFLAGS += -lc -lgcc
# To include simulation model
LDFLAGS += -L$(OUTDIR)
#LDFLAGS += -lsimmodel
# Define programs and commands.
CC = $(ARM_SDK_PREFIX)gcc
CPP = $(ARM_SDK_PREFIX)g++
AR = $(ARM_SDK_PREFIX)ar
OBJCOPY = $(ARM_SDK_PREFIX)objcopy
OBJDUMP = $(ARM_SDK_PREFIX)objdump
SIZE = $(ARM_SDK_PREFIX)size
NM = $(ARM_SDK_PREFIX)nm
REMOVE = rm -f
# Define Messages
# English
MSG_ERRORS_NONE = Errors: none
MSG_BEGIN = ${quote}-------- begin (mode: $(RUN_MODE)) --------${quote}
MSG_END = ${quote}-------- end --------${quote}
MSG_MODINIT = ${quote}**** Generating ModInit.c${quote}
MSG_SIZE_BEFORE = ${quote}Size before:${quote}
MSG_SIZE_AFTER = ${quote}Size after build:${quote}
MSG_LOAD_FILE = ${quote}Creating load file:${quote}
MSG_EXTENDED_LISTING = ${quote}Creating Extended Listing/Disassembly:${quote}
MSG_SYMBOL_TABLE = ${quote}Creating Symbol Table:${quote}
MSG_LINKING = ${quote}**** Linking :${quote}
MSG_COMPILING = ${quote}**** Compiling C :${quote}
MSG_COMPILING_ARM = ${quote}**** Compiling C (ARM-only):${quote}
MSG_COMPILINGCPP = ${quote}Compiling C++ :${quote}
MSG_COMPILINGCPP_ARM = ${quote}Compiling C++ (ARM-only):${quote}
MSG_ASSEMBLING = ${quote}**** Assembling:${quote}
MSG_ASSEMBLING_ARM = ${quote}****Assembling (ARM-only):${quote}
MSG_CLEANING = ${quote}Cleaning project:${quote}
MSG_FORMATERROR = ${quote}Can not handle output-format${quote}
MSG_ASMFROMC = ${quote}Creating asm-File from C-Source:${quote}
MSG_ASMFROMC_ARM = ${quote}Creating asm-File from C-Source (ARM-only):${quote}
MSG_PYMITEINIT = ${quote}**** Generating PyMite intermediate code${quote}
# List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
# List of all source files without directory and file-extension.
ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
# Define all object files.
ALLOBJ = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
# Define all listing files (used for make clean).
LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
# Define all depedency-files (used for make clean).
DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss
sym: $(OUTDIR)/$(TARGET).sym
hex: $(OUTDIR)/$(TARGET).hex
bin: $(OUTDIR)/$(TARGET).bin
# Default target.
#all: begin gccversion sizebefore build sizeafter finished end
#all: begin gencode gccversion build sizeafter finished end
all: elf
ifeq ($(LOADFORMAT),ihex)
build: elf hex lss sym
else
ifeq ($(LOADFORMAT),binary)
build: elf bin lss sym
else
ifeq ($(LOADFORMAT),both)
build: elf hex bin lss sym
else
$(error "$(MSG_FORMATERROR) $(FORMAT)")
endif
endif
endif
# Generate intermediate code
gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h
getmodname = $(firstword $(subst /, ,$1))
MOD_GEN := $(foreach MOD,$(MODULES),$(call getmodname,$(MOD)))
# Generate code for module initialization
${OUTDIR}/InitMods.c: Makefile.osx
echo ${MOD_GEN}
@echo ${MSG_MODINIT}
@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MOD_GEN}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MOD_GEN}, extern unsigned int ${MOD}Start(void);}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MOD_GEN}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}void StartModules() {${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MOD_GEN}, ${MOD}Start();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# Generate code for PyMite
${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py)
@echo ${MSG_PYMITEINIT}
@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py)
@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
# Eye candy.
begin:
## @echo
@echo $(MSG_BEGIN)
finished:
## @echo $(MSG_ERRORS_NONE)
end:
@echo $(MSG_END)
## @echo
# Display sizes of sections.
ELFSIZE = $(SIZE) -A $(OUTDIR)/$(TARGET).elf
##ELFSIZE = $(SIZE) --format=Berkeley --common $(OUTDIR)/$(TARGET).elf
sizebefore:
# @if [ -f $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
sizeafter:
# @if [ -f $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
@echo $(MSG_SIZE_AFTER)
$(ELFSIZE)
# Display compiler version information.
gccversion :
@$(CC) --version
# @echo $(ALLOBJ)
# Program the device.
ifeq ($(USE_BOOTLOADER), YES)
# Program the device with OP Upload Tool".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OP Upload Tool${quote}
../../ground/src/experimental/upload-build-desktop/debug/OPUploadTool -d 0 -p $(OUTDIR)/$(TARGET).bin
else
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).elf
@echo ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
endif
# Create final output file (.hex) from ELF output file.
%.hex: %.elf
## @echo
@echo $(MSG_LOAD_FILE) $@
$(OBJCOPY) -O ihex $< $@
# Create final output file (.bin) from ELF output file.
%.bin: %.elf
## @echo
@echo $(MSG_LOAD_FILE) $@
$(OBJCOPY) -O binary $< $@
# Create extended listing file/disassambly from ELF output file.
# using objdump testing: option -C
%.lss: %.elf
## @echo
@echo $(MSG_EXTENDED_LISTING) $@
$(OBJDUMP) -h -S -C -r $< > $@
# $(OBJDUMP) -x -S $< > $@
# Create a symbol table from ELF output file.
%.sym: %.elf
## @echo
@echo $(MSG_SYMBOL_TABLE) $@
$(NM) -n $< > $@
# Link: create ELF output file from object files.
.SECONDARY : $(TARGET).elf
.PRECIOUS : $(ALLOBJ)
%.elf: $(ALLOBJ)
@echo $(MSG_LINKING) $@
# use $(CC) for C-only projects or $(CPP) for C++-projects:
$(CC) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
# $(CPP) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
# Assemble: create object files from assembler source files.
define ASSEMBLE_TEMPLATE
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
## @echo
@echo $(MSG_ASSEMBLING) $$< to $$@
$(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@
endef
$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
# Assemble: create object files from assembler source files. ARM-only
define ASSEMBLE_ARM_TEMPLATE
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
## @echo
@echo $(MSG_ASSEMBLING_ARM) $$< to $$@
$(CC) -c $$(ASFLAGS) $$< -o $$@
endef
$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
# Compile: create object files from C source files.
define COMPILE_C_TEMPLATE
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
## @echo
@echo $(MSG_COMPILING) $$< to $$@
$(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
endef
$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
# Compile: create object files from C source files. ARM-only
define COMPILE_C_ARM_TEMPLATE
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
## @echo
@echo $(MSG_COMPILING_ARM) $$< to $$@
$(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
endef
$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
# Compile: create object files from C++ source files.
define COMPILE_CPP_TEMPLATE
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
## @echo
@echo $(MSG_COMPILINGCPP) $$< to $$@
$(CC) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
endef
$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
# Compile: create object files from C++ source files. ARM-only
define COMPILE_CPP_ARM_TEMPLATE
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
## @echo
@echo $(MSG_COMPILINGCPP_ARM) $$< to $$@
$(CC) -c $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
endef
$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
# Compile: create assembler files from C source files. ARM/Thumb
$(SRC:.c=.s) : %.s : %.c
@echo $(MSG_ASMFROMC) $< to $@
$(CC) $(THUMB) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
# Compile: create assembler files from C source files. ARM only
$(SRCARM:.c=.s) : %.s : %.c
@echo $(MSG_ASMFROMC_ARM) $< to $@
$(CC) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
# Generate Doxygen documents
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Target: clean project.
clean: begin clean_list finished end
clean_list :
## @echo
@echo $(MSG_CLEANING)
$(REMOVE) $(OUTDIR)/$(TARGET).map
$(REMOVE) $(OUTDIR)/$(TARGET).elf
$(REMOVE) $(OUTDIR)/$(TARGET).hex
$(REMOVE) $(OUTDIR)/$(TARGET).bin
$(REMOVE) $(OUTDIR)/$(TARGET).sym
$(REMOVE) $(OUTDIR)/$(TARGET).lss
$(REMOVE) $(wildcard $(OUTDIR)/*.c)
$(REMOVE) $(wildcard $(OUTDIR)/*.h)
$(REMOVE) $(ALLOBJ)
$(REMOVE) $(LSTFILES)
$(REMOVE) $(DEPFILES)
$(REMOVE) $(SRC:.c=.s)
$(REMOVE) $(SRCARM:.c=.s)
$(REMOVE) $(CPPSRC:.cpp=.s)
$(REMOVE) $(CPPSRCARM:.cpp=.s)
# Create output files directory
# all known MS Windows OS define the ComSpec environment variable
ifdef ComSpec
$(shell md $(OUTDIR) 2>NUL)
else
$(shell mkdir $(OUTDIR) 2>/dev/null)
endif
# Include the dependency files.
ifdef ComSpec
-include $(shell md $(OUTDIR)\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
else
-include $(shell mkdir $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
endif
# Listing of phony targets.
.PHONY : all begin finish end sizebefore sizeafter gccversion \
build elf hex bin lss sym clean clean_list program gencode

131
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#
# Copyright (c) 2016, The LibrePilot Project, http://www.librepilot.org
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
#
# 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
#
# These are the UAVObjects supposed to be build as part of the target
# (all architectures)
UAVOBJSRCFILENAMES =
UAVOBJSRCFILENAMES += statusgrounddrive
UAVOBJSRCFILENAMES += statusvtolautotakeoff
UAVOBJSRCFILENAMES += pidstatus
UAVOBJSRCFILENAMES += statusvtolland
UAVOBJSRCFILENAMES += vtolselftuningstats
UAVOBJSRCFILENAMES += accelgyrosettings
UAVOBJSRCFILENAMES += accessorydesired
UAVOBJSRCFILENAMES += actuatorcommand
UAVOBJSRCFILENAMES += actuatordesired
UAVOBJSRCFILENAMES += actuatorsettings
UAVOBJSRCFILENAMES += attitudesettings
UAVOBJSRCFILENAMES += attitudestate
UAVOBJSRCFILENAMES += gyrostate
UAVOBJSRCFILENAMES += gyrosensor
UAVOBJSRCFILENAMES += accelstate
UAVOBJSRCFILENAMES += accelsensor
UAVOBJSRCFILENAMES += magsensor
UAVOBJSRCFILENAMES += auxmagsensor
UAVOBJSRCFILENAMES += auxmagsettings
UAVOBJSRCFILENAMES += magstate
UAVOBJSRCFILENAMES += barosensor
UAVOBJSRCFILENAMES += airspeedsensor
UAVOBJSRCFILENAMES += airspeedsettings
UAVOBJSRCFILENAMES += airspeedstate
UAVOBJSRCFILENAMES += debuglogsettings
UAVOBJSRCFILENAMES += debuglogcontrol
UAVOBJSRCFILENAMES += debuglogstatus
UAVOBJSRCFILENAMES += debuglogentry
UAVOBJSRCFILENAMES += flightbatterysettings
UAVOBJSRCFILENAMES += firmwareiapobj
UAVOBJSRCFILENAMES += flightbatterystate
UAVOBJSRCFILENAMES += flightplancontrol
UAVOBJSRCFILENAMES += flightplansettings
UAVOBJSRCFILENAMES += flightplanstatus
UAVOBJSRCFILENAMES += flighttelemetrystats
UAVOBJSRCFILENAMES += gcstelemetrystats
UAVOBJSRCFILENAMES += gcsreceiver
UAVOBJSRCFILENAMES += gpspositionsensor
UAVOBJSRCFILENAMES += gpssatellites
UAVOBJSRCFILENAMES += gpstime
UAVOBJSRCFILENAMES += gpsvelocitysensor
UAVOBJSRCFILENAMES += gpssettings
UAVOBJSRCFILENAMES += gpsextendedstatus
UAVOBJSRCFILENAMES += fixedwingpathfollowersettings
UAVOBJSRCFILENAMES += fixedwingpathfollowerstatus
UAVOBJSRCFILENAMES += vtolpathfollowersettings
UAVOBJSRCFILENAMES += groundpathfollowersettings
UAVOBJSRCFILENAMES += homelocation
UAVOBJSRCFILENAMES += i2cstats
UAVOBJSRCFILENAMES += manualcontrolcommand
UAVOBJSRCFILENAMES += manualcontrolsettings
UAVOBJSRCFILENAMES += flightmodesettings
UAVOBJSRCFILENAMES += mixersettings
UAVOBJSRCFILENAMES += mixerstatus
UAVOBJSRCFILENAMES += nedaccel
UAVOBJSRCFILENAMES += objectpersistence
UAVOBJSRCFILENAMES += oplinkreceiver
UAVOBJSRCFILENAMES += overosyncstats
UAVOBJSRCFILENAMES += overosyncsettings
UAVOBJSRCFILENAMES += pathaction
UAVOBJSRCFILENAMES += pathdesired
UAVOBJSRCFILENAMES += pathplan
UAVOBJSRCFILENAMES += pathstatus
UAVOBJSRCFILENAMES += pathsummary
UAVOBJSRCFILENAMES += positionstate
UAVOBJSRCFILENAMES += ratedesired
UAVOBJSRCFILENAMES += ekfconfiguration
UAVOBJSRCFILENAMES += ekfstatevariance
UAVOBJSRCFILENAMES += revocalibration
UAVOBJSRCFILENAMES += revosettings
UAVOBJSRCFILENAMES += sonaraltitude
UAVOBJSRCFILENAMES += stabilizationdesired
UAVOBJSRCFILENAMES += stabilizationsettings
UAVOBJSRCFILENAMES += stabilizationsettingsbank1
UAVOBJSRCFILENAMES += stabilizationsettingsbank2
UAVOBJSRCFILENAMES += stabilizationsettingsbank3
UAVOBJSRCFILENAMES += stabilizationstatus
UAVOBJSRCFILENAMES += stabilizationbank
UAVOBJSRCFILENAMES += systemalarms
UAVOBJSRCFILENAMES += systemsettings
UAVOBJSRCFILENAMES += systemstats
UAVOBJSRCFILENAMES += taskinfo
UAVOBJSRCFILENAMES += callbackinfo
UAVOBJSRCFILENAMES += velocitystate
UAVOBJSRCFILENAMES += velocitydesired
UAVOBJSRCFILENAMES += watchdogstatus
UAVOBJSRCFILENAMES += flightstatus
UAVOBJSRCFILENAMES += hwsettings
UAVOBJSRCFILENAMES += receiveractivity
UAVOBJSRCFILENAMES += receiverstatus
UAVOBJSRCFILENAMES += cameradesired
UAVOBJSRCFILENAMES += camerastabsettings
UAVOBJSRCFILENAMES += altitudeholdsettings
UAVOBJSRCFILENAMES += oplinksettings
UAVOBJSRCFILENAMES += oplinkstatus
UAVOBJSRCFILENAMES += altitudefiltersettings
UAVOBJSRCFILENAMES += altitudeholdstatus
UAVOBJSRCFILENAMES += waypoint
UAVOBJSRCFILENAMES += waypointactive
UAVOBJSRCFILENAMES += poilocation
UAVOBJSRCFILENAMES += poilearnsettings
UAVOBJSRCFILENAMES += mpugyroaccelsettings
UAVOBJSRCFILENAMES += txpidsettings
UAVOBJSRCFILENAMES += txpidstatus
UAVOBJSRCFILENAMES += takeofflocation
UAVOBJSRCFILENAMES += perfcounter
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(FLIGHT_UAVOBJ_DIR)/$(UAVOBJSRCFILE).c )
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

90
flight/targets/boards/sparky2/firmware/cm3_fault_handlers.c Normal file
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/*
* cm3_fault_handlers.c
*
* Created on: Apr 24, 2011
* Author: msmith
*/
#include <stdint.h>
#include "inc/dcc_stdio.h"
#ifdef STM32F4XX
# include <stm32f4xx.h>
#endif
#ifdef STM32F2XX
# include <stm32f2xx.h>
#endif
#define FAULT_TRAMPOLINE(_vec) \
__attribute__((naked, no_instrument_function)) \
void \
_vec##_Handler(void) \
{ \
__asm(".syntax unified\n" \
"MOVS R0, #4 \n" \
"MOV R1, LR \n" \
"TST R0, R1 \n" \
"BEQ 1f \n" \
"MRS R0, PSP \n" \
"B " #_vec "_Handler2 \n" \
"1: \n" \
"MRS R0, MSP \n" \
"B " #_vec "_Handler2 \n" \
".syntax divided\n"); \
} \
struct hack
struct cm3_frame {
uint32_t r0;
uint32_t r1;
uint32_t r2;
uint32_t r3;
uint32_t r12;
uint32_t lr;
uint32_t pc;
uint32_t psr;
};
FAULT_TRAMPOLINE(HardFault);
FAULT_TRAMPOLINE(BusFault);
FAULT_TRAMPOLINE(UsageFault);
/* this is a hackaround to avoid an issue where dereferencing SCB seems to result in bad codegen and a link error */
#define SCB_REG(_reg) (*(uint32_t *)&(SCB->_reg))
void HardFault_Handler2(struct cm3_frame *frame)
{
dbg_write_str("\nHARD FAULT");
dbg_write_hex32(frame->pc);
dbg_write_char('\n');
dbg_write_hex32(SCB_REG(HFSR));
dbg_write_char('\n');
for (;;) {
;
}
}
void BusFault_Handler2(struct cm3_frame *frame)
{
dbg_write_str("\nBUS FAULT");
dbg_write_hex32(frame->pc);
dbg_write_char('\n');
dbg_write_hex32(SCB_REG(CFSR));
dbg_write_char('\n');
dbg_write_hex32(SCB_REG(BFAR));
dbg_write_char('\n');
for (;;) {
;
}
}
void UsageFault_Handler2(struct cm3_frame *frame)
{
dbg_write_str("\nUSAGE FAULT");
dbg_write_hex32(frame->pc);
dbg_write_char('\n');
dbg_write_hex32(SCB_REG(CFSR));
dbg_write_char('\n');
for (;;) {
;
}
}

149
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/***************************************************************************
* Copyright (C) 2008 by Dominic Rath *
* Dominic.Rath@gmx.de *
* Copyright (C) 2008 by Spencer Oliver *
* spen@spen-soft.co.uk *
* Copyright (C) 2008 by Frederik Kriewtz *
* frederik@kriewitz.eu *
* *
* 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 2 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 "inc/dcc_stdio.h"
#define TARGET_REQ_TRACEMSG 0x00
#define TARGET_REQ_DEBUGMSG_ASCII 0x01
#define TARGET_REQ_DEBUGMSG_HEXMSG(size) (0x01 | ((size & 0xff) << 8))
#define TARGET_REQ_DEBUGCHAR 0x02
/* we use the cortex_m3 DCRDR reg to simulate a arm7_9 dcc channel
* DCRDR[7:0] is used by target for status
* DCRDR[15:8] is used by target for write buffer
* DCRDR[23:16] is used for by host for status
* DCRDR[31:24] is used for by host for write buffer */
#define NVIC_DBG_DATA_R (*((volatile unsigned short *)0xE000EDF8))
#define BUSY 1
void dbg_write(unsigned long dcc_data)
{
int len = 4;
while (len--) {
/* wait for data ready */
while (NVIC_DBG_DATA_R & BUSY) {
;
}
/* write our data and set write flag - tell host there is data*/
NVIC_DBG_DATA_R = (unsigned short)(((dcc_data & 0xff) << 8) | BUSY);
dcc_data >>= 8;
}
}
void dbg_trace_point(unsigned long number)
{
dbg_write(TARGET_REQ_TRACEMSG | (number << 8));
}
void dbg_write_u32(const unsigned long *val, long len)
{
dbg_write(TARGET_REQ_DEBUGMSG_HEXMSG(4) | ((len & 0xffff) << 16));
while (len > 0) {
dbg_write(*val);
val++;
len--;
}
}
void dbg_write_u16(const unsigned short *val, long len)
{
unsigned long dcc_data;
dbg_write(TARGET_REQ_DEBUGMSG_HEXMSG(2) | ((len & 0xffff) << 16));
while (len > 0) {
dcc_data = val[0]
| ((len > 1) ? val[1] << 16 : 0x0000);
dbg_write(dcc_data);
val += 2;
len -= 2;
}
}
void dbg_write_u8(const unsigned char *val, long len)
{
unsigned long dcc_data;
dbg_write(TARGET_REQ_DEBUGMSG_HEXMSG(1) | ((len & 0xffff) << 16));
while (len > 0) {
dcc_data = val[0]
| ((len > 1) ? val[1] << 8 : 0x00)
| ((len > 2) ? val[2] << 16 : 0x00)
| ((len > 3) ? val[3] << 24 : 0x00);
dbg_write(dcc_data);
val += 4;
len -= 4;
}
}
void dbg_write_str(const char *msg)
{
long len;
unsigned long dcc_data;
for (len = 0; msg[len] && (len < 65536); len++) {
;
}
dbg_write(TARGET_REQ_DEBUGMSG_ASCII | ((len & 0xffff) << 16));
while (len > 0) {
dcc_data = msg[0]
| ((len > 1) ? msg[1] << 8 : 0x00)
| ((len > 2) ? msg[2] << 16 : 0x00)
| ((len > 3) ? msg[3] << 24 : 0x00);
dbg_write(dcc_data);
msg += 4;
len -= 4;
}
}
void dbg_write_char(char msg)
{
dbg_write(TARGET_REQ_DEBUGCHAR | ((msg & 0xff) << 16));
}
void dbg_write_hex32(const unsigned long val)
{
static const char hextab[] = {
'0', '1', '2', '3', '4', '5', '6', '7',
'8', '9', 'a', 'b', 'c', 'd', 'e', 'f'
};
for (int shift = 28; shift >= 0; shift -= 4) {
dbg_write_char(hextab[(val >> shift) & 0xf]);
}
}

104
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#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
/**
* @addtogroup PIOS PIOS
* @{
* @addtogroup FreeRTOS FreeRTOS
* @{
*/
/* Notes: We use 5 task priorities */
#define configCPU_CLOCK_HZ (SYSCLK_FREQ) // really the NVIC clock ...
#define configTICK_RATE_HZ ((portTickType)1000)
#define configMAX_PRIORITIES ((unsigned portBASE_TYPE)5)
#define configMINIMAL_STACK_SIZE ((unsigned short)512)
#define configTOTAL_HEAP_SIZE ((size_t)(180 * 1024)) // this is minimum, not total
#define configMAX_TASK_NAME_LEN (16)
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 1
#define configUSE_TICK_HOOK 0
#define configUSE_TRACE_FACILITY 0
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 0
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 0
#define configUSE_ALTERNATIVE_API 0
#define configCHECK_FOR_STACK_OVERFLOW 2
#define configQUEUE_REGISTRY_SIZE 10
#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY (configMAX_PRIORITIES - 1) /* run timers at max priority */
#define configTIMER_QUEUE_LENGTH 10
#define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES (2)
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 1
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_xTaskGetCurrentTaskHandle 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
#define INCLUDE_xTaskGetIdleTaskHandle 1
/* This is the raw value as per the Cortex-M3 NVIC. Values can be 255
(lowest) to 1 (highest maskable) to 0 (highest non-maskable). */
#define configKERNEL_INTERRUPT_PRIORITY 15 << 4 /* equivalent to NVIC priority 15 */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 3 << 4 /* equivalent to NVIC priority 3 */
/* This is the value being used as per the ST library which permits 16
priority values, 0 to 15. This must correspond to the
configKERNEL_INTERRUPT_PRIORITY setting. Here 15 corresponds to the lowest
NVIC value of 255. */
#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY 15
/* Enable run time stats collection */
#define configGENERATE_RUN_TIME_STATS 1
#define INCLUDE_uxTaskGetRunTime 1
/*
* Once we move to CMSIS2 we can at least use:
*
* CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
*
* (still nothing for the DWT registers, surprisingly)
*/
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() \
do { \
(*(unsigned long *)0xe000edfc) |= (1 << 24); /* DEMCR |= DEMCR_TRCENA */ \
(*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */ \
} \
while (0)
#define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004) /* DWT_CYCCNT */
/**
* @}
*/
#endif /* FREERTOS_CONFIG_H */

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/***************************************************************************
* Copyright (C) 2008 by Dominic Rath *
* Dominic.Rath@gmx.de *
* Copyright (C) 2008 by Spencer Oliver *
* spen@spen-soft.co.uk *
* *
* 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 2 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 DCC_STDIO_H
#define DCC_STDIO_H
void dbg_trace_point(unsigned long number);
void dbg_write_u32(const unsigned long *val, long len);
void dbg_write_u16(const unsigned short *val, long len);
void dbg_write_u8(const unsigned char *val, long len);
void dbg_write_str(const char *msg);
void dbg_write_char(char msg);
void dbg_write_hex32(const unsigned long val);
#endif /* DCC_STDIO_H */

52
flight/targets/boards/sparky2/firmware/inc/openpilot.h Normal file
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/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
* @file openpilot.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Main OpenPilot 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 OPENPILOT_H
#define OPENPILOT_H
/* PIOS Includes */
#include <pios.h>
/* OpenPilot Libraries */
#include <utlist.h>
#include <uavobjectmanager.h>
#include <eventdispatcher.h>
#include <uavtalk.h>
#include "alarms.h"
#include <mathmisc.h>
/* Global Functions */
void OpenPilotInit(void);
#endif /* OPENPILOT_H */
/**
* @}
* @}
*/

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/**
******************************************************************************
*
* @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 PIOS_BOARD_H
#define PIOS_BOARD_H
// ------------------------
// PIOS_LED
// ------------------------
#define PIOS_LED_ALARM 0
#define PIOS_LED_HEARTBEAT 1
#define PIOS_LED_NUM 2
// -------------------------
// COM
//
// See also pios_board_posix.c
// -------------------------
// #define PIOS_USART_TX_BUFFER_SIZE 256
#define PIOS_COM_BUFFER_SIZE 1024
#define PIOS_COM_MAX_DEVS 255
#define PIOS_UDP_RX_BUFFER_SIZE PIOS_COM_BUFFER_SIZE
#define PIOS_TCP_RX_BUFFER_SIZE PIOS_COM_BUFFER_SIZE
extern uint32_t pios_com_telem_rf_id;
extern uint32_t pios_com_telem_usb_id;
extern uint32_t pios_com_gps_id;
extern uint32_t pios_com_aux_id;
extern uint32_t pios_com_spectrum_id;
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#define PIOS_COM_GPS (pios_com_gps_id)
#ifdef PIOS_ENABLE_AUX_UART
#define PIOS_COM_AUX (pios_com_aux_id)
#define PIOS_COM_DEBUG (PIOS_COM_AUX)
#endif
#define PIOS_GCSRCVR_TIMEOUT_MS 200
/**
* glue macros for file IO
* STM32 uses DOSFS for file IO
*/
#define PIOS_FOPEN_READ(filename, file) (file = fopen((char *)filename, "r")) == NULL
#define PIOS_FOPEN_WRITE(filename, file) (file = fopen((char *)filename, "w")) == NULL
#define PIOS_FREAD(file, bufferadr, length, resultadr) (*resultadr = fread((uint8_t *)bufferadr, 1, length, *file)) != length
#define PIOS_FWRITE(file, bufferadr, length, resultadr) *resultadr = fwrite((uint8_t *)bufferadr, 1, length, *file)
#define PIOS_FCLOSE(file) fclose(file)
#define PIOS_FUNLINK(file) unlink((char *)filename)
#endif /* PIOS_BOARD_H */

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/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
* @file pios_config.h
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013.
* @brief PiOS configuration header, the compile time config file for the PIOS.
* Defines which PiOS libraries and features are included in the firmware.
* @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_CONFIG_H
#define PIOS_CONFIG_H
/*
* Below is a complete list of PIOS configurable options.
* Please do not remove or rearrange them. Only comment out
* unused options in the list. See main pios.h header for more
* details.
*/
/* #define PIOS_INCLUDE_DEBUG_CONSOLE */
/* #define DEBUG_LEVEL 0 */
/* #define PIOS_ENABLE_DEBUG_PINS */
/* PIOS FreeRTOS support */
#define PIOS_INCLUDE_FREERTOS
/* PIOS Callback Scheduler support */
#define PIOS_INCLUDE_CALLBACKSCHEDULER
/* PIOS bootloader helper */
#define PIOS_INCLUDE_BL_HELPER
/* #define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT */
/* PIOS system functions */
#define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_INITCALL
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_TASK_MONITOR
#define PIOS_INCLUDE_INSTRUMENTATION
#define PIOS_INSTRUMENTATION_MAX_COUNTERS 10
/* PIOS hardware peripherals */
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_RTC
#define PIOS_INCLUDE_TIM
#define PIOS_INCLUDE_USART
#define PIOS_INCLUDE_ADC
#define PIOS_INCLUDE_I2C
#define PIOS_INCLUDE_SPI
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_EXTI
#define PIOS_INCLUDE_WDG
/* PIOS USB functions */
#define PIOS_INCLUDE_USB
#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_USB_CDC
/* #define PIOS_INCLUDE_USB_RCTX */
/* PIOS sensor interfaces */
/* #define PIOS_INCLUDE_ADXL345 */
/* #define PIOS_INCLUDE_BMA180 */
/* #define PIOS_INCLUDE_L3GD20 */
/* #define PIOS_INCLUDE_MPU6000 */
/* seems to be completely unused #define PIOS_MPU6000_ACCEL */
/* #define PIOS_INCLUDE_HMC5843 */
#define PIOS_INCLUDE_HMC5X83
/* Sparky2 5X83s are all external and thus don't have GPIOs #define PIOS_HMC5X83_HAS_GPIOS */
/* #define PIOS_INCLUDE_BMP085 */
#define PIOS_INCLUDE_MS5611
#define PIOS_INCLUDE_MPXV
#define PIOS_INCLUDE_ETASV3
#define PIOS_INCLUDE_MS4525DO
#define PIOS_INCLUDE_MPU9250
#define PIOS_MPU9250_ACCEL
#define PIOS_MPU9250_MAG
#define PIOS_SENSOR_RATE 500.0f
#define PIOS_INCLUDE_WS2811
/* #define PIOS_INCLUDE_HCSR04 */
/* PIOS receiver drivers */
/* #define PIOS_INCLUDE_PWM */
#define PIOS_INCLUDE_PPM
/* #define PIOS_INCLUDE_PPM_FLEXI */
#define PIOS_INCLUDE_DSM
#define PIOS_INCLUDE_SBUS
#define PIOS_INCLUDE_SRXL
#define PIOS_INCLUDE_HOTT
#define PIOS_INCLUDE_EXBUS
#define PIOS_INCLUDE_GCSRCVR
#define PIOS_INCLUDE_OPLINKRCVR
/* PIOS abstract receiver interface */
#define PIOS_INCLUDE_RCVR
/* PIOS common peripherals */
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_IAP
#define PIOS_INCLUDE_SERVO
/* #define PIOS_INCLUDE_I2C_ESC */
/* #define PIOS_INCLUDE_OVERO */
/* #define PIOS_OVERO_SPI */
/* #define PIOS_INCLUDE_SDCARD */
/* #define LOG_FILENAME "startup.log" */
#define PIOS_INCLUDE_FLASH
#define PIOS_INCLUDE_FLASH_INTERNAL
#define PIOS_INCLUDE_FLASH_LOGFS_SETTINGS
/* #define PIOS_INCLUDE_FLASH_OBJLIST */
/* #define PIOS_INCLUDE_FLASH_EEPROM */
#define FLASH_FREERTOS
#define PIOS_INCLUDE_DEBUGLOG
/* PIOS radio modules */
#define PIOS_INCLUDE_RFM22B
#define PIOS_INCLUDE_RFM22B_COM
/* #define PIOS_INCLUDE_PPM_OUT */
/* #define PIOS_RFM22B_DEBUG_ON_TELEM */
/* PIOS misc peripherals */
/* #define PIOS_INCLUDE_VIDEO */
/* #define PIOS_INCLUDE_WAVE */
/* #define PIOS_INCLUDE_UDP */
/* PIOS abstract comms interface with options */
#define PIOS_INCLUDE_COM
/* #define PIOS_INCLUDE_COM_MSG */
/* #define PIOS_INCLUDE_TELEMETRY_RF */
#define PIOS_INCLUDE_COM_TELEM
#define PIOS_INCLUDE_COM_FLEXI
/* #define PIOS_INCLUDE_COM_AUX */
#define PIOS_TELEM_PRIORITY_QUEUE
#define PIOS_INCLUDE_GPS
/* #define PIOS_GPS_MINIMAL */
#define PIOS_INCLUDE_GPS_NMEA_PARSER
#define PIOS_INCLUDE_GPS_UBX_PARSER
#define PIOS_INCLUDE_GPS_DJI_PARSER
#define PIOS_GPS_SETS_HOMELOCATION
/* Stabilization options */
#define PIOS_QUATERNION_STABILIZATION
/* Performance counters */
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 8379692
/* Alarm Thresholds */
#define HEAP_LIMIT_WARNING 1000
#define HEAP_LIMIT_CRITICAL 500
#define IRQSTACK_LIMIT_WARNING 150
#define IRQSTACK_LIMIT_CRITICAL 80
#define CPULOAD_LIMIT_WARNING 80
#define CPULOAD_LIMIT_CRITICAL 95
/* Task stack sizes */
/* #define PIOS_ACTUATOR_STACK_SIZE 1020 */
/* #define PIOS_MANUAL_STACK_SIZE 800 */
#define PIOS_SYSTEM_STACK_SIZE 1536
/* #define PIOS_STABILIZATION_STACK_SIZE 524 */
/* #define PIOS_TELEM_STACK_SIZE 500 */
/* #define PIOS_EVENTDISPATCHER_STACK_SIZE 130 */
/* This can't be too high to stop eventdispatcher thread overflowing */
#define PIOS_EVENTDISAPTCHER_QUEUE 10
/* Revolution series */
#define REVOLUTION
#endif /* PIOS_CONFIG_H */
/**
* @}
* @}
*/

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/**
******************************************************************************
*
* @file pios_config.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief PiOS configuration header.
* Central compile time config for the project.
* @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_CONFIG_POSIX_H
#define PIOS_CONFIG_POSIX_H
/* Enable/Disable PiOS Modules */
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_SDCARD
#define PIOS_INCLUDE_FREERTOS
#define PIOS_INCLUDE_CALLBACKSCHEDULER
#define PIOS_INCLUDE_TASK_MONITOR
#define PIOS_INCLUDE_COM
// #define PIOS_INCLUDE_GPS
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_TELEMETRY_RF
#define PIOS_INCLUDE_TCP
#define PIOS_INCLUDE_UDP
#define PIOS_INCLUDE_SERVO
#define PIOS_INCLUDE_RCVR
#define PIOS_INCLUDE_GCSRCVR
#define PIOS_RCVR_MAX_CHANNELS 12
#define PIOS_RCVR_MAX_DEVS 3
/* Defaults for Logging */
#define LOG_FILENAME "PIOS.LOG"
#define STARTUP_LOG_ENABLED 1
/* COM Module */
#define GPS_BAUDRATE 19200
#define TELEM_BAUDRATE 19200
#define AUXUART_ENABLED 0
#define AUXUART_BAUDRATE 19200
#define TELEM_QUEUE_SIZE 20
#define PIOS_TELEM_STACK_SIZE 2048
/* Stabilization options */
#define PIOS_QUATERNION_STABILIZATION
/* GPS options */
#define PIOS_GPS_SETS_HOMELOCATION
#define HEAP_LIMIT_WARNING 4000
#define HEAP_LIMIT_CRITICAL 1000
#define IRQSTACK_LIMIT_WARNING 150
#define IRQSTACK_LIMIT_CRITICAL 80
#define CPULOAD_LIMIT_WARNING 80
#define CPULOAD_LIMIT_CRITICAL 95
#define REVOLUTION
#endif /* PIOS_CONFIG_POSIX_H */

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/**
***********************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_USB_BOARD Board specific USB definitions
* @brief Board specific USB definitions
* @{
*
* @file pios_usb_board_data.h
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @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_USB_BOARD_DATA_H
#define PIOS_USB_BOARD_DATA_H
// Note : changing below length will require changes to the USB buffer setup
#define PIOS_USB_BOARD_CDC_DATA_LENGTH 64
#define PIOS_USB_BOARD_CDC_MGMT_LENGTH 32
#define PIOS_USB_BOARD_HID_DATA_LENGTH 64
#define PIOS_USB_BOARD_EP_NUM 4
#include <pios_usb_defs.h> /* USB_* macros */
#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_SPARKY2
#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_SPARKY2, USB_OP_BOARD_MODE_FW)
#define PIOS_USB_BOARD_SN_SUFFIX "+FW"
#endif /* PIOS_USB_BOARD_DATA_H */

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/**
****************************************************************************************
* @file pios_board.c
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
* @brief Defines board specific static initializers for hardware for the Sparky2 board.
***************************************************************************************/
/*
* 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 "inc/openpilot.h"
#include <pios_board_info.h>
#include <uavobjectsinit.h>
#include <hwsettings.h>
#include <manualcontrolsettings.h>
#include <oplinksettings.h>
#include <oplinkstatus.h>
#include <oplinkreceiver.h>
#include <pios_oplinkrcvr_priv.h>
#include <taskinfo.h>
#include <pios_ws2811.h>
#include <sanitycheck.h>
#include <actuatorsettings.h>
#include <auxmagsettings.h>
#ifdef PIOS_INCLUDE_INSTRUMENTATION
#include <pios_instrumentation.h>
#endif
/*
* Pull in the board-specific static HW definitions.
* Including .c files is a bit ugly but this allows all of
* the HW definitions to be const and static to limit their
* scope.
*
* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
*/
#include "../board_hw_defs.c"
/**
* Sensor configurations
*/
#if defined(PIOS_INCLUDE_ADC)
#include "pios_adc_priv.h"
void PIOS_ADC_DMC_irq_handler(void);
void DMA2_Stream4_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMC_irq_handler")));
struct pios_adc_cfg pios_adc_cfg = {
.adc_dev = ADC1,
.dma = {
.irq = {
.flags = (DMA_FLAG_TCIF4 | DMA_FLAG_TEIF4 | DMA_FLAG_HTIF4),
.init = {
.NVIC_IRQChannel = DMA2_Stream4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA2_Stream4,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR
},
}
},
.half_flag = DMA_IT_HTIF4,
.full_flag = DMA_IT_TCIF4,
};
void PIOS_ADC_DMC_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_ADC_DMA_Handler();
}
#endif /* if defined(PIOS_INCLUDE_ADC) */
#if defined(PIOS_INCLUDE_HMC5X83)
#include "pios_hmc5x83.h"
pios_hmc5x83_dev_t i2c_port_mag = 0;
pios_hmc5x83_dev_t flexi_port_mag = 0;
static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
#ifdef PIOS_HMC5X83_HAS_GPIOS
.exti_cfg = NULL,
#endif /* PIOS_HMC5X83_HAS_GPIOS */
.M_ODR = PIOS_HMC5x83_ODR_75,
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
.Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
};
#endif /* PIOS_INCLUDE_HMC5X83 */
/**
* Configuration for the MS5611 chip
*/
#if defined(PIOS_INCLUDE_MS5611)
#include "pios_ms5611.h"
static const struct pios_ms5611_cfg pios_ms5611_cfg = {
.oversampling = MS5611_OSR_4096,
};
#endif /* PIOS_INCLUDE_MS5611 */
/**
* Configuration for the MPU9250 chip
*/
#if defined(PIOS_INCLUDE_MPU9250)
#include "pios_mpu9250.h"
#include "pios_mpu9250_config.h"
static const struct pios_exti_cfg pios_exti_mpu9250_cfg __exti_config = {
.vector = PIOS_MPU9250_IRQHandler,
.line = EXTI_Line5,
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_5,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_IN,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.irq = {
.init = {
.NVIC_IRQChannel = EXTI9_5_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.exti = {
.init = {
.EXTI_Line = EXTI_Line5, // matches above GPIO pin
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Rising,
.EXTI_LineCmd = ENABLE,
},
},
};
static const struct pios_mpu9250_cfg pios_mpu9250_cfg = {
.exti_cfg = &pios_exti_mpu9250_cfg,
.Fifo_store = 0,
// Clock at 8 khz
.Smpl_rate_div_no_dlp = 0,
// with dlp on output rate is 1000Hz
.Smpl_rate_div_dlp = 0,
.interrupt_cfg = PIOS_MPU9250_INT_CLR_ANYRD, // | PIOS_MPU9250_INT_LATCH_EN,
.interrupt_en = PIOS_MPU9250_INTEN_DATA_RDY,
.User_ctl = PIOS_MPU9250_USERCTL_DIS_I2C | PIOS_MPU9250_USERCTL_I2C_MST_EN,
.Pwr_mgmt_clk = PIOS_MPU9250_PWRMGMT_PLL_Z_CLK,
.accel_range = PIOS_MPU9250_ACCEL_8G,
.gyro_range = PIOS_MPU9250_SCALE_2000_DEG,
.filter = PIOS_MPU9250_LOWPASS_256_HZ,
.orientation = PIOS_MPU9250_TOP_180DEG,
.fast_prescaler = PIOS_SPI_PRESCALER_4,
.std_prescaler = PIOS_SPI_PRESCALER_64,
.max_downsample = 26,
};
#endif /* PIOS_INCLUDE_MPU9250 */
/* One slot per selectable receiver group.
* eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS
* NOTE: No slot in this map for NONE.
*/
uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 512
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 512
#define PIOS_COM_GPS_RX_BUF_LEN 128
#define PIOS_COM_GPS_TX_BUF_LEN 32
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 65
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 65
#define PIOS_COM_BRIDGE_RX_BUF_LEN 65
#define PIOS_COM_BRIDGE_TX_BUF_LEN 12
#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 512
#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 512
#define PIOS_COM_HKOSD_RX_BUF_LEN 22
#define PIOS_COM_HKOSD_TX_BUF_LEN 22
#define PIOS_COM_MSP_TX_BUF_LEN 128
#define PIOS_COM_MSP_RX_BUF_LEN 64
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
#define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
uint32_t pios_com_debug_id;
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
uint32_t pios_com_gps_id = 0;
uint32_t pios_com_telem_usb_id = 0;
uint32_t pios_com_telem_rf_id = 0;
uint32_t pios_com_rf_id = 0;
uint32_t pios_com_bridge_id = 0;
uint32_t pios_com_overo_id = 0;
uint32_t pios_com_hkosd_id = 0;
uint32_t pios_com_msp_id = 0;
uint32_t pios_com_vcp_id = 0;
#if defined(PIOS_INCLUDE_RFM22B)
uint32_t pios_rfm22b_id = 0;
#endif
uintptr_t pios_uavo_settings_fs_id;
uintptr_t pios_user_fs_id;
/*
* Setup a com port based on the passed cfg, driver and buffer sizes.
* tx size of -1 make the port rx only
* rx size of -1 make the port tx only
* having both tx and rx size of -1 is not valid and will fail further down in PIOS_COM_Init()
*/
static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg, size_t rx_buf_len, size_t tx_buf_len,
const struct pios_com_driver *com_driver, uint32_t *pios_com_id)
{
uint32_t pios_usart_id;
if (PIOS_USART_Init(&pios_usart_id, usart_port_cfg)) {
PIOS_Assert(0);
}
uint8_t *rx_buffer = 0, *tx_buffer = 0;
if (rx_buf_len > 0) {
rx_buffer = (uint8_t *)pios_malloc(rx_buf_len);
PIOS_Assert(rx_buffer);
}
if (tx_buf_len > 0) {
tx_buffer = (uint8_t *)pios_malloc(tx_buf_len);
PIOS_Assert(tx_buffer);
}
if (PIOS_COM_Init(pios_com_id, com_driver, pios_usart_id,
rx_buffer, rx_buf_len,
tx_buffer, tx_buf_len)) {
PIOS_Assert(0);
}
}
static void PIOS_Board_configure_dsm(const struct pios_usart_cfg *pios_usart_dsm_cfg, const struct pios_dsm_cfg *pios_dsm_cfg,
const struct pios_com_driver *usart_com_driver,
ManualControlSettingsChannelGroupsOptions channelgroup, uint8_t *bind)
{
uint32_t pios_usart_dsm_id;
if (PIOS_USART_Init(&pios_usart_dsm_id, pios_usart_dsm_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_dsm_id;
if (PIOS_DSM_Init(&pios_dsm_id, pios_dsm_cfg, usart_com_driver,
pios_usart_dsm_id, *bind)) {
PIOS_Assert(0);
}
uint32_t pios_dsm_rcvr_id;
if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[channelgroup] = pios_dsm_rcvr_id;
}
static void PIOS_Board_configure_ppm(const struct pios_ppm_cfg *ppm_cfg)
{
uint32_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, ppm_cfg);
uint32_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
}
static void PIOS_Board_configure_srxl(const struct pios_usart_cfg *usart_cfg)
{
uint32_t pios_usart_srxl_id;
if (PIOS_USART_Init(&pios_usart_srxl_id, usart_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_srxl_id;
if (PIOS_SRXL_Init(&pios_srxl_id, &pios_usart_com_driver, pios_usart_srxl_id)) {
PIOS_Assert(0);
}
uint32_t pios_srxl_rcvr_id;
if (PIOS_RCVR_Init(&pios_srxl_rcvr_id, &pios_srxl_rcvr_driver, pios_srxl_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SRXL] = pios_srxl_rcvr_id;
}
static void PIOS_Board_configure_exbus(const struct pios_usart_cfg *usart_cfg)
{
uint32_t pios_usart_exbus_id;
if (PIOS_USART_Init(&pios_usart_exbus_id, usart_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_exbus_id;
if (PIOS_EXBUS_Init(&pios_exbus_id, &pios_usart_com_driver, pios_usart_exbus_id)) {
PIOS_Assert(0);
}
uint32_t pios_exbus_rcvr_id;
if (PIOS_RCVR_Init(&pios_exbus_rcvr_id, &pios_exbus_rcvr_driver, pios_exbus_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_EXBUS] = pios_exbus_rcvr_id;
}
static void PIOS_Board_configure_hott(const struct pios_usart_cfg *usart_cfg, enum pios_hott_proto proto)
{
uint32_t pios_usart_hott_id;
if (PIOS_USART_Init(&pios_usart_hott_id, usart_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_hott_id;
if (PIOS_HOTT_Init(&pios_hott_id, &pios_usart_com_driver, pios_usart_hott_id, proto)) {
PIOS_Assert(0);
}
uint32_t pios_hott_rcvr_id;
if (PIOS_RCVR_Init(&pios_hott_rcvr_id, &pios_hott_rcvr_driver, pios_hott_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTT] = pios_hott_rcvr_id;
}
static void PIOS_Board_PPM_callback(const int16_t *channels)
{
uint8_t max_chan = (RFM22B_PPM_NUM_CHANNELS < OPLINKRECEIVER_CHANNEL_NUMELEM) ? RFM22B_PPM_NUM_CHANNELS : OPLINKRECEIVER_CHANNEL_NUMELEM;
OPLinkReceiverData opl_rcvr;
for (uint8_t i = 0; i < max_chan; ++i) {
opl_rcvr.Channel[i] = channels[i];
}
OPLinkReceiverSet(&opl_rcvr);
}
/**
* PIOS_Board_Init()
* initializes all the core subsystems on this specific hardware
* called from System/openpilot.c
*/
#include <pios_board_info.h>
void PIOS_Board_Init(void)
{
/* Delay system */
PIOS_DELAY_Init();
const struct pios_board_info *bdinfo = &pios_board_info_blob;
#if defined(PIOS_INCLUDE_LED)
const struct pios_gpio_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
PIOS_Assert(led_cfg);
PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */
#ifdef PIOS_INCLUDE_INSTRUMENTATION
PIOS_Instrumentation_Init(PIOS_INSTRUMENTATION_MAX_COUNTERS);
#endif
/* Set up the SPI interface to the gyro/acelerometer */
if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
PIOS_DEBUG_Assert(0);
}
/* Set up the SPI interface to the flash and rfm22b */
if (PIOS_SPI_Init(&pios_spi_telem_flash_id, &pios_spi_telem_flash_cfg)) {
PIOS_DEBUG_Assert(0);
}
#ifdef PIOS_INCLUDE_I2C
if (PIOS_I2C_Init(&pios_i2c_mag_pressure_adapter_id, &pios_i2c_mag_pressure_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
#endif
#if defined(PIOS_INCLUDE_FLASH)
/* Connect flash to the appropriate interface and configure it */
uintptr_t flash_id = 0;
// Initialize the external USER flash
if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_telem_flash_id, 1)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_external_system_cfg, &pios_jedec_flash_driver, flash_id)) {
PIOS_DEBUG_Assert(0);
}
#endif /* if defined(PIOS_INCLUDE_FLASH) */
#if defined(PIOS_INCLUDE_RTC)
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
/* IAP System Setup */
PIOS_IAP_Init();
// check for safe mode commands from gcs
if (PIOS_IAP_ReadBootCmd(0) == PIOS_IAP_CLEAR_FLASH_CMD_0 &&
PIOS_IAP_ReadBootCmd(1) == PIOS_IAP_CLEAR_FLASH_CMD_1 &&
PIOS_IAP_ReadBootCmd(2) == PIOS_IAP_CLEAR_FLASH_CMD_2) {
PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
PIOS_IAP_WriteBootCmd(0, 0);
PIOS_IAP_WriteBootCmd(1, 0);
PIOS_IAP_WriteBootCmd(2, 0);
}
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_Init();
#endif
/* Initialize the task monitor */
if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
PIOS_Assert(0);
}
/* Initialize the delayed callback library */
PIOS_CALLBACKSCHEDULER_Initialize();
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
HwSettingsInitialize();
#if defined(PIOS_INCLUDE_RFM22B)
OPLinkSettingsInitialize();
OPLinkStatusInitialize();
#endif /* PIOS_INCLUDE_RFM22B */
#if defined(PIOS_INCLUDE_HMC5X83)
AuxMagSettingsInitialize();
#endif /* PIOS_INCLUDE_HMC5X83 */
/* Initialize the alarms library */
AlarmsInitialize();
/* Set up pulse timers */
PIOS_TIM_InitClock(&tim_1_cfg);
PIOS_TIM_InitClock(&tim_2_cfg);
PIOS_TIM_InitClock(&tim_3_cfg);
PIOS_TIM_InitClock(&tim_4_cfg);
PIOS_TIM_InitClock(&tim_5_cfg);
PIOS_TIM_InitClock(&tim_8_cfg);
PIOS_TIM_InitClock(&tim_9_cfg);
PIOS_TIM_InitClock(&tim_10_cfg);
PIOS_TIM_InitClock(&tim_11_cfg);
PIOS_TIM_InitClock(&tim_12_cfg);
uint16_t boot_count = PIOS_IAP_ReadBootCount();
if (boot_count < 3) {
PIOS_IAP_WriteBootCount(++boot_count);
AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
} else {
/* Too many failed boot attempts, force hwsettings to defaults */
HwSettingsSetDefaults(HwSettingsHandle(), 0);
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
}
/* Configure IO ports */
uint8_t hwsettings_DSMxBind;
HwSettingsDSMxBindGet(&hwsettings_DSMxBind);
/* Configure FlexiPort */
uint8_t hwsettings_flexiport;
HwSettingsSPK2_FlexiPortGet(&hwsettings_flexiport);
switch (hwsettings_flexiport) {
case HWSETTINGS_SPK2_FLEXIPORT_DISABLED:
break;
case HWSETTINGS_SPK2_FLEXIPORT_TELEMETRY:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
break;
case HWSETTINGS_SPK2_FLEXIPORT_I2C:
#if defined(PIOS_INCLUDE_I2C)
#if defined(PIOS_INCLUDE_HMC5X83)
{
// get auxmag type
AuxMagSettingsTypeOptions option;
AuxMagSettingsTypeGet(&option);
// the FlexiPort type is I2C, so if the AuxMag type is Flexi(Port) then set it up
if (option == AUXMAGSETTINGS_TYPE_FLEXI) {
if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
PIOS_Assert(0);
}
PIOS_DELAY_WaitmS(50); // this was after the other PIOS_I2C_Init(), so I copied it here too
#ifdef PIOS_INCLUDE_WDG
// give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
// this is not in a loop, so it is safe
// leave this here even if PIOS_INCLUDE_HMC5X83 is undefined
// to avoid making something else fail when HMC5X83 is removed
PIOS_WDG_Clear();
#endif /* PIOS_INCLUDE_WDG */
// attach the 5x83 mag to the previously inited I2C2
flexi_port_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_flexiport_adapter_id, 0);
#ifdef PIOS_INCLUDE_WDG
// give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
// this is not in a loop, so it is safe
PIOS_WDG_Clear();
#endif /* PIOS_INCLUDE_WDG */
// add this sensor to the sensor task's list
// be careful that you don't register a slow, unimportant sensor after registering the fastest sensor
// and before registering some other fast and important sensor
// as that would cause delay and time jitter for the second fast sensor
PIOS_HMC5x83_Register(flexi_port_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
// mag alarm is cleared later, so use I2C
AlarmsSet(SYSTEMALARMS_ALARM_I2C, (flexi_port_mag) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_WARNING);
}
}
#endif /* PIOS_INCLUDE_HMC5X83 */
#endif /* PIOS_INCLUDE_I2C */
break;
case HWSETTINGS_SPK2_FLEXIPORT_GPS:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
break;
case HWSETTINGS_SPK2_FLEXIPORT_DSM:
// TODO: Define the various Channelgroup for Sparky2 dsm inputs and handle here
PIOS_Board_configure_dsm(&pios_usart_dsm_flexi_cfg, &pios_dsm_flexi_cfg,
&pios_usart_com_driver, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT, &hwsettings_DSMxBind);
break;
case HWSETTINGS_SPK2_FLEXIPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWSETTINGS_SPK2_FLEXIPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
case HWSETTINGS_SPK2_FLEXIPORT_MSP:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
case HWSETTINGS_SPK2_FLEXIPORT_OSDHK:
PIOS_Board_configure_com(&pios_usart_hkosd_flexi_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
break;
case HWSETTINGS_SPK2_FLEXIPORT_SRXL:
#if defined(PIOS_INCLUDE_SRXL)
PIOS_Board_configure_srxl(&pios_usart_srxl_flexi_cfg);
#endif /* PIOS_INCLUDE_SRXL */
break;
case HWSETTINGS_SPK2_FLEXIPORT_HOTTSUMD:
case HWSETTINGS_SPK2_FLEXIPORT_HOTTSUMH:
#if defined(PIOS_INCLUDE_HOTT)
PIOS_Board_configure_hott(&pios_usart_hott_flexi_cfg,
hwsettings_flexiport == HWSETTINGS_SPK2_FLEXIPORT_HOTTSUMD ? PIOS_HOTT_PROTO_SUMD : PIOS_HOTT_PROTO_SUMH);
#endif /* PIOS_INCLUDE_HOTT */
break;
case HWSETTINGS_SPK2_FLEXIPORT_EXBUS:
#if defined(PIOS_INCLUDE_EXBUS)
PIOS_Board_configure_exbus(&pios_usart_exbus_flexi_cfg);
#endif /* PIOS_INCLUDE_EXBUS */
break;
} /* hwsettings_spk2_flexiport */
/* Moved this here to allow binding on flexiport */
#if defined(PIOS_INCLUDE_FLASH)
if (PIOS_FLASHFS_Logfs_Init(&pios_user_fs_id, &flashfs_external_user_cfg, &pios_jedec_flash_driver, flash_id)) {
PIOS_DEBUG_Assert(0);
}
#endif /* if defined(PIOS_INCLUDE_FLASH) */
#if defined(PIOS_INCLUDE_USB)
/* Initialize board specific USB data */
PIOS_USB_BOARD_DATA_Init();
/* Flags to determine if various USB interfaces are advertised */
bool usb_hid_present = false;
bool usb_cdc_present = false;
#if defined(PIOS_INCLUDE_USB_CDC)
if (PIOS_USB_DESC_HID_CDC_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
usb_cdc_present = true;
#else
if (PIOS_USB_DESC_HID_ONLY_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
#endif
uint32_t pios_usb_id;
PIOS_USB_Init(&pios_usb_id, PIOS_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev));
#if defined(PIOS_INCLUDE_USB_CDC)
uint8_t hwsettings_usb_vcpport;
/* Configure the USB VCP port */
HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport);
if (!usb_cdc_present) {
/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED;
}
uint32_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint32_t pios_usb_hid_id;
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
switch (hwsettings_usb_vcpport) {
case HWSETTINGS_USB_VCPPORT_DISABLED:
break;
case HWSETTINGS_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
case HWSETTINGS_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
{
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
case HWSETTINGS_USB_VCPPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_debug_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
NULL, 0,
tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
#endif /* PIOS_INCLUDE_COM */
break;
}
#endif /* PIOS_INCLUDE_USB_CDC */
#if defined(PIOS_INCLUDE_USB_HID)
/* Configure the usb HID port */
uint8_t hwsettings_usb_hidport;
HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport);
if (!usb_hid_present) {
/* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED;
}
switch (hwsettings_usb_hidport) {
case HWSETTINGS_USB_HIDPORT_DISABLED:
break;
case HWSETTINGS_USB_HIDPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
}
#endif /* PIOS_INCLUDE_USB_HID */
if (usb_hid_present || usb_cdc_present) {
PIOS_USBHOOK_Activate();
}
#endif /* PIOS_INCLUDE_USB */
/* Configure main USART port */
uint8_t hwsettings_mainport;
HwSettingsSPK2_MainPortGet(&hwsettings_mainport);
switch (hwsettings_mainport) {
case HWSETTINGS_SPK2_MAINPORT_DISABLED:
break;
case HWSETTINGS_SPK2_MAINPORT_TELEMETRY:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
break;
case HWSETTINGS_SPK2_MAINPORT_GPS:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
break;
case HWSETTINGS_SPK2_MAINPORT_DSM:
// Force binding to zero on the main port
hwsettings_DSMxBind = 0;
// TODO: Define the various Channelgroup for Sparky2 dsm inputs and handle here
PIOS_Board_configure_dsm(&pios_usart_dsm_main_cfg, &pios_dsm_main_cfg,
&pios_usart_com_driver, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT, &hwsettings_DSMxBind);
break;
case HWSETTINGS_SPK2_MAINPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWSETTINGS_SPK2_MAINPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
case HWSETTINGS_SPK2_MAINPORT_MSP:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
case HWSETTINGS_SPK2_MAINPORT_OSDHK:
PIOS_Board_configure_com(&pios_usart_hkosd_main_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
break;
} /* hwsettings_spk2_mainport */
/* Initalize the RFM22B radio COM device. */
#if defined(PIOS_INCLUDE_RFM22B)
/* Fetch the OPinkSettings object. */
OPLinkSettingsData oplinkSettings;
OPLinkSettingsGet(&oplinkSettings);
// Initialize out status object.
OPLinkStatusData oplinkStatus;
OPLinkStatusGet(&oplinkStatus);
oplinkStatus.BoardType = bdinfo->board_type;
PIOS_BL_HELPER_FLASH_Read_Description(oplinkStatus.Description, OPLINKSTATUS_DESCRIPTION_NUMELEM);
PIOS_SYS_SerialNumberGetBinary(oplinkStatus.CPUSerial);
oplinkStatus.BoardRevision = bdinfo->board_rev;
/* Is the radio turned on? */
bool is_coordinator = (oplinkSettings.Coordinator == OPLINKSETTINGS_COORDINATOR_TRUE);
bool is_oneway = (oplinkSettings.OneWay == OPLINKSETTINGS_ONEWAY_TRUE);
bool ppm_mode = (oplinkSettings.PPM == OPLINKSETTINGS_PPM_TRUE);
bool ppm_only = (oplinkSettings.PPMOnly == OPLINKSETTINGS_PPMONLY_TRUE);
if (oplinkSettings.MaxRFPower != OPLINKSETTINGS_MAXRFPOWER_0) {
/* Configure the RFM22B device. */
const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, rfm22b_cfg->slave_num, rfm22b_cfg)) {
PIOS_Assert(0);
}
/* Configure the radio com interface */
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_rf_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_ENABLED;
// Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex.
enum rfm22b_datarate datarate = RFM22_datarate_64000;
switch (oplinkSettings.ComSpeed) {
case OPLINKSETTINGS_COMSPEED_4800:
datarate = RFM22_datarate_9600;
break;
case OPLINKSETTINGS_COMSPEED_9600:
datarate = RFM22_datarate_19200;
break;
case OPLINKSETTINGS_COMSPEED_19200:
datarate = RFM22_datarate_32000;
break;
case OPLINKSETTINGS_COMSPEED_38400:
datarate = RFM22_datarate_64000;
break;
case OPLINKSETTINGS_COMSPEED_57600:
datarate = RFM22_datarate_100000;
break;
case OPLINKSETTINGS_COMSPEED_115200:
datarate = RFM22_datarate_192000;
break;
}
/* Set the radio configuration parameters. */
PIOS_RFM22B_SetCoordinatorID(pios_rfm22b_id, oplinkSettings.CoordID);
PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, is_coordinator, is_oneway, ppm_mode, ppm_only);
/* Set the PPM callback if we should be receiving PPM. */
if (ppm_mode || (ppm_only && !is_coordinator)) {
PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback);
}
/* Set the modem Tx poer level */
switch (oplinkSettings.MaxRFPower) {
case OPLINKSETTINGS_MAXRFPOWER_125:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
break;
case OPLINKSETTINGS_MAXRFPOWER_16:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1);
break;
case OPLINKSETTINGS_MAXRFPOWER_316:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2);
break;
case OPLINKSETTINGS_MAXRFPOWER_63:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3);
break;
case OPLINKSETTINGS_MAXRFPOWER_126:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4);
break;
case OPLINKSETTINGS_MAXRFPOWER_25:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5);
break;
case OPLINKSETTINGS_MAXRFPOWER_50:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_6);
break;
case OPLINKSETTINGS_MAXRFPOWER_100:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_7);
break;
default:
// do nothing
break;
}
/* Reinitialize the modem. */
PIOS_RFM22B_Reinit(pios_rfm22b_id);
} else {
oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_DISABLED;
}
OPLinkStatusSet(&oplinkStatus);
#endif /* PIOS_INCLUDE_RFM22B */
#if 1
#if defined(PIOS_INCLUDE_PPM)
const struct pios_servo_cfg *pios_servo_cfg;
// default to servo outputs only
pios_servo_cfg = &pios_servo_cfg_out;
#endif
#endif
// Configure the receiver port
// Sparky2 receiver input on PC7 TIM8 CH2
// include PPM,S.Bus,DSM,SRXL,EX.Bus,HoTT SUMD,HoTT SUMH
uint8_t hwsettings_rcvrport;
HwSettingsSPK2_RcvrPortGet(&hwsettings_rcvrport);
switch (hwsettings_rcvrport) {
case HWSETTINGS_SPK2_RCVRPORT_PPM:
#if defined(PIOS_INCLUDE_PPM)
PIOS_Board_configure_ppm(&pios_ppm_cfg);
#endif /* PIOS_INCLUDE_PPM */
break;
case HWSETTINGS_SPK2_RCVRPORT_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
{
uint32_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_rcvr_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_sbus_id;
if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
uint32_t pios_sbus_rcvr_id;
if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
}
#endif
break;
case HWSETTINGS_SPK2_RCVRPORT_SRXL:
#if defined(PIOS_INCLUDE_SRXL)
PIOS_Board_configure_srxl(&pios_usart_srxl_rcvr_cfg);
#endif /* PIOS_INCLUDE_SRXL */
break;
case HWSETTINGS_SPK2_RCVRPORT_HOTTSUMD:
case HWSETTINGS_SPK2_RCVRPORT_HOTTSUMH:
#if defined(PIOS_INCLUDE_HOTT)
PIOS_Board_configure_hott(&pios_usart_hott_rcvr_cfg,
hwsettings_rcvrport == HWSETTINGS_SPK2_RCVRPORT_HOTTSUMD ? PIOS_HOTT_PROTO_SUMD : PIOS_HOTT_PROTO_SUMH);
#endif /* PIOS_INCLUDE_HOTT */
break;
case HWSETTINGS_SPK2_RCVRPORT_EXBUS:
#if defined(PIOS_INCLUDE_EXBUS)
PIOS_Board_configure_exbus(&pios_usart_exbus_rcvr_cfg);
#endif /* PIOS_INCLUDE_EXBUS */
break;
case HWSETTINGS_SPK2_RCVRPORT_DSM:
// TODO: Define the various Channelgroup for Sparky2 dsm inputs and handle here
PIOS_Board_configure_dsm(&pios_usart_dsm_rcvr_cfg, &pios_dsm_rcvr_cfg,
&pios_usart_com_driver, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMRCVRPORT, &hwsettings_DSMxBind);
break;
default:
break;
}
if (hwsettings_rcvrport != HWSETTINGS_SPK2_RCVRPORT_SBUS) {
GPIO_Init(pios_sbus_cfg.inv.gpio, &pios_sbus_cfg.inv.init);
GPIO_WriteBit(pios_sbus_cfg.inv.gpio, pios_sbus_cfg.inv.init.GPIO_Pin, pios_sbus_cfg.gpio_inv_disable);
}
#if defined(PIOS_INCLUDE_GCSRCVR)
GCSReceiverInitialize();
uint32_t pios_gcsrcvr_id;
PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
uint32_t pios_gcsrcvr_rcvr_id;
if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
#endif /* PIOS_INCLUDE_GCSRCVR */
#if defined(PIOS_INCLUDE_OPLINKRCVR)
{
OPLinkReceiverInitialize();
uint32_t pios_oplinkrcvr_id;
PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id);
uint32_t pios_oplinkrcvr_rcvr_id;
if (PIOS_RCVR_Init(&pios_oplinkrcvr_rcvr_id, &pios_oplinkrcvr_rcvr_driver, pios_oplinkrcvr_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK] = pios_oplinkrcvr_rcvr_id;
}
#endif /* PIOS_INCLUDE_OPLINKRCVR */
#if 1
#ifndef PIOS_ENABLE_DEBUG_PINS
// pios_servo_cfg points to the correct configuration based on input port settings
PIOS_Servo_Init(pios_servo_cfg);
#else
PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins));
#endif
#endif
// Disable GPIO_A8 Pullup to prevent wrong results on battery voltage readout
GPIO_InitTypeDef gpioA8 = {
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IN,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
.GPIO_Pin = GPIO_Pin_8,
.GPIO_OType = GPIO_OType_OD,
};
GPIO_Init(GPIOA, &gpioA8);
#if defined(PIOS_INCLUDE_ADC)
PIOS_ADC_Init(&pios_adc_cfg);
#endif
#if defined(PIOS_INCLUDE_MPU9250)
PIOS_MPU9250_Init(pios_spi_gyro_id, 0, &pios_mpu9250_cfg);
PIOS_MPU9250_CONFIG_Configure();
PIOS_MPU9250_MainRegister();
PIOS_MPU9250_MagRegister();
#endif
#if 0
#ifdef PIOS_INCLUDE_WDG
// give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
// this is not in a loop, so it is safe
// leave this here even if PIOS_INCLUDE_HMC5X83 is undefined
// to avoid making something else fail when HMC5X83 is removed
PIOS_WDG_Clear();
#endif /* PIOS_INCLUDE_WDG */
#if defined(PIOS_INCLUDE_HMC5X83)
// on board mag is in the MPU9250
// this hmc5x83 mag is an external mag
i2c_port_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0);
#ifdef PIOS_INCLUDE_WDG
// give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
// this is not in a loop, so it is safe
PIOS_WDG_Clear();
#endif /* PIOS_INCLUDE_WDG */
PIOS_HMC5x83_Register(i2c_port_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
#endif /* PIOS_INCLUDE_HMC5X83 */
#else /* if 0 */
#if defined(PIOS_INCLUDE_I2C)
#ifdef PIOS_INCLUDE_WDG
// give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
// this is not in a loop, so it is safe
// leave this here even if PIOS_INCLUDE_HMC5X83 is undefined
// to avoid making something else fail when HMC5X83 is removed
PIOS_WDG_Clear();
#endif /* PIOS_INCLUDE_WDG */
#if defined(PIOS_INCLUDE_HMC5X83)
// get auxmag type
HwSettingsSPK2_I2CPortOptions i2cOption;
AuxMagSettingsTypeOptions option;
HwSettingsSPK2_I2CPortGet(&i2cOption);
AuxMagSettingsTypeGet(&option);
// if the I2CPort type is I2C(Port) and the AuxMag type is I2C(Port) then set it up
if (i2cOption == HWSETTINGS_SPK2_I2CPORT_I2C && option == AUXMAGSETTINGS_TYPE_I2C) {
// attach the 5x83 mag to the previously inited I2C2
i2c_port_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0);
#ifdef PIOS_INCLUDE_WDG
// give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
// this is not in a loop, so it is safe
PIOS_WDG_Clear();
#endif /* PIOS_INCLUDE_WDG */
// add this sensor to the sensor task's list
// be careful that you don't register a slow, unimportant sensor after registering the fastest sensor
// and before registering some other fast and important sensor
// as that would cause delay and time jitter for the second fast sensor
PIOS_HMC5x83_Register(i2c_port_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
// mag alarm is cleared later, so use I2C
AlarmsSet(SYSTEMALARMS_ALARM_I2C, (i2c_port_mag) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_WARNING);
}
#endif /* PIOS_INCLUDE_HMC5X83 */
#endif /* PIOS_INCLUDE_I2C */
#endif /* 0 */
#if defined(PIOS_INCLUDE_MS5611)
PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_mag_pressure_adapter_id);
PIOS_MS5611_Register();
#endif /* PIOS_INCLUDE_MS5611 */
#ifdef PIOS_INCLUDE_WS2811
#include <pios_ws2811.h>
HwSettingsWS2811LED_OutOptions ws2811_pin_settings;
HwSettingsWS2811LED_OutGet(&ws2811_pin_settings);
if (ws2811_pin_settings != HWSETTINGS_WS2811LED_OUT_DISABLED && ws2811_pin_settings < NELEMENTS(pios_ws2811_pin_cfg)) {
PIOS_WS2811_Init(&pios_ws2811_cfg, &pios_ws2811_pin_cfg[ws2811_pin_settings]);
}
#endif // PIOS_INCLUDE_WS2811
#ifdef PIOS_INCLUDE_ADC
{
uint8_t adc_config[HWSETTINGS_ADCROUTING_NUMELEM];
HwSettingsADCRoutingArrayGet(adc_config);
for (uint32_t i = 0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
if (adc_config[i] != HWSETTINGS_ADCROUTING_DISABLED) {
PIOS_ADC_PinSetup(i);
}
}
}
#endif // PIOS_INCLUDE_ADC
}
/**
* @}
* @}
*/

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/**
******************************************************************************
*
* @file pios_board.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Defines board specific static initializers for hardware for the OpenPilot board.
* @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 "inc/openpilot.h"
#include <pios_com_priv.h>
#include <pios_tcp_priv.h>
#include <pios_udp_priv.h>
#include <pios_rcvr_priv.h>
#include <pios_gcsrcvr_priv.h>
#include <uavobjectsinit.h>
#include <accelssensor.h>
#include <barosensor.h>
#include <gpspositionsensor.h>
#include <gyrosensor.h>
#include <magsensor.h>
#include <manualcontrolsettings.h>
void Stack_Change() {}
void Stack_Change_Weak() {}
const struct pios_tcp_cfg pios_tcp_telem_cfg = {
.ip = "0.0.0.0",
.port = 9001,
};
const struct pios_udp_cfg pios_udp_telem_cfg = {
.ip = "0.0.0.0",
.port = 9001,
};
const struct pios_tcp_cfg pios_tcp_gps_cfg = {
.ip = "0.0.0.0",
.port = 9001,
};
const struct pios_tcp_cfg pios_tcp_debug_cfg = {
.ip = "0.0.0.0",
.port = 9002,
};
#ifdef PIOS_COM_AUX
/*
* AUX USART
*/
const struct pios_tcp_cfg pios_tcp_aux_cfg = {
.ip = "0.0.0.0",
.port = 9003,
};
#endif
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
#define PIOS_COM_GPS_RX_BUF_LEN 96
/*
* Board specific number of devices.
*/
/*
struct pios_udp_dev pios_udp_devs[] = {
#define PIOS_UDP_TELEM 0
{
.cfg = &pios_udp0_cfg,
},
#define PIOS_UDP_GPS 1
{
.cfg = &pios_udp1_cfg,
},
#define PIOS_UDP_LOCAL 2
{
.cfg = &pios_udp2_cfg,
},
#ifdef PIOS_COM_AUX
#define PIOS_UDP_AUX 3
{
.cfg = &pios_udp3_cfg,
},
#endif
};
uint8_t pios_udp_num_devices = NELEMENTS(pios_udp_devs);
*/
/*
* COM devices
*/
/*
* Board specific number of devices.
*/
extern const struct pios_com_driver pios_serial_com_driver;
extern const struct pios_com_driver pios_udp_com_driver;
extern const struct pios_com_driver pios_tcp_com_driver;
uint32_t pios_com_telem_rf_id;
uint32_t pios_com_telem_usb_id;
uint32_t pios_com_gps_id;
uint32_t pios_com_aux_id;
uint32_t pios_com_spectrum_id;
uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
/**
* PIOS_Board_Init()
* initializes all the core systems on this specific hardware
* called from System/openpilot.c
*/
void PIOS_Board_Init(void)
{
/* Delay system */
PIOS_DELAY_Init();
/* Initialize the delayed callback library */
PIOS_CALLBACKSCHEDULER_Initialize();
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
UAVObjectsInitializeAll();
AccelSensorInitialize();
BaroSensorInitialize();
MagSensorInitialize();
GPSPositionSensorInitialize();
GyroSensorInitialize();
/* Initialize the alarms library */
AlarmsInitialize();
/* Initialize the task monitor */
if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
PIOS_Assert(0);
}
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && 1
{
uint32_t pios_tcp_telem_rf_id;
if (PIOS_TCP_Init(&pios_tcp_telem_rf_id, &pios_tcp_telem_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_tcp_com_driver, pios_tcp_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_TELEMETRY_RF */
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && 0
{
uint32_t pios_udp_telem_rf_id;
if (PIOS_UDP_Init(&pios_udp_telem_rf_id, &pios_udp_telem_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_udp_com_driver, pios_udp_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_TELEMETRY_RF */
#if defined(PIOS_INCLUDE_GPS)
{
uint32_t pios_tcp_gps_id;
if (PIOS_TCP_Init(&pios_tcp_gps_id, &pios_tcp_gps_cfg)) {
PIOS_Assert(0);
}
uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
if (PIOS_COM_Init(&pios_com_gps_id, &pios_tcp_com_driver, pios_tcp_gps_id,
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
NULL, 0)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_GPS */
#endif /* if defined(PIOS_INCLUDE_COM) */
#if defined(PIOS_INCLUDE_GCSRCVR)
GCSReceiverInitialize();
uint32_t pios_gcsrcvr_id;
PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
uint32_t pios_gcsrcvr_rcvr_id;
if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
#endif /* PIOS_INCLUDE_GCSRCVR */
}
/**
* @}
*/

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flight/targets/boards/sparky2/firmware/sparky2.cpp Normal file
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/**
****************************************************************************************
* @addtogroup LibrePilotSystem LibrePilot System
* @brief These files are the core system files for Sparky2.
* They are the ground layer just above PiOS. In practice, Sparky2 actually starts
* in the main() function of sparky2.cpp
* @{
* @addtogroup LibrePilotCore LibrePilot Core
* @brief This is where the LP firmware starts. Those files also define the compile-time
* options of the firmware.
* @{
* @file sparky2.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2015
* @brief Sets up and runs main tasks.
* @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
*/
extern "C" {
#include "inc/openpilot.h"
#include <uavobjectsinit.h>
#include <systemmod.h>
/* Global Variables */
/* Local Variables */
}
/**
* OpenPilot Main function:
*
* Initialize PiOS<BR>
* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
* Start FreeRTOS Scheduler (vTaskStartScheduler)<BR>
* If something goes wrong, blink LED1 and LED2 every 100ms
*
*/
int main()
{
/* NOTE: Do NOT modify the following start-up sequence */
/* Any new initialization functions should be added in OpenPilotInit() */
vPortInitialiseBlocks();
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
SystemModStart();
/* Start the FreeRTOS scheduler */
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* Do some PIOS_LED_HEARTBEAT to user that something bad just happened */
PIOS_LED_Off(PIOS_LED_HEARTBEAT); \
for (;;) { \
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT); \
PIOS_DELAY_WaitmS(100); \
}
;
return 0;
}
/**
* @}
* @}
*/

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flight/targets/boards/sparky2/pios_board.h Normal file
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/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
* @file pios_board.h
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @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 PIOS_BOARD_H
#define PIOS_BOARD_H
#include <stdbool.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 - SPI1 RX */
/* Channel 3 - SPI1 TX */
/* Channel 4 - SPI2 RX */
/* Channel 5 - SPI2 TX */
/* 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
#define PIOS_LED_ALARM 1
#define PIOS_LED_LINK 2
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
#define PIOS_LED_D1 2
#define PIOS_LED_D2 3
#define PIOS_LED_D3 4
#define PIOS_LED_D4 5
#define D1_LED_ON PIOS_LED_On(PIOS_LED_D1)
#define D1_LED_OFF PIOS_LED_Off(PIOS_LED_D1)
#define D1_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D1)
#define D2_LED_ON PIOS_LED_On(PIOS_LED_D2)
#define D2_LED_OFF PIOS_LED_Off(PIOS_LED_D2)
#define D2_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D2)
#define D3_LED_ON PIOS_LED_On(PIOS_LED_D3)
#define D3_LED_OFF PIOS_LED_Off(PIOS_LED_D3)
#define D3_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D3)
#define D4_LED_ON PIOS_LED_On(PIOS_LED_D4)
#define D4_LED_OFF PIOS_LED_Off(PIOS_LED_D4)
#define D4_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D4)
#endif /* PIOS_RFM22B_DEBUG_ON_TELEM */
// ------------------------
// PIOS_SPI
// See also pios_board.c
// ------------------------
#define PIOS_SPI_MAX_DEVS 3
// ------------------------
// PIOS_WDG
// ------------------------
#define PIOS_WATCHDOG_TIMEOUT 250
#define PIOS_WDG_REGISTER RTC_BKP_DR4
#define PIOS_WDG_ACTUATOR 0x0001
#define PIOS_WDG_STABILIZATION 0x0002
#define PIOS_WDG_ATTITUDE 0x0004
#define PIOS_WDG_MANUAL 0x0008
#define PIOS_WDG_SENSORS 0x0010
// ------------------------
// PIOS_I2C
// See also pios_board.c
// ------------------------
#define PIOS_I2C_MAX_DEVS 3
extern uint32_t pios_i2c_mag_pressure_adapter_id;
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_mag_pressure_adapter_id)
extern uint32_t pios_i2c_flexiport_adapter_id;
#define PIOS_I2C_FLEXI_ADAPTER (pios_i2c_flexiport_adapter_id)
#define PIOS_I2C_ETASV3_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
#define PIOS_I2C_MS4525DO_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
// -------------------------
// PIOS_USART
//
// See also pios_board.c
// -------------------------
#define PIOS_USART_MAX_DEVS 5
// -------------------------
// PIOS_COM
//
// See also pios_board.c
// -------------------------
#define PIOS_COM_MAX_DEVS 4
extern uint32_t pios_com_telem_rf_id;
extern uint32_t pios_com_rf_id;
extern uint32_t pios_com_gps_id;
extern uint32_t pios_com_telem_usb_id;
extern uint32_t pios_com_bridge_id;
extern uint32_t pios_com_vcp_id;
extern uint32_t pios_com_hkosd_id;
#define PIOS_COM_GPS (pios_com_gps_id)
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
#define PIOS_COM_RF (pios_com_rf_id)
#define PIOS_COM_BRIDGE (pios_com_bridge_id)
#define PIOS_COM_VCP (pios_com_vcp_id)
#define PIOS_COM_OSDHK (pios_com_hkosd_id)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
extern uint32_t pios_com_debug_id;
#define PIOS_COM_DEBUG (pios_com_debug_id)
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
#if defined(PIOS_INCLUDE_RFM22B)
extern uint32_t pios_rfm22b_id;
extern uint32_t pios_spi_telem_flash_id;
#define PIOS_RFM22_SPI_PORT (pios_spi_telem_flash_id)
#endif /* PIOS_INCLUDE_RFM22B */
// -------------------------
// Packet Handler
// -------------------------
#define RS_ECC_NPARITY 4
#define PIOS_PH_MAX_PACKET 255
#define PIOS_PH_WIN_SIZE 3
#define PIOS_PH_MAX_CONNECTIONS 1
extern uint32_t pios_packet_handler;
#define PIOS_PACKET_HANDLER (pios_packet_handler)
// ------------------------
// TELEMETRY
// ------------------------
#define TELEM_QUEUE_SIZE 80
#define PIOS_TELEM_STACK_SIZE 800
// -------------------------
// System Settings
//
// See also System_stm32f4xx.c
// -------------------------
// These macros are deprecated
// please use PIOS_PERIPHERAL_APBx_CLOCK According to the table below
// #define PIOS_MASTER_CLOCK
// #define PIOS_PERIPHERAL_CLOCK
// #define PIOS_PERIPHERAL_CLOCK
#define PIOS_SYSCLK 168000000
// Peripherals that belongs to APB1 are:
// DAC |PWR |CAN1,2
// I2C1,2,3 |UART4,5 |USART3,2
// I2S3Ext |SPI3/I2S3 |SPI2/I2S2
// I2S2Ext |IWDG |WWDG
// RTC/BKP reg
// TIM2,3,4,5,6,7,12,13,14
// Calculated as SYSCLK / APBPresc * (APBPre == 1 ? 1 : 2)
// Default APB1 Prescaler = 4
#define PIOS_PERIPHERAL_APB1_CLOCK (PIOS_SYSCLK / 2)
// Peripherals belonging to APB2
// SDIO |EXTI |SYSCFG |SPI1
// ADC1,2,3
// USART1,6
// TIM1,8,9,10,11
//
// Default APB2 Prescaler = 2
//
#define PIOS_PERIPHERAL_APB2_CLOCK PIOS_SYSCLK
// -------------------------
// 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_RCVR
// See also pios_board.c
// ------------------------
#define PIOS_RCVR_MAX_DEVS 3
#define PIOS_RCVR_MAX_CHANNELS 12
#define PIOS_GCSRCVR_TIMEOUT_MS 100
#define PIOS_RFM22B_RCVR_TIMEOUT_MS 200
#define PIOS_OPLINK_RCVR_TIMEOUT_MS 100
// -------------------------
// Receiver PPM input
// -------------------------
#define PIOS_PPM_MAX_DEVS 1
#define PIOS_PPM_NUM_INPUTS 12
// -------------------------
// Receiver PWM input
// -------------------------
#define PIOS_PWM_MAX_DEVS 1
#define PIOS_PWM_NUM_INPUTS 8
// -------------------------
// Receiver SPEKTRUM input
// -------------------------
#define PIOS_SPEKTRUM_MAX_DEVS 2
#define PIOS_SPEKTRUM_NUM_INPUTS 12
// -------------------------
// Receiver S.Bus input
// -------------------------
#define PIOS_SBUS_MAX_DEVS 1
#define PIOS_SBUS_NUM_INPUTS (16 + 2)
// -------------------------
// Receiver HOTT input
// -------------------------
#define PIOS_HOTT_MAX_DEVS 1
#define PIOS_HOTT_NUM_INPUTS 32
// -------------------------
// Receiver EX.Bus input
// -------------------------
#define PIOS_EXBUS_MAX_DEVS 1
#define PIOS_EXBUS_NUM_INPUTS 16
// -------------------------
// Receiver Multiplex SRXL input
// -------------------------
#define PIOS_SRXL_MAX_DEVS 1
#define PIOS_SRXL_NUM_INPUTS 16
// -------------------------
// Receiver DSM input
// -------------------------
#define PIOS_DSM_MAX_DEVS 2
#define PIOS_DSM_NUM_INPUTS 12
// -------------------------
// Servo outputs
// -------------------------
#define PIOS_SERVO_UPDATE_HZ 50
#define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
#define PIOS_SERVO_BANKS 6
// --------------------------
// Timer controller settings
// --------------------------
#define PIOS_TIM_MAX_DEVS 6
// -------------------------
// ADC
// PIOS_ADC_PinGet(0) = Current sensor
// PIOS_ADC_PinGet(1) = Voltage sensor
// PIOS_ADC_PinGet(4) = VREF
// PIOS_ADC_PinGet(5) = Temperature sensor
// -------------------------
#define PIOS_DMA_PIN_CONFIG \
{ \
{ GPIOC, GPIO_Pin_3, ADC_Channel_13, false }, /* batt/sonar pin 3 */ \
{ GPIOC, GPIO_Pin_2, ADC_Channel_12, false }, /* batt/sonar pin 4 */ \
{ GPIOA, GPIO_Pin_3, ADC_Channel_3, false }, /* Servo pin 3 */ \
{ GPIOA, GPIO_Pin_2, ADC_Channel_2, false }, /* Servo pin 4 */ \
{ GPIOA, GPIO_Pin_1, ADC_Channel_1, false }, /* Servo pin 5 */ \
{ GPIOA, GPIO_Pin_0, ADC_Channel_9, false }, /* Servo pin 6 */ \
{ NULL, 0, ADC_Channel_Vrefint, false }, /* Voltage reference */ \
{ NULL, 0, ADC_Channel_TempSensor, false }, /* Temperature sensor */ \
}
/* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */
/* which is annoying because this then determines the rate at which we generate buffer turnover events */
/* the objective here is to get enough buffer space to support 100Hz averaging rate */
#define PIOS_ADC_NUM_CHANNELS 8
#define PIOS_ADC_MAX_OVERSAMPLING 2
#define PIOS_ADC_USE_ADC2 0
#define PIOS_ADC_USE_TEMP_SENSOR
#define PIOS_ADC_TEMPERATURE_PIN 7
// -------------------------
// USB
// -------------------------
#define PIOS_USB_MAX_DEVS 1
#define PIOS_USB_ENABLED 1 /* Should remove all references to this */
#define PIOS_USB_HID_MAX_DEVS 1
#endif /* PIOS_BOARD_H */
/**
* @}
* @}
*/

99
flight/targets/boards/sparky2/pios_usb_board_data.c Normal file
View File

@ -0,0 +1,99 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_USB_BOARD Board specific USB definitions
* @brief Board specific USB definitions
* @{
*
* @file pios_usb_board_data.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Board specific USB 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
*/
#include "inc/pios_usb_board_data.h" /* struct usb_*, USB_* */
#include <pios_sys.h> /* PIOS_SYS_SerialNumberGet */
#include <pios_usbhook.h> /* PIOS_USBHOOK_* */
#include <pios_usb_util.h> /* PIOS_USB_UTIL_AsciiToUtf8 */
static const uint8_t usb_product_id[22] = {
sizeof(usb_product_id),
USB_DESC_TYPE_STRING,
'S', 0,
'p', 0,
'a', 0,
'r', 0,
'k', 0,
'y', 0,
' ', 0,
'2', 0,
'.', 0,
'0', 0,
};
static uint8_t usb_serial_number[2 + PIOS_SYS_SERIAL_NUM_ASCII_LEN * 2 + (sizeof(PIOS_USB_BOARD_SN_SUFFIX) - 1) * 2] = {
sizeof(usb_serial_number),
USB_DESC_TYPE_STRING,
};
static const struct usb_string_langid usb_lang_id = {
.bLength = sizeof(usb_lang_id),
.bDescriptorType = USB_DESC_TYPE_STRING,
.bLangID = htousbs(USB_LANGID_ENGLISH_US),
};
static const uint8_t usb_vendor_id[28] = {
sizeof(usb_vendor_id),
USB_DESC_TYPE_STRING,
'o', 0,
'p', 0,
'e', 0,
'n', 0,
'p', 0,
'i', 0,
'l', 0,
'o', 0,
't', 0,
'.', 0,
'o', 0,
'r', 0,
'g', 0
};
int32_t PIOS_USB_BOARD_DATA_Init(void)
{
/* Load device serial number into serial number string */
uint8_t sn[PIOS_SYS_SERIAL_NUM_ASCII_LEN + 1];
PIOS_SYS_SerialNumberGet((char *)sn);
/* Concatenate the device serial number and the appropriate suffix ("+BL" or "+FW") into the USB serial number */
uint8_t *utf8 = &(usb_serial_number[2]);
utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, sn, PIOS_SYS_SERIAL_NUM_ASCII_LEN);
utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, (uint8_t *)PIOS_USB_BOARD_SN_SUFFIX, sizeof(PIOS_USB_BOARD_SN_SUFFIX) - 1);
PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id));
PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number));
PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id));
PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id));
return 0;
}

13
flight/targets/common/bootloader_updater/main.c
View File

@ -78,9 +78,16 @@ int main()
struct pios_board_info *new_board_info_blob = (struct pios_board_info *)((uint32_t)embedded_image_start + board_info_blob_offset);
/* Compare the two board info blobs to make sure they're for the same HW revision */
if ((pios_board_info_blob.magic != new_board_info_blob->magic) ||
(pios_board_info_blob.board_type != new_board_info_blob->board_type) ||
(pios_board_info_blob.board_rev != new_board_info_blob->board_rev)) {
if ((pios_board_info_blob.magic != new_board_info_blob->magic)
#if PIOS_USB_BOARD_PRODUCT_ID == USB_PRODUCT_ID_SPARKY2
|| (((pios_board_info_blob.board_type != new_board_info_blob->board_type)
|| (pios_board_info_blob.board_rev != new_board_info_blob->board_rev))
&& ((pios_board_info_blob.board_type != 0x0b) || (pios_board_info_blob.board_rev != 0x01)))
#else
|| (pios_board_info_blob.board_type != new_board_info_blob->board_type)
|| (pios_board_info_blob.board_rev != new_board_info_blob->board_rev)
#endif
) {
error(PIOS_LED_HEARTBEAT, 2);
}

16
ground/gcs/src/experimental/USB_UPLOAD_TOOL/main.cpp
View File

@ -15,8 +15,8 @@ int main(int argc, char *argv[])
bool use_serial = false;
bool verify;
bool debug = false;
bool umodereset = false;
OP_DFU::Actions action;
// bool umodereset = false;
OP_DFU::Actions action = OP_DFU::actionNone;
QString file;
QString serialport;
QString description;
@ -27,7 +27,7 @@ int main(int argc, char *argv[])
debug = true;
}
if (args.contains("-ur")) {
umodereset = true;
// umodereset = true;
}
standardOutput << "OpenPilot serial firmware uploader tool." << endl;
if (args.indexOf(PROGRAMFW) + 1 < args.length()) {
@ -57,17 +57,17 @@ int main(int argc, char *argv[])
}
action = OP_DFU::actionProgram;
} else if (args.contains(COMPARECRC) || args.contains(COMPAREALL)) {
int index;
// int index;
if (args.contains(COMPARECRC)) {
index = args.indexOf(COMPARECRC);
// index = args.indexOf(COMPARECRC);
action = OP_DFU::actionCompareCrc;
} else {
index = args.indexOf(COMPAREALL);
// index = args.indexOf(COMPAREALL);
action = OP_DFU::actionCompareAll;
}
} else if (args.contains(DOWNLOAD)) {
int index;
index = args.indexOf(DOWNLOAD);
// int index;
// index = args.indexOf(DOWNLOAD);
action = OP_DFU::actionDownload;
} else if (args.contains(STATUSREQUEST)) {
action = OP_DFU::actionStatusReq;

14
ground/gcs/src/experimental/USB_UPLOAD_TOOL/op_dfu.cpp
View File

@ -1119,11 +1119,12 @@ int DFUObject::receiveData(void *data, int size)
}
}
#define BOARD_ID_MB 1
#define BOARD_ID_INS 2
#define BOARD_ID_PIP 3
#define BOARD_ID_CC 4
#define BOARD_ID_REVO 9
#define BOARD_ID_MB 1
#define BOARD_ID_INS 2
#define BOARD_ID_PIP 3
#define BOARD_ID_CC 4
#define BOARD_ID_REVO 9
#define BOARD_ID_SPARKY2 0x92
/**
Gets the type of board connected
@ -1152,6 +1153,9 @@ OP_DFU::eBoardType DFUObject::GetBoardType(int boardNum)
case BOARD_ID_REVO: // Revo board
brdType = eBoardRevo;
break;
case BOARD_ID_SPARKY2: // Sparky2 board
brdType = eBoardSparky2;
break;
}
return brdType;
}

2
ground/gcs/src/experimental/USB_UPLOAD_TOOL/op_dfu.h
View File

@ -75,6 +75,7 @@ enum Status {
};
enum Actions {
actionNone,
actionProgram,
actionProgramAndVerify,
actionDownload,
@ -109,6 +110,7 @@ enum eBoardType {
eBoardPip = 3,
eBoardCC = 4,
eBoardRevo = 9,
eBoardSparky2 = 0x92,
};
struct device {

3
ground/gcs/src/libs/osgearth/osgQtQuick/OSGViewport.cpp
View File

@ -620,8 +620,9 @@ QSGNode *OSGViewport::updatePaintNode(QSGNode *node, QQuickItem::UpdatePaintNode
if (!node) {
node = QQuickFramebufferObject::updatePaintNode(node, nodeData);
QSGSimpleTextureNode *n = static_cast<QSGSimpleTextureNode *>(node);
if (n)
if (n) {
n->setTextureCoordinatesTransform(QSGSimpleTextureNode::MirrorVertically);
}
return node;
}
return QQuickFramebufferObject::updatePaintNode(node, nodeData);

3
ground/gcs/src/plugins/config/config.pro
View File

@ -55,6 +55,7 @@ HEADERS += \
calibration/calibrationuiutils.h \
configoplinkwidget.h \
configrevonanohwwidget.h \
configsparky2hwwidget.h \
failsafechannelform.h
SOURCES += \
@ -97,6 +98,7 @@ SOURCES += \
calibration/gyrobiascalibrationmodel.cpp \
configoplinkwidget.cpp \
configrevonanohwwidget.cpp \
configsparky2hwwidget.cpp \
failsafechannelform.cpp
FORMS += \
@ -123,6 +125,7 @@ FORMS += \
configrevohwwidget.ui \
oplink.ui \
configrevonanohwwidget.ui \
configsparky2hwwidget.ui \
failsafechannelform.ui
OTHER_FILES += \

1
ground/gcs/src/plugins/config/configgadget.qrc
View File

@ -57,5 +57,6 @@
<file>images/error.svg</file>
<file>images/nano_top.png</file>
<file>images/cc3d_top.png</file>
<file>images/sparky2_top.png</file>
</qresource>
</RCC>

10
ground/gcs/src/plugins/config/configgadgetwidget.cpp
View File

@ -2,7 +2,8 @@
******************************************************************************
*
* @file configgadgetwidget.cpp
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -39,6 +40,7 @@
#include "configoplinkwidget.h"
#include "configrevowidget.h"
#include "configrevonanohwwidget.h"
#include "configsparky2hwwidget.h"
#include "defaultattitudewidget.h"
#include "defaulthwsettingswidget.h"
#include "uavobjectutilmanager.h"
@ -200,6 +202,12 @@ void ConfigGadgetWidget::onAutopilotConnect()
qwd = new ConfigRevoNanoHWWidget(this);
}
stackWidget->replaceTab(ConfigGadgetWidget::hardware, qwd);
} else if ((board & 0xff00) == 0x9200) {
// Sparky2
QWidget *qwd = new ConfigRevoWidget(this);
stackWidget->replaceTab(ConfigGadgetWidget::sensors, qwd);
qwd = new ConfigSparky2HWWidget(this);
stackWidget->replaceTab(ConfigGadgetWidget::hardware, qwd);
} else {
// Unknown board
qDebug() << "Unknown board " << board;

9
ground/gcs/src/plugins/config/configoplinkwidget.cpp
View File

@ -1,5 +1,5 @@
/**
******************************************************************************
****************************************************************************************
*
* @file configoplinkwidget.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
@ -9,7 +9,7 @@
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief The Configuration Gadget used to configure the OPLink and Revo modem
*****************************************************************************/
***************************************************************************************/
/*
* 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
@ -207,7 +207,8 @@ void ConfigOPLinkWidget::updateSettings(UAVObject *object)
// Enable components based on the board type connected.
UAVObjectField *board_type_field = oplinkStatusObj->getField("BoardType");
switch (board_type_field->getValue().toInt()) {
case 0x09: // Revolution
case 0x09: // Revolution, DiscoveryF4Bare, RevoNano, RevoProto
case 0x92: // Sparky2
m_oplink->MainPort->setVisible(false);
m_oplink->MainPortLabel->setVisible(false);
m_oplink->FlexiPort->setVisible(false);
@ -231,7 +232,7 @@ void ConfigOPLinkWidget::updateSettings(UAVObject *object)
connect(m_oplink->MainPort, SIGNAL(currentIndexChanged(int)), this, SLOT(updatePPMOptions()));
connect(m_oplink->FlexiPort, SIGNAL(currentIndexChanged(int)), this, SLOT(updatePPMOptions()));
break;
case 0x0A: // OPLink?
case 0x0a: // OPLink? (No. This is wrong. 0x0A is gpsplatinum.)
m_oplink->MainPort->setVisible(true);
m_oplink->MainPortLabel->setVisible(true);
m_oplink->FlexiPort->setVisible(true);

4
ground/gcs/src/plugins/config/configoutputwidget.cpp
View File

@ -381,6 +381,10 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject *obj)
// Revolution Nano
bankLabels << "1 (1)" << "2 (2,7,11)" << "3 (3)" << "4 (4)" << "5 (5-6)" << "6 (8-10,12)";
channelBanks << 1 << 2 << 3 << 4 << 5 << 5 << 2 << 6 << 6 << 6 << 2 << 6;
} else if (board == 0x9201) {
// Sparky2
bankLabels << "1 (1-2)" << "2 (3)" << "3 (4)" << "4 (5-6)" << "5 (7-8)" << "6 (9-10)";
channelBanks << 1 << 1 << 2 << 3 << 4 << 4 << 5 << 5 << 6 << 6;
}
}

288
ground/gcs/src/plugins/config/configsparky2hwwidget.cpp Normal file
View File

@ -0,0 +1,288 @@
/**
******************************************************************************
*
* @file configsparky2hwwidget.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Sparky2 hardware configuration panel
*****************************************************************************/
/*
* 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 "configsparky2hwwidget.h"
#include "ui_configsparky2hwwidget.h"
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
#include "hwsettings.h"
#include <QDebug>
#include <QDesktopServices>
#include <QUrl>
#include <QMessageBox>
ConfigSparky2HWWidget::ConfigSparky2HWWidget(QWidget *parent) : ConfigTaskWidget(parent), m_refreshing(true)
{
m_ui = new Ui_Sparky2HWWidget();
m_ui->setupUi(this);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
if (!settings->useExpertMode()) {
m_ui->saveTelemetryToRAM->setEnabled(false);
m_ui->saveTelemetryToRAM->setVisible(false);
}
addApplySaveButtons(m_ui->saveTelemetryToRAM, m_ui->saveTelemetryToSD);
addWidgetBinding("HwSettings", "SPK2_FlexiPort", m_ui->cbFlexi);
addWidgetBinding("HwSettings", "SPK2_MainPort", m_ui->cbMain);
addWidgetBinding("HwSettings", "SPK2_RcvrPort", m_ui->cbRcvr);
addWidgetBinding("HwSettings", "SPK2_I2CPort", m_ui->cbI2C);
addWidgetBinding("HwSettings", "USB_HIDPort", m_ui->cbUSBHIDFunction);
addWidgetBinding("HwSettings", "USB_VCPPort", m_ui->cbUSBVCPFunction);
addWidgetBinding("HwSettings", "ComUsbBridgeSpeed", m_ui->cbUSBVCPSpeed);
addWidgetBinding("HwSettings", "TelemetrySpeed", m_ui->cbFlexiTelemSpeed);
addWidgetBinding("HwSettings", "GPSSpeed", m_ui->cbFlexiGPSSpeed);
addWidgetBinding("HwSettings", "ComUsbBridgeSpeed", m_ui->cbFlexiComSpeed);
addWidgetBinding("HwSettings", "TelemetrySpeed", m_ui->cbMainTelemSpeed);
addWidgetBinding("HwSettings", "GPSSpeed", m_ui->cbMainGPSSpeed);
addWidgetBinding("HwSettings", "ComUsbBridgeSpeed", m_ui->cbMainComSpeed);
// Add Gps protocol configuration
addWidgetBinding("GPSSettings", "DataProtocol", m_ui->cbMainGPSProtocol);
addWidgetBinding("GPSSettings", "DataProtocol", m_ui->cbFlexiGPSProtocol);
connect(m_ui->cchwHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
setupCustomCombos();
enableControls(true);
populateWidgets();
refreshWidgetsValues();
forceConnectedState();
m_refreshing = false;
}
ConfigSparky2HWWidget::~ConfigSparky2HWWidget()
{
// Do nothing
}
void ConfigSparky2HWWidget::setupCustomCombos()
{
connect(m_ui->cbUSBHIDFunction, SIGNAL(currentIndexChanged(int)), this, SLOT(usbHIDPortChanged(int)));
connect(m_ui->cbUSBVCPFunction, SIGNAL(currentIndexChanged(int)), this, SLOT(usbVCPPortChanged(int)));
// m_ui->cbSonar->addItem(tr("Disabled"));
// m_ui->cbSonar->setCurrentIndex(0);
// m_ui->cbSonar->setEnabled(false);
connect(m_ui->cbFlexi, SIGNAL(currentIndexChanged(int)), this, SLOT(flexiPortChanged(int)));
connect(m_ui->cbMain, SIGNAL(currentIndexChanged(int)), this, SLOT(mainPortChanged(int)));
}
void ConfigSparky2HWWidget::refreshWidgetsValues(UAVObject *obj)
{
m_refreshing = true;
ConfigTaskWidget::refreshWidgetsValues(obj);
usbVCPPortChanged(0);
mainPortChanged(0);
flexiPortChanged(0);
m_refreshing = false;
}
void ConfigSparky2HWWidget::updateObjectsFromWidgets()
{
ConfigTaskWidget::updateObjectsFromWidgets();
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings::DataFields data = hwSettings->getData();
// If any port is configured to be GPS port, enable GPS module if it is not enabled.
// Otherwise disable GPS module.
if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::SPK2_FLEXIPORT_GPS)
|| isComboboxOptionSelected(m_ui->cbMain, HwSettings::SPK2_MAINPORT_GPS)) {
data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = HwSettings::OPTIONALMODULES_ENABLED;
} else {
data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = HwSettings::OPTIONALMODULES_DISABLED;
}
hwSettings->setData(data);
}
void ConfigSparky2HWWidget::usbVCPPortChanged(int index)
{
Q_UNUSED(index);
bool vcpComBridgeEnabled = isComboboxOptionSelected(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_COMBRIDGE);
m_ui->lblUSBVCPSpeed->setVisible(vcpComBridgeEnabled);
m_ui->cbUSBVCPSpeed->setVisible(vcpComBridgeEnabled);
if (!vcpComBridgeEnabled && isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::SPK2_FLEXIPORT_COMBRIDGE)) {
setComboboxSelectedOption(m_ui->cbFlexi, HwSettings::SPK2_FLEXIPORT_DISABLED);
}
enableComboBoxOptionItem(m_ui->cbFlexi, HwSettings::SPK2_FLEXIPORT_COMBRIDGE, vcpComBridgeEnabled);
if (!vcpComBridgeEnabled && isComboboxOptionSelected(m_ui->cbMain, HwSettings::SPK2_MAINPORT_COMBRIDGE)) {
setComboboxSelectedOption(m_ui->cbMain, HwSettings::SPK2_MAINPORT_DISABLED);
}
enableComboBoxOptionItem(m_ui->cbMain, HwSettings::SPK2_MAINPORT_COMBRIDGE, vcpComBridgeEnabled);
// _DEBUGCONSOLE modes are mutual exclusive
if (isComboboxOptionSelected(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_DEBUGCONSOLE)) {
if (isComboboxOptionSelected(m_ui->cbMain, HwSettings::SPK2_MAINPORT_DEBUGCONSOLE)) {
setComboboxSelectedOption(m_ui->cbMain, HwSettings::SPK2_MAINPORT_DISABLED);
}
if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::SPK2_FLEXIPORT_DEBUGCONSOLE)) {
setComboboxSelectedOption(m_ui->cbFlexi, HwSettings::SPK2_FLEXIPORT_DISABLED);
}
}
// _USBTELEMETRY modes are mutual exclusive
if (isComboboxOptionSelected(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_USBTELEMETRY)
&& isComboboxOptionSelected(m_ui->cbUSBHIDFunction, HwSettings::USB_HIDPORT_USBTELEMETRY)) {
setComboboxSelectedOption(m_ui->cbUSBHIDFunction, HwSettings::USB_HIDPORT_DISABLED);
}
}
void ConfigSparky2HWWidget::usbHIDPortChanged(int index)
{
Q_UNUSED(index);
// _USBTELEMETRY modes are mutual exclusive
if (isComboboxOptionSelected(m_ui->cbUSBHIDFunction, HwSettings::USB_HIDPORT_USBTELEMETRY)
&& isComboboxOptionSelected(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_USBTELEMETRY)) {
setComboboxSelectedOption(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_DISABLED);
}
}
void ConfigSparky2HWWidget::flexiPortChanged(int index)
{
Q_UNUSED(index);
m_ui->cbFlexiTelemSpeed->setVisible(false);
m_ui->cbFlexiGPSSpeed->setVisible(false);
m_ui->cbFlexiComSpeed->setVisible(false);
m_ui->lblFlexiSpeed->setVisible(true);
// Add Gps protocol configuration
m_ui->cbFlexiGPSProtocol->setVisible(false);
m_ui->lbFlexiGPSProtocol->setVisible(false);
switch (getComboboxSelectedOption(m_ui->cbFlexi)) {
case HwSettings::SPK2_FLEXIPORT_TELEMETRY:
m_ui->cbFlexiTelemSpeed->setVisible(true);
if (isComboboxOptionSelected(m_ui->cbMain, HwSettings::SPK2_MAINPORT_TELEMETRY)) {
setComboboxSelectedOption(m_ui->cbMain, HwSettings::SPK2_MAINPORT_DISABLED);
}
break;
case HwSettings::SPK2_FLEXIPORT_GPS:
// Add Gps protocol configuration
m_ui->cbFlexiGPSProtocol->setVisible(true);
m_ui->lbFlexiGPSProtocol->setVisible(true);
m_ui->cbFlexiGPSSpeed->setVisible(true);
if (isComboboxOptionSelected(m_ui->cbMain, HwSettings::SPK2_MAINPORT_GPS)) {
setComboboxSelectedOption(m_ui->cbMain, HwSettings::SPK2_MAINPORT_DISABLED);
}
break;
case HwSettings::SPK2_FLEXIPORT_COMBRIDGE:
m_ui->cbFlexiComSpeed->setVisible(true);
if (isComboboxOptionSelected(m_ui->cbMain, HwSettings::SPK2_MAINPORT_COMBRIDGE)) {
setComboboxSelectedOption(m_ui->cbMain, HwSettings::SPK2_MAINPORT_DISABLED);
}
break;
case HwSettings::SPK2_FLEXIPORT_DEBUGCONSOLE:
m_ui->cbFlexiComSpeed->setVisible(true);
if (isComboboxOptionSelected(m_ui->cbMain, HwSettings::SPK2_MAINPORT_DEBUGCONSOLE)) {
setComboboxSelectedOption(m_ui->cbMain, HwSettings::SPK2_MAINPORT_DISABLED);
}
if (isComboboxOptionSelected(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_DEBUGCONSOLE)) {
setComboboxSelectedOption(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_DISABLED);
}
break;
default:
m_ui->lblFlexiSpeed->setVisible(false);
break;
}
}
void ConfigSparky2HWWidget::mainPortChanged(int index)
{
Q_UNUSED(index);
m_ui->cbMainTelemSpeed->setVisible(false);
m_ui->cbMainGPSSpeed->setVisible(false);
m_ui->cbMainComSpeed->setVisible(false);
m_ui->lblMainSpeed->setVisible(true);
// Add Gps protocol configuration
m_ui->cbMainGPSProtocol->setVisible(false);
m_ui->lbMainGPSProtocol->setVisible(false);
switch (getComboboxSelectedOption(m_ui->cbMain)) {
case HwSettings::SPK2_MAINPORT_TELEMETRY:
m_ui->cbMainTelemSpeed->setVisible(true);
if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::SPK2_FLEXIPORT_TELEMETRY)) {
setComboboxSelectedOption(m_ui->cbFlexi, HwSettings::SPK2_FLEXIPORT_DISABLED);
}
break;
case HwSettings::SPK2_MAINPORT_GPS:
// Add Gps protocol configuration
m_ui->cbMainGPSProtocol->setVisible(true);
m_ui->lbMainGPSProtocol->setVisible(true);
m_ui->cbMainGPSSpeed->setVisible(true);
if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::SPK2_FLEXIPORT_GPS)) {
setComboboxSelectedOption(m_ui->cbFlexi, HwSettings::SPK2_FLEXIPORT_DISABLED);
}
break;
case HwSettings::SPK2_MAINPORT_COMBRIDGE:
m_ui->cbMainComSpeed->setVisible(true);
if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::SPK2_FLEXIPORT_COMBRIDGE)) {
setComboboxSelectedOption(m_ui->cbFlexi, HwSettings::SPK2_FLEXIPORT_DISABLED);
}
break;
case HwSettings::SPK2_MAINPORT_DEBUGCONSOLE:
m_ui->cbMainComSpeed->setVisible(true);
if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::SPK2_FLEXIPORT_DEBUGCONSOLE)) {
setComboboxSelectedOption(m_ui->cbFlexi, HwSettings::SPK2_FLEXIPORT_DISABLED);
}
if (isComboboxOptionSelected(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_DEBUGCONSOLE)) {
setComboboxSelectedOption(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_DISABLED);
}
break;
default:
m_ui->lblMainSpeed->setVisible(false);
break;
}
}
void ConfigSparky2HWWidget::openHelp()
{
QDesktopServices::openUrl(QUrl(QString(WIKI_URL_ROOT) + QString("Sparky2+Configuration"),
QUrl::StrictMode));
}

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ground/gcs/src/plugins/config/configsparky2hwwidget.h Normal file
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/**
******************************************************************************
*
* @file configsparky2hwwidget.h
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Sparky2 hardware configuration panel
*****************************************************************************/
/*
* 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 CONFIGSPARKY2HWWIDGET_H
#define CONFIGSPARKY2HWWIDGET_H
#include "../uavobjectwidgetutils/configtaskwidget.h"
class Ui_Sparky2HWWidget;
class UAVObject;
class QWidget;
class ConfigSparky2HWWidget : public ConfigTaskWidget {
Q_OBJECT
public:
ConfigSparky2HWWidget(QWidget *parent = 0);
~ConfigSparky2HWWidget();
private:
Ui_Sparky2HWWidget *m_ui;
bool m_refreshing;
void setupCustomCombos();
protected slots:
void refreshWidgetsValues(UAVObject *obj = NULL);
void updateObjectsFromWidgets();
private slots:
void usbVCPPortChanged(int index);
void usbHIDPortChanged(int index);
void flexiPortChanged(int index);
void mainPortChanged(int index);
void openHelp();
};
#endif // CONFIGSPARKY2HWWIDGET_H

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ground/gcs/src/plugins/config/configsparky2hwwidget.ui Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>Sparky2HWWidget</class>
<widget class="QWidget" name="Sparky2HWWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>834</width>
<height>742</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QTabWidget" name="tabWidget">
<property name="currentIndex">
<number>0</number>
</property>
<widget class="QWidget" name="tab">
<property name="autoFillBackground">
<bool>true</bool>
</property>
<attribute name="title">
<string>HW settings</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_3">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
<widget class="QScrollArea" name="scrollArea">
<property name="palette">
<palette>
<active>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</active>
<inactive>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</inactive>
<disabled>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</disabled>
</palette>
</property>
<property name="styleSheet">
<string notr="true">border-color: rgb(255, 0, 0);</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents">
<property name="geometry">
<rect>
<x>0</x>
<y>-258</y>
<width>794</width>
<height>927</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_3">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<number>12</number>
</property>
<item row="3" column="2">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="0">
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="3">
<spacer name="horizontalSpacer_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_6">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Changes on this page only take effect after board reset or power cycle</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="2">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="2">
<layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0">
<item row="10" column="0">
<widget class="QComboBox" name="cbMainGPSProtocol"/>
</item>
<item row="7" column="0">
<widget class="QComboBox" name="cbMain"/>
</item>
<item row="20" column="2">
<spacer name="horizontalSpacer_10">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>80</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="18" column="0">
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>120</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="19" column="3">
<widget class="QComboBox" name="cbI2C"/>
</item>
<item row="20" column="3">
<spacer name="horizontalSpacer_9">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>120</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="20" column="4">
<spacer name="horizontalSpacer_8">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>70</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="18" column="3" alignment="Qt::AlignHCenter">
<widget class="QLabel" name="label_3">
<property name="text">
<string>I2C (under)</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
<item row="20" column="1">
<spacer name="horizontalSpacer_7">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>120</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="14" column="0">
<widget class="QComboBox" name="cbUSBVCPFunction"/>
</item>
<item row="18" column="4">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>50</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="8" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<layout class="QVBoxLayout" name="verticalLayout_4">
<property name="spacing">
<number>0</number>
</property>
<item alignment="Qt::AlignHCenter">
<widget class="QLabel" name="lblMainSpeed">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Speed</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="cbMainTelemSpeed"/>
</item>
<item>
<widget class="QComboBox" name="cbMainGPSSpeed"/>
</item>
<item>
<widget class="QComboBox" name="cbMainComSpeed"/>
</item>
</layout>
</item>
</layout>
</item>
<item row="16" column="0">
<widget class="QComboBox" name="cbUSBVCPSpeed">
<property name="enabled">
<bool>true</bool>
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QComboBox" name="cbUSBHIDFunction"/>
</item>
<item row="15" column="0" alignment="Qt::AlignHCenter">
<widget class="QLabel" name="lblUSBVCPSpeed">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Speed</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
<item row="13" column="0" alignment="Qt::AlignHCenter">
<widget class="QLabel" name="label_8">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>USB VCP Function</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
<item row="11" column="0" alignment="Qt::AlignHCenter">
<widget class="QLabel" name="label_4">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>USB HID Function</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
<item row="6" column="1" rowspan="12" colspan="4">
<widget class="QLabel" name="label_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>350</width>
<height>350</height>
</size>
</property>
<property name="text">
<string/>
</property>
<property name="pixmap">
<pixmap resource="configgadget.qrc">:/configgadget/images/sparky2_top.png</pixmap>
</property>
<property name="scaledContents">
<bool>false</bool>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="textInteractionFlags">
<set>Qt::NoTextInteraction</set>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label">
<property name="text">
<string>Receiver Port</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Flexi Port</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QComboBox" name="cbRcvr"/>
</item>
<item row="3" column="1">
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QComboBox" name="cbFlexiTelemSpeed"/>
</item>
<item>
<widget class="QComboBox" name="cbFlexiGPSSpeed"/>
</item>
<item>
<widget class="QComboBox" name="cbFlexiComSpeed">
<property name="enabled">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item row="2" column="1">
<widget class="QLabel" name="lblFlexiSpeed">
<property name="text">
<string>Speed</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="lbFlexiGPSProtocol">
<property name="text">
<string>Protocol</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="lbMainGPSProtocol">
<property name="text">
<string>Protocol</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="cbFlexi"/>
</item>
<item row="5" column="1">
<widget class="QComboBox" name="cbFlexiGPSProtocol"/>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Main Port</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
</widget>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="spacing">
<number>4</number>
</property>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>369</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="cchwHelp">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>25</width>
<height>25</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>25</width>
<height>25</height>
</size>
</property>
<property name="toolTip">
<string>Takes you to the wiki page</string>
</property>
<property name="text">
<string/>
</property>
<property name="icon">
<iconset resource="../coreplugin/core.qrc">
<normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
</property>
<property name="iconSize">
<size>
<width>25</width>
<height>25</height>
</size>
</property>
<property name="flat">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveTelemetryToRAM">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="palette">
<palette>
<active>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</active>
<inactive>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</inactive>
<disabled>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</disabled>
</palette>
</property>
<property name="toolTip">
<string>Send to board but don't write in SD.
Beware of not locking yourself out!</string>
</property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Apply</string>
</property>
<property name="iconSize">
<size>
<width>16</width>
<height>16</height>
</size>
</property>
<property name="checkable">
<bool>false</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveTelemetryToSD">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Applies and Saves all settings to SD.
Beware of not locking yourself out!</string>
</property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Save</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<resources>
<include location="../coreplugin/core.qrc"/>
<include location="configgadget.qrc"/>
</resources>
<connections/>
</ui>

8
ground/gcs/src/plugins/config/configstabilizationwidget.cpp
View File

@ -656,8 +656,8 @@ void ConfigStabilizationWidget::onBoardConnected()
Q_ASSERT(utilMngr);
boardModel = utilMngr->getBoardModel();
// If Revolution board enable Althold tab, otherwise disable it
ui->AltitudeHold->setEnabled((boardModel & 0xff00) == 0x0900);
// If Revolution/Sparky2 board enable Althold tab, otherwise disable it
ui->AltitudeHold->setEnabled(((boardModel & 0xff00) == 0x0900) || ((boardModel & 0xff00) == 0x9200));
}
void ConfigStabilizationWidget::stabBankChanged(int index)
@ -688,8 +688,8 @@ void ConfigStabilizationWidget::stabBankChanged(int index)
bool ConfigStabilizationWidget::shouldObjectBeSaved(UAVObject *object)
{
// AltitudeHoldSettings should only be saved for Revolution board to avoid error.
if ((boardModel & 0xff00) != 0x0900) {
// AltitudeHoldSettings should only be saved for Revolution/Sparky2 board to avoid error.
if (((boardModel & 0xff00) != 0x0900) && ((boardModel & 0xff00) != 0x9200)) {
return dynamic_cast<AltitudeHoldSettings *>(object) == 0;
} else {
return true;

BIN
ground/gcs/src/plugins/config/images/sparky2_top.png Normal file
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2
ground/gcs/src/plugins/flightlog/flightlogmanager.cpp
View File

@ -603,7 +603,7 @@ void FlightLogManager::connectionStatusChanged()
if (m_telemtryManager->isConnected()) {
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
setBoardConnected(utilMngr->getBoardModel() == 0x0903);
setBoardConnected(utilMngr->getBoardModel() == 0x0903 || utilMngr->getBoardModel() == 0x0904 || utilMngr->getBoardModel() == 0x0905 || utilMngr->getBoardModel() == 0x9201);
} else {
setBoardConnected(false);
}

8
ground/gcs/src/plugins/ophid/inc/ophid_const.h
View File

@ -31,10 +31,10 @@
#include <QDebug>
#ifdef OPHID_DEBUG_ON
#define OPHID_DEBUG(fmt, args ...) qDebug("[DEBUG] "fmt,##args)
#define OPHID_TRACE(fmt, args ...) qDebug("[TRACE] %s:%s:%d: "fmt, __FILE__, __func__, __LINE__,##args)
#define OPHID_ERROR(fmt, args ...) qDebug("[ERROR] %s:%s:%d: "fmt, __FILE__, __func__, __LINE__,##args)
#define OPHID_WARNING(fmt, args ...) qDebug("[WARNING] "fmt,##args)
#define OPHID_DEBUG(fmt, args ...) qDebug("[DEBUG] "##fmt, args)
#define OPHID_TRACE(fmt, args ...) qDebug("[TRACE] %s:%s:%d: "##fmt, __FILE__, __func__, __LINE__, args)
#define OPHID_ERROR(fmt, args ...) qDebug("[ERROR] %s:%s:%d: "##fmt, __FILE__, __func__, __LINE__, args)
#define OPHID_WARNING(fmt, args ...) qDebug("[WARNING] "##fmt, args)
#else
#define OPHID_DEBUG(fmt, args ...)
#define OPHID_TRACE(fmt, args ...)

9
ground/gcs/src/plugins/setupwizard/connectiondiagram.cpp
View File

@ -94,6 +94,9 @@ void ConnectionDiagram::setupGraphicsScene()
case VehicleConfigurationSource::CONTROLLER_NANO:
elementsToShow << "controller-nano";
break;
case VehicleConfigurationSource::CONTROLLER_SPARKY2:
elementsToShow << "controller-sparky2";
break;
case VehicleConfigurationSource::CONTROLLER_OPLINK:
default:
elementsToShow << "controller-cc";
@ -181,6 +184,9 @@ void ConnectionDiagram::setupGraphicsScene()
case VehicleConfigurationSource::CONTROLLER_NANO:
prefix = "nano-";
break;
case VehicleConfigurationSource::CONTROLLER_SPARKY2:
prefix = "sparky2-";
break;
default:
break;
}
@ -225,7 +231,8 @@ void ConnectionDiagram::setupGraphicsScene()
}
}
if (m_configSource->getInputType() == VehicleConfigurationSource::INPUT_SBUS) {
if ((m_configSource->getInputType() == VehicleConfigurationSource::INPUT_SBUS) &&
(m_configSource->getControllerType() != VehicleConfigurationSource::CONTROLLER_SPARKY2)) {
prefix = QString("flexi-%1").arg(prefix);
}
switch (m_configSource->getGpsType()) {

14
ground/gcs/src/plugins/setupwizard/pages/airspeedpage.cpp
View File

@ -39,11 +39,14 @@ void AirSpeedPage::initializePage(VehicleConfigurationSource *settings)
{
// Enable all
setItemDisabled(-1, false);
if (settings->getInputType() == VehicleConfigurationSource::INPUT_SBUS ||
settings->getInputType() == VehicleConfigurationSource::INPUT_DSM ||
settings->getInputType() == VehicleConfigurationSource::INPUT_SRXL ||
settings->getInputType() == VehicleConfigurationSource::INPUT_HOTT_SUMD ||
settings->getInputType() == VehicleConfigurationSource::INPUT_EXBUS ||
bool isSparky = (getWizard()->getControllerType() == SetupWizard::CONTROLLER_SPARKY2);
if ((!isSparky && (settings->getInputType() == VehicleConfigurationSource::INPUT_SBUS ||
settings->getInputType() == VehicleConfigurationSource::INPUT_DSM ||
settings->getInputType() == VehicleConfigurationSource::INPUT_SRXL ||
settings->getInputType() == VehicleConfigurationSource::INPUT_HOTT_SUMD ||
settings->getInputType() == VehicleConfigurationSource::INPUT_EXBUS)) ||
settings->getGpsType() == VehicleConfigurationSource::GPS_UBX_FLEXI_I2CMAG) {
// Disable non estimated sensors if ports are taken by receivers or I2C Mag
setItemDisabled(VehicleConfigurationSource::AIRSPEED_EAGLETREE, true);
@ -70,6 +73,7 @@ void AirSpeedPage::setupSelection(Selection *selection)
"software estimation technique and the other two utilize hardware sensors.\n\n"
"Note: if previously selected input combinations use the Flexi-port for input, "
"only estimated airspeed will be available.\n\n"));
selection->addItem(tr("Estimated"),
tr("This option uses an intelligent estimation algorithm which utilizes the INS/GPS "
"to estimate wind speed and subtract it from ground speed obtained from the GPS.\n\n"

9
ground/gcs/src/plugins/setupwizard/pages/controllerpage.cpp
View File

@ -117,6 +117,9 @@ SetupWizard::CONTROLLER_TYPE ControllerPage::getControllerType()
case 0x0905:
return SetupWizard::CONTROLLER_NANO;
case 0x9201:
return SetupWizard::CONTROLLER_SPARKY2;
default:
return SetupWizard::CONTROLLER_UNKNOWN;
}
@ -139,6 +142,7 @@ void ControllerPage::setupBoardTypes()
ui->boardTypeCombo->addItem(tr("OpenPilot OPLink Radio Modem"), SetupWizard::CONTROLLER_OPLINK);
ui->boardTypeCombo->addItem(tr("OpenPilot DiscoveryF4"), SetupWizard::CONTROLLER_DISCOVERYF4);
ui->boardTypeCombo->addItem(tr("OpenPilot Nano"), SetupWizard::CONTROLLER_NANO);
ui->boardTypeCombo->addItem(tr("TauLabs Sparky 2.0"), SetupWizard::CONTROLLER_SPARKY2);
}
void ControllerPage::setControllerType(SetupWizard::CONTROLLER_TYPE type)
@ -225,6 +229,11 @@ void ControllerPage::connectionStatusChanged()
ui->boardImg->setPixmap(boardPic.scaled(picSize, Qt::KeepAspectRatio));
break;
case SetupWizard::CONTROLLER_SPARKY2:
boardPic.load(":/configgadget/images/sparky2_top.png");
ui->boardImg->setPixmap(boardPic.scaled(picSize, Qt::KeepAspectRatio));
break;
default:
ui->boardImg->setPixmap(QPixmap());
break;

14
ground/gcs/src/plugins/setupwizard/pages/esccalibrationpage.cpp
View File

@ -2,7 +2,8 @@
******************************************************************************
*
* @file EscCalibrationPage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @addtogroup
* @{
* @addtogroup EscCalibrationPage
@ -61,6 +62,11 @@ EscCalibrationPage::~EscCalibrationPage()
delete ui;
}
void EscCalibrationPage::initializePage()
{
resetAllSecurityCheckboxes();
}
bool EscCalibrationPage::validatePage()
{
return true;
@ -180,9 +186,3 @@ void EscCalibrationPage::securityCheckBoxesToggled()
ui->securityCheckBox2->isChecked() &&
ui->securityCheckBox3->isChecked());
}
void EscCalibrationPage::initializePage()
{
resetAllSecurityCheckboxes();
}

5
ground/gcs/src/plugins/setupwizard/pages/esccalibrationpage.h
View File

@ -2,7 +2,8 @@
******************************************************************************
*
* @file biascalibrationpage.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup BiasCalibrationPage
@ -42,8 +43,8 @@ class EscCalibrationPage : public AbstractWizardPage {
public:
explicit EscCalibrationPage(SetupWizard *wizard, QWidget *parent = 0);
~EscCalibrationPage();
bool validatePage();
void initializePage();
bool validatePage();
private slots:
void startButtonClicked();

27
ground/gcs/src/plugins/setupwizard/pages/escpage.cpp
View File

@ -2,7 +2,8 @@
******************************************************************************
*
* @file escpage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @addtogroup
* @{
* @addtogroup EscPage
@ -42,6 +43,17 @@ EscPage::~EscPage()
delete ui;
}
void EscPage::initializePage()
{
bool enabled = isSynchOrOneShotAvailable();
ui->oneshotESCButton->setEnabled(enabled);
if (ui->oneshotESCButton->isChecked() && !enabled) {
ui->oneshotESCButton->setChecked(false);
ui->rapidESCButton->setChecked(true);
}
}
bool EscPage::validatePage()
{
if (ui->oneshotESCButton->isChecked()) {
@ -59,18 +71,6 @@ bool EscPage::validatePage()
return true;
}
void EscPage::initializePage()
{
bool enabled = isSynchOrOneShotAvailable();
ui->oneshotESCButton->setEnabled(enabled);
if (ui->oneshotESCButton->isChecked() && !enabled) {
ui->oneshotESCButton->setChecked(false);
ui->rapidESCButton->setChecked(true);
}
}
bool EscPage::isSynchOrOneShotAvailable()
{
bool available = true;
@ -98,6 +98,7 @@ bool EscPage::isSynchOrOneShotAvailable()
}
break;
case SetupWizard::CONTROLLER_REVO:
case SetupWizard::CONTROLLER_SPARKY2:
available = true;
break;
default:

2
ground/gcs/src/plugins/setupwizard/pages/escpage.h
View File

@ -40,8 +40,8 @@ class EscPage : public AbstractWizardPage {
public:
explicit EscPage(SetupWizard *wizard, QWidget *parent = 0);
~EscPage();
bool validatePage();
void initializePage();
bool validatePage();
private:
Ui::EscPage *ui;

13
ground/gcs/src/plugins/setupwizard/pages/gpspage.cpp
View File

@ -39,11 +39,14 @@ void GpsPage::initializePage(VehicleConfigurationSource *settings)
{
// Enable all
setItemDisabled(-1, false);
if (settings->getInputType() == VehicleConfigurationSource::INPUT_SBUS ||
settings->getInputType() == VehicleConfigurationSource::INPUT_DSM ||
settings->getInputType() == VehicleConfigurationSource::INPUT_HOTT_SUMD ||
settings->getInputType() == VehicleConfigurationSource::INPUT_EXBUS ||
settings->getInputType() == VehicleConfigurationSource::INPUT_SRXL) {
bool isSparky = (getWizard()->getControllerType() == SetupWizard::CONTROLLER_SPARKY2);
// All rcinputs are on rcvrport for sparky2, that leaves mainport/flexiport available for gps/auxmag
if (!isSparky && (settings->getInputType() == VehicleConfigurationSource::INPUT_SBUS ||
settings->getInputType() == VehicleConfigurationSource::INPUT_DSM ||
settings->getInputType() == VehicleConfigurationSource::INPUT_SRXL ||
settings->getInputType() == VehicleConfigurationSource::INPUT_HOTT_SUMD ||
settings->getInputType() == VehicleConfigurationSource::INPUT_EXBUS)) {
// Disable GPS+I2C Mag
setItemDisabled(VehicleConfigurationSource::GPS_UBX_FLEXI_I2CMAG, true);
if (getSelectedItem()->id() == VehicleConfigurationSource::GPS_UBX_FLEXI_I2CMAG) {

44
ground/gcs/src/plugins/setupwizard/pages/inputpage.cpp
View File

@ -1,14 +1,15 @@
/**
******************************************************************************
****************************************************************************************
*
* @file inputpage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup InputPage
* @{
* @brief
*****************************************************************************/
***************************************************************************************/
/*
* 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
@ -45,6 +46,17 @@ InputPage::~InputPage()
delete ui;
}
void InputPage::initializePage()
{
bool isSparky2 = (getWizard()->getControllerType() == SetupWizard::CONTROLLER_SPARKY2);
ui->pwmButton->setEnabled(!isSparky2);
if (ui->pwmButton->isChecked() && isSparky2) {
ui->pwmButton->setChecked(false);
ui->ppmButton->setChecked(true);
}
}
bool InputPage::validatePage()
{
if (ui->pwmButton->isChecked()) {
@ -139,6 +151,32 @@ bool InputPage::restartNeeded(VehicleConfigurationSource::INPUT_TYPE selectedTyp
}
break;
}
case SetupWizard::CONTROLLER_SPARKY2:
{
switch (selectedType) {
case VehicleConfigurationSource::INPUT_PPM:
return data.SPK2_RcvrPort != HwSettings::SPK2_RCVRPORT_PPM;
case VehicleConfigurationSource::INPUT_SBUS:
return data.SPK2_RcvrPort != HwSettings::SPK2_RCVRPORT_SBUS;
case VehicleConfigurationSource::INPUT_SRXL:
return data.SPK2_RcvrPort != HwSettings::SPK2_RCVRPORT_SRXL;
case VehicleConfigurationSource::INPUT_DSM:
// TODO: Handle all of the DSM types ?? Which is most common?
return data.SPK2_RcvrPort != HwSettings::SPK2_RCVRPORT_DSM;
case VehicleConfigurationSource::INPUT_HOTT_SUMD:
return data.SPK2_RcvrPort != HwSettings::SPK2_RCVRPORT_HOTTSUMD;
case VehicleConfigurationSource::INPUT_EXBUS:
return data.SPK2_RcvrPort != HwSettings::SPK2_RCVRPORT_EXBUS;
default: return true;
}
break;
}
default: return true;
}
}

1
ground/gcs/src/plugins/setupwizard/pages/inputpage.h
View File

@ -40,6 +40,7 @@ class InputPage : public AbstractWizardPage {
public:
explicit InputPage(SetupWizard *wizard, QWidget *parent = 0);
~InputPage();
void initializePage();
bool validatePage();
private:

5
ground/gcs/src/plugins/setupwizard/pages/summarypage.h
View File

@ -2,7 +2,8 @@
******************************************************************************
*
* @file summarypage.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup SummaryPage
@ -40,8 +41,8 @@ class SummaryPage : public AbstractWizardPage {
public:
explicit SummaryPage(SetupWizard *wizard, QWidget *parent = 0);
~SummaryPage();
bool validatePage();
void initializePage();
bool validatePage();
private:
Ui::SummaryPage *ui;

9
ground/gcs/src/plugins/setupwizard/pages/vehiclepage.cpp
View File

@ -2,7 +2,8 @@
******************************************************************************
*
* @file vehiclepage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup VehiclePage
@ -57,9 +58,3 @@ bool VehiclePage::validatePage()
}
return true;
}
void VehiclePage::initializePage()
{
// ui->fixedwingButton->setEnabled(getWizard()->getControllerType() == SetupWizard::CONTROLLER_REVO ||
// getWizard()->getControllerType() == SetupWizard::CONTROLLER_NANO);
}

4
ground/gcs/src/plugins/setupwizard/pages/vehiclepage.h
View File

@ -2,7 +2,8 @@
******************************************************************************
*
* @file vehiclepage.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup VehiclePage
@ -41,7 +42,6 @@ public:
explicit VehiclePage(SetupWizard *wizard, QWidget *parent = 0);
~VehiclePage();
bool validatePage();
void initializePage();
private:
Ui::VehiclePage *ui;

12847
ground/gcs/src/plugins/setupwizard/resources/connection-diagrams.svg
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15
ground/gcs/src/plugins/setupwizard/setupwizard.cpp
View File

@ -2,7 +2,8 @@
******************************************************************************
*
* @file setupwizard.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup Setup Wizard Plugin
@ -98,6 +99,7 @@ int SetupWizard::nextId() const
case CONTROLLER_CC:
case CONTROLLER_CC3D:
case CONTROLLER_REVO:
case CONTROLLER_SPARKY2:
case CONTROLLER_DISCOVERYF4:
return PAGE_INPUT;
@ -156,6 +158,7 @@ int SetupWizard::nextId() const
switch (getControllerType()) {
case CONTROLLER_REVO:
case CONTROLLER_NANO:
case CONTROLLER_SPARKY2:
return PAGE_GPS;
default:
@ -168,6 +171,7 @@ int SetupWizard::nextId() const
switch (getControllerType()) {
case CONTROLLER_REVO:
case CONTROLLER_NANO:
case CONTROLLER_SPARKY2:
return PAGE_GPS;
default:
@ -213,6 +217,7 @@ int SetupWizard::nextId() const
case CONTROLLER_CC3D:
case CONTROLLER_REVO:
case CONTROLLER_NANO:
case CONTROLLER_SPARKY2:
case CONTROLLER_DISCOVERYF4:
switch (getVehicleType()) {
case VEHICLE_FIXEDWING:
@ -254,6 +259,9 @@ QString SetupWizard::getSummaryText()
case CONTROLLER_NANO:
summary.append(tr("OpenPilot Nano"));
break;
case CONTROLLER_SPARKY2:
summary.append(tr("TauLabs Sparky 2.0"));
break;
case CONTROLLER_OPLINK:
summary.append(tr("OpenPilot OPLink Radio Modem"));
break;
@ -427,7 +435,7 @@ QString SetupWizard::getSummaryText()
}
// Show GPS Type
if (getControllerType() == CONTROLLER_REVO || getControllerType() == CONTROLLER_NANO) {
if (getControllerType() == CONTROLLER_REVO || getControllerType() == CONTROLLER_NANO || getControllerType() == CONTROLLER_SPARKY2) {
summary.append("<br>");
summary.append("<b>").append(tr("GPS type: ")).append("</b>");
switch (getGpsType()) {
@ -452,7 +460,8 @@ QString SetupWizard::getSummaryText()
}
// Show Airspeed sensor type
if ((getControllerType() == CONTROLLER_REVO || getControllerType() == CONTROLLER_NANO) && getVehicleType() == VEHICLE_FIXEDWING) {
if ((getControllerType() == CONTROLLER_REVO || getControllerType() == CONTROLLER_NANO || getControllerType() == CONTROLLER_SPARKY2)
&& getVehicleType() == VEHICLE_FIXEDWING) {
summary.append("<br>");
summary.append("<b>").append(tr("Airspeed Sensor: ")).append("</b>");
switch (getAirspeedType()) {

134
ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -1,5 +1,5 @@
/**
******************************************************************************
***********************************************************************************
*
* @file vehicleconfigurationhelper.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
@ -9,7 +9,7 @@
* @addtogroup VehicleConfigurationHelper
* @{
* @brief
*****************************************************************************/
**********************************************************************************/
/*
* 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
@ -27,7 +27,6 @@
*/
#include "vehicleconfigurationhelper.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectutilmanager.h"
@ -165,7 +164,7 @@ void VehicleConfigurationHelper::applyHardwareConfiguration()
}
break;
case VehicleConfigurationSource::INPUT_SBUS:
// We have to set teletry on flexiport since s.bus needs the mainport.
// We have to set telemetry on flexiport since s.bus needs the mainport.
data.CC_MainPort = HwSettings::CC_MAINPORT_SBUS;
data.CC_FlexiPort = HwSettings::CC_FLEXIPORT_TELEMETRY;
break;
@ -187,43 +186,80 @@ void VehicleConfigurationHelper::applyHardwareConfiguration()
break;
case VehicleConfigurationSource::CONTROLLER_REVO:
case VehicleConfigurationSource::CONTROLLER_NANO:
case VehicleConfigurationSource::CONTROLLER_SPARKY2:
case VehicleConfigurationSource::CONTROLLER_DISCOVERYF4:
// Reset all ports to their defaults
data.RM_RcvrPort = HwSettings::RM_RCVRPORT_DISABLED;
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_DISABLED;
if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_SPARKY2) {
data.SPK2_RcvrPort = HwSettings::SPK2_RCVRPORT_DISABLED;
data.SPK2_FlexiPort = HwSettings::SPK2_FLEXIPORT_DISABLED;
} else {
data.RM_RcvrPort = HwSettings::RM_RCVRPORT_DISABLED;
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_DISABLED;
}
// Revo uses inbuilt Modem do not set mainport to be active telemetry link for the Revo
// Revo/Sparky2 uses inbuilt Modem do not set mainport to be active telemetry link for Revo/Sparky2
if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
data.RM_MainPort = HwSettings::RM_MAINPORT_DISABLED;
} else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_SPARKY2) {
data.SPK2_MainPort = HwSettings::SPK2_MAINPORT_DISABLED;
} else {
data.RM_MainPort = HwSettings::RM_MAINPORT_TELEMETRY;
}
switch (m_configSource->getInputType()) {
case VehicleConfigurationSource::INPUT_PWM:
data.RM_RcvrPort = HwSettings::RM_RCVRPORT_PWM;
if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_SPARKY2) {
// this should not happen, sparky2 does not allow pwm
data.SPK2_RcvrPort = HwSettings::SPK2_RCVRPORT_DISABLED;
} else {
data.RM_RcvrPort = HwSettings::RM_RCVRPORT_PWM;
}
break;
case VehicleConfigurationSource::INPUT_PPM:
data.RM_RcvrPort = HwSettings::RM_RCVRPORT_PPM;
if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_SPARKY2) {
data.SPK2_RcvrPort = HwSettings::SPK2_RCVRPORT_PPM;
} else {
data.RM_RcvrPort = HwSettings::RM_RCVRPORT_PPM;
}
break;
case VehicleConfigurationSource::INPUT_SBUS:
data.RM_MainPort = HwSettings::RM_MAINPORT_SBUS;
// We have to set telemetry on flexiport since s.bus needs the mainport on all but Revo.
if (m_configSource->getControllerType() != VehicleConfigurationSource::CONTROLLER_REVO) {
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_TELEMETRY;
if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_SPARKY2) {
data.SPK2_RcvrPort = HwSettings::SPK2_RCVRPORT_SBUS;
} else {
data.RM_MainPort = HwSettings::RM_MAINPORT_SBUS;
// We have to set telemetry to flexiport on all except Revo (and except Sparky2) since s.bus needs mainport.
if (m_configSource->getControllerType() != VehicleConfigurationSource::CONTROLLER_REVO) {
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_TELEMETRY;
}
}
break;
case VehicleConfigurationSource::INPUT_DSM:
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_DSM;
if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_SPARKY2) {
data.SPK2_RcvrPort = HwSettings::SPK2_RCVRPORT_DSM;
} else {
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_DSM;
}
break;
case VehicleConfigurationSource::INPUT_SRXL:
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_SRXL;
if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_SPARKY2) {
data.SPK2_RcvrPort = HwSettings::SPK2_RCVRPORT_SRXL;
} else {
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_SRXL;
}
break;
case VehicleConfigurationSource::INPUT_HOTT_SUMD:
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_HOTTSUMD;
if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_SPARKY2) {
data.SPK2_RcvrPort = HwSettings::SPK2_RCVRPORT_HOTTSUMD;
} else {
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_HOTTSUMD;
}
break;
case VehicleConfigurationSource::INPUT_EXBUS:
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_EXBUS;
if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_SPARKY2) {
data.SPK2_RcvrPort = HwSettings::SPK2_RCVRPORT_EXBUS;
} else {
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_EXBUS;
}
break;
default:
break;
@ -233,10 +269,16 @@ void VehicleConfigurationHelper::applyHardwareConfiguration()
data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = 1;
data.GPSSpeed = HwSettings::GPSSPEED_57600;
if (m_configSource->getInputType() == VehicleConfigurationSource::INPUT_SBUS) {
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_GPS;
// if using GPS and SBUS on Revo or Nano, we must use FlexiPort for GPS
// since we must use MainPort for SBUS
if (m_configSource->getControllerType() != VehicleConfigurationSource::CONTROLLER_SPARKY2) {
if (m_configSource->getInputType() == VehicleConfigurationSource::INPUT_SBUS) {
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_GPS;
} else {
data.RM_MainPort = HwSettings::RM_MAINPORT_GPS;
}
} else {
data.RM_MainPort = HwSettings::RM_MAINPORT_GPS;
data.SPK2_MainPort = HwSettings::SPK2_MAINPORT_GPS;
}
GPSSettings *gpsSettings = GPSSettings::GetInstance(m_uavoManager);
@ -280,12 +322,17 @@ void VehicleConfigurationHelper::applyHardwareConfiguration()
}
case VehicleConfigurationSource::GPS_UBX_FLEXI_I2CMAG:
{
gpsData.DataProtocol = GPSSettings::DATAPROTOCOL_UBX;
gpsData.UbxAutoConfig = GPSSettings::UBXAUTOCONFIG_AUTOBAUDANDCONFIGURE;
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_I2C;
AuxMagSettings *magSettings = AuxMagSettings::GetInstance(m_uavoManager);
Q_ASSERT(magSettings);
AuxMagSettings::DataFields magsData = magSettings->getData();
gpsData.DataProtocol = GPSSettings::DATAPROTOCOL_UBX;
gpsData.UbxAutoConfig = GPSSettings::UBXAUTOCONFIG_AUTOBAUDANDCONFIGURE;
if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_SPARKY2) {
data.SPK2_FlexiPort = HwSettings::SPK2_FLEXIPORT_I2C;
} else {
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_I2C;
}
magsData.Type = AuxMagSettings::TYPE_FLEXI;
magsData.Usage = AuxMagSettings::USAGE_AUXONLY;
magSettings->setData(magsData);
@ -316,12 +363,22 @@ void VehicleConfigurationHelper::applyHardwareConfiguration()
break;
case VehicleConfigurationSource::AIRSPEED_EAGLETREE:
data.OptionalModules[HwSettings::OPTIONALMODULES_AIRSPEED] = 1;
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_I2C;
if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_SPARKY2) {
// sparky2: put I2C airspeed on flexiport, but it could be put on i2cport
data.SPK2_FlexiPort = HwSettings::SPK2_FLEXIPORT_I2C;
} else {
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_I2C;
}
airspeedData.AirspeedSensorType = AirspeedSettings::AIRSPEEDSENSORTYPE_EAGLETREEAIRSPEEDV3;
break;
case VehicleConfigurationSource::AIRSPEED_MS4525:
data.OptionalModules[HwSettings::OPTIONALMODULES_AIRSPEED] = 1;
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_I2C;
if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_SPARKY2) {
// sparky2: put I2C airspeed on flexiport, but it could be put on i2cport
data.SPK2_FlexiPort = HwSettings::SPK2_FLEXIPORT_I2C;
} else {
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_I2C;
}
airspeedData.AirspeedSensorType = AirspeedSettings::AIRSPEEDSENSORTYPE_PIXHAWKAIRSPEEDMS4525DO;
break;
default:
@ -484,7 +541,8 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
// Servo always on channel 4
data.BankUpdateFreq[0] = escFrequence;
data.BankMode[0] = bankMode;
if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO
|| m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_SPARKY2) {
data.BankUpdateFreq[1] = escFrequence;
data.BankMode[1] = bankMode;
data.BankUpdateFreq[2] = servoFrequence;
@ -502,7 +560,8 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
data.BankMode[0] = bankMode;
data.BankUpdateFreq[1] = escFrequence;
data.BankMode[1] = bankMode;
if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO
|| m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_SPARKY2) {
data.BankUpdateFreq[2] = escFrequence;
data.BankMode[2] = bankMode;
} else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_NANO) {
@ -566,7 +625,8 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
if (i == 1) {
data.BankUpdateFreq[i] = escFrequence;
}
} else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
} else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO
|| m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_SPARKY2) {
// Motor output4, bank3
if (i == 2) {
data.BankUpdateFreq[i] = escFrequence;
@ -611,7 +671,8 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
if (i == 1) {
data.BankUpdateFreq[i] = escFrequence;
}
} else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
} else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO
|| m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_SPARKY2) {
// Motor output4, bank3
if (i == 1) {
data.BankUpdateFreq[i] = escFrequence;
@ -718,6 +779,7 @@ void VehicleConfigurationHelper::applySensorBiasConfiguration()
}
case VehicleConfigurationSource::CONTROLLER_REVO:
case VehicleConfigurationSource::CONTROLLER_NANO:
case VehicleConfigurationSource::CONTROLLER_SPARKY2:
{
RevoCalibration *revolutionCalibration = RevoCalibration::GetInstance(m_uavoManager);
Q_ASSERT(revolutionCalibration);
@ -1357,42 +1419,43 @@ void VehicleConfigurationHelper::setupHexaCopter()
channels[0].throttle2 = 0;
channels[0].roll = 100;
channels[0].pitch = 25;
channels[0].yaw = -66;
channels[0].yaw = -66;
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = 100;
channels[1].pitch = 25;
channels[1].yaw = 66;
channels[1].yaw = 66;
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = -100;
channels[2].pitch = 25;
channels[2].yaw = -66;
channels[2].yaw = -66;
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = -100;
channels[3].pitch = 25;
channels[3].yaw = 66;
channels[3].yaw = 66;
channels[4].type = MIXER_TYPE_MOTOR;
channels[4].throttle1 = 100;
channels[4].throttle2 = 0;
channels[4].roll = 0;
channels[4].pitch = -50;
channels[4].yaw = -66;
channels[4].yaw = -66;
channels[5].type = MIXER_TYPE_MOTOR;
channels[5].throttle1 = 100;
channels[5].throttle2 = 0;
channels[5].roll = 0;
channels[5].pitch = -50;
channels[5].yaw = 66;
channels[5].yaw = 66;
guiSettings.multi.VTOLMotorNW = 1;
guiSettings.multi.VTOLMotorW = 2;
@ -1837,6 +1900,7 @@ void VehicleConfigurationHelper::setupOctoCopter()
guiSettings.multi.VTOLMotorE = 3;
guiSettings.multi.VTOLMotorSE = 4;
guiSettings.multi.VTOLMotorS = 5;
guiSettings.multi.VTOLMotorSW = 6;
guiSettings.multi.VTOLMotorW = 7;
guiSettings.multi.VTOLMotorNW = 8;

2
ground/gcs/src/plugins/setupwizard/vehicleconfigurationsource.h
View File

@ -57,7 +57,7 @@ class VehicleConfigurationSource {
public:
VehicleConfigurationSource();
enum CONTROLLER_TYPE { CONTROLLER_UNKNOWN, CONTROLLER_CC, CONTROLLER_CC3D, CONTROLLER_REVO, CONTROLLER_NANO, CONTROLLER_OPLINK, CONTROLLER_DISCOVERYF4 };
enum CONTROLLER_TYPE { CONTROLLER_UNKNOWN, CONTROLLER_CC, CONTROLLER_CC3D, CONTROLLER_REVO, CONTROLLER_NANO, CONTROLLER_SPARKY2, CONTROLLER_OPLINK, CONTROLLER_DISCOVERYF4 };
enum VEHICLE_TYPE { VEHICLE_UNKNOWN, VEHICLE_MULTI, VEHICLE_FIXEDWING, VEHICLE_HELI, VEHICLE_SURFACE };
enum VEHICLE_SUB_TYPE { MULTI_ROTOR_UNKNOWN, MULTI_ROTOR_TRI_Y, MULTI_ROTOR_QUAD_X, MULTI_ROTOR_QUAD_PLUS, MULTI_ROTOR_QUAD_H,
MULTI_ROTOR_HEXA, MULTI_ROTOR_HEXA_H, MULTI_ROTOR_HEXA_X, MULTI_ROTOR_HEXA_COAX_Y, MULTI_ROTOR_OCTO,

5
ground/gcs/src/plugins/setupwizard/vehicletemplateexportdialog.ui
View File

@ -247,6 +247,11 @@
<string>Nano</string>
</property>
</item>
<item>
<property name="text">
<string>Sparky2</string>
</property>
</item>
</widget>
</item>
<item row="1" column="0">

14
ground/gcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
View File

@ -9,9 +9,9 @@ public:
QString gitTag;
QByteArray fwHash;
QByteArray uavoHash;
int boardType;
int boardRevision;
static QString idToBoardName(int id)
quint8 boardType;
quint8 boardRevision;
static QString idToBoardName(quint16 id)
{
switch (id) {
case 0x0101:
@ -42,12 +42,12 @@ public:
break;
case 0x0901:
// Revolution
// old unreleased Revolution prototype
return QString("Revolution");
break;
case 0x0903:
// Revo Mini
// Revo also known as Revo Mini
return QString("Revolution");
break;
@ -59,6 +59,10 @@ public:
// Nano
return QString("RevoNano");
case 0x9201:
// Sparky 2.0
return QString("Sparky2");
default:
return QString("");

4
ground/gcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
View File

@ -469,8 +469,8 @@ bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescrip
// TODO: check platform compatibility
QByteArray targetPlatform = desc.mid(12, 2);
struc.boardType = (int)targetPlatform.at(0);
struc.boardRevision = (int)targetPlatform.at(1);
struc.boardType = (quint8)targetPlatform.at(0);
struc.boardRevision = (quint8)targetPlatform.at(1);
struc.fwHash.clear();
struc.fwHash = desc.mid(40, 20);
struc.uavoHash.clear();

27
ground/gcs/src/plugins/uploader/devicewidget.cpp
View File

@ -2,7 +2,8 @@
******************************************************************************
*
* @file devicewidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup Uploader Serial and USB Uploader Plugin
@ -100,14 +101,21 @@ void DeviceWidget::populate()
devicePic.load(":/uploader/images/gcs-board-cc3d.png");
break;
case 0x0903:
// Revo
devicePic.load(":/uploader/images/gcs-board-revo.png");
break;
case 0x0904:
// DiscoveryF4Bare
devicePic.load(":/uploader/images/gcs-board-revo.png");
break;
case 0x0905:
// Nano
devicePic.load(":/uploader/images/gcs-board-nano.png");
break;
case 0x9201:
// Sparky2
devicePic.load(":/uploader/images/gcs-board-sparky2.png");
break;
default:
// Clear
devicePic.load("");
@ -195,7 +203,7 @@ bool DeviceWidget::populateBoardStructuredDescription(QByteArray desc)
myDevice->lblCertified->setToolTip(tr("Untagged or custom firmware build"));
}
myDevice->lblBrdName->setText(deviceDescriptorStruct::idToBoardName(onBoardDescription.boardType << 8 | onBoardDescription.boardRevision));
myDevice->lblBrdName->setText(deviceDescriptorStruct::idToBoardName(((quint16)onBoardDescription.boardType << 8) | onBoardDescription.boardRevision));
return true;
}
@ -219,7 +227,7 @@ bool DeviceWidget::populateLoadedStructuredDescription(QByteArray desc)
myDevice->lblCertifiedL->setPixmap(QPixmap(":uploader/images/warning.svg"));
myDevice->lblCertifiedL->setToolTip(tr("Untagged or custom firmware build"));
}
myDevice->lblBrdNameL->setText(deviceDescriptorStruct::idToBoardName(LoadedDescription.boardType << 8 | LoadedDescription.boardRevision));
myDevice->lblBrdNameL->setText(deviceDescriptorStruct::idToBoardName(((quint16)LoadedDescription.boardType << 8) | LoadedDescription.boardRevision));
return true;
}
@ -363,13 +371,16 @@ void DeviceWidget::uploadFirmware()
// Now do sanity checking:
// - Check whether board type matches firmware:
int board = m_dfu->devices[deviceID].ID;
int firmwareBoard = ((desc.at(12) & 0xff) << 8) + (desc.at(13) & 0xff);
if ((board == 0x401 && firmwareBoard == 0x402) ||
(board == 0x901 && firmwareBoard == 0x902) || // L3GD20 revo supports Revolution firmware
(board == 0x902 && firmwareBoard == 0x903)) { // RevoMini1 supporetd by RevoMini2 firmware
int firmwareBoard = ((quint16)(quint8)desc.at(12) << 8) + (quint16)(quint8)desc.at(13);
if ((board == 0x0401 && firmwareBoard == 0x0402) ||
(board == 0x0901 && firmwareBoard == 0x0902) || // L3GD20 revo supports Revolution firmware
(board == 0x0902 && firmwareBoard == 0x0903) || // RevoMini1 supported by RevoMini2 firmware
(board == 0x0b01 && firmwareBoard == 0x9201)) { // Sparky2 before and after TL BL compatibility change
// These firmwares are designed to be backwards compatible
} else if (firmwareBoard != board) {
status("Error: firmware does not match board", STATUSICON_FAIL);
char buf[100];
sprintf(buf, "Error: Device ID: firmware 0x%x does not match board 0x%x", firmwareBoard, board);
status(buf, STATUSICON_FAIL);
updateButtons(true);
return;
}

BIN
ground/gcs/src/plugins/uploader/images/gcs-board-sparky2.png Normal file
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Width:  |  Height:  |  Size: 218 KiB

14
ground/gcs/src/plugins/uploader/op_dfu.cpp
View File

@ -1084,11 +1084,12 @@ int DFUObject::receiveData(void *data, int size)
}
}
#define BOARD_ID_MB 1
#define BOARD_ID_INS 2
#define BOARD_ID_PIP 3
#define BOARD_ID_CC 4
#define BOARD_ID_REVO 9
#define BOARD_ID_MB 1
#define BOARD_ID_INS 2
#define BOARD_ID_PIP 3
#define BOARD_ID_CC 4
#define BOARD_ID_REVO 9
#define BOARD_ID_SPARKY2 0x92
/**
Gets the type of board connected
@ -1117,6 +1118,9 @@ OP_DFU::eBoardType DFUObject::GetBoardType(int boardNum)
case BOARD_ID_REVO: // Revo board
brdType = eBoardRevo;
break;
case BOARD_ID_SPARKY2: // Sparky2 board
brdType = eBoardSparky2;
break;
}
return brdType;
}

6
ground/gcs/src/plugins/uploader/op_dfu.h
View File

@ -60,6 +60,7 @@ enum Status {
};
enum Actions {
actionNone,
actionProgram,
actionProgramAndVerify,
actionDownload,
@ -94,12 +95,13 @@ enum eBoardType {
eBoardPip = 3,
eBoardCC = 4,
eBoardRevo = 9,
eBoardSparky2 = 0x92,
};
struct device {
int ID;
quint16 ID;
quint32 FW_CRC;
int BL_Version;
quint8 BL_Version;
int SizeOfDesc;
quint32 SizeOfCode;
bool Readable;

12
ground/gcs/src/plugins/uploader/runningdevicewidget.cpp
View File

@ -2,7 +2,8 @@
******************************************************************************
*
* @file runningdevicewidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup Uploader Serial and USB Uploader Plugin
@ -86,11 +87,20 @@ void RunningDeviceWidget::populate()
devicePic.load(":/uploader/images/gcs-board-cc3d.png");
break;
case 0x0903:
// Revo
// fall through to DF4B
case 0x0904:
// DiscoveryF4Bare
devicePic.load(":/uploader/images/gcs-board-revo.png");
break;
case 0x0905:
// Nano
devicePic.load(":/uploader/images/gcs-board-nano.png");
break;
case 0x9201:
// Sparky2
devicePic.load(":/uploader/images/gcs-board-sparky2.png");
break;
default:
// Clear
devicePic.load("");

1
ground/gcs/src/plugins/uploader/uploader.qrc
View File

@ -19,5 +19,6 @@
<file>images/gcs-board-oplink.png</file>
<file>images/gcs-board-revo.png</file>
<file>images/gcs-board-nano.png</file>
<file>images/gcs-board-sparky2.png</file>
</qresource>
</RCC>

22
ground/gcs/src/plugins/uploader/uploadergadgetwidget.cpp
View File

@ -751,28 +751,31 @@ bool UploaderGadgetWidget::autoUpdate(bool erase)
QString filename;
emit progressUpdate(LOADING_FW, QVariant());
switch (m_dfu->devices[0].ID) {
case 0x301:
case 0x0301:
filename = "fw_oplinkmini";
break;
case 0x401:
case 0x402:
case 0x0401:
case 0x0402:
filename = "fw_coptercontrol";
break;
case 0x501:
case 0x0501:
filename = "fw_osd";
break;
case 0x902:
case 0x0902:
filename = "fw_revoproto";
break;
case 0x903:
case 0x0903:
filename = "fw_revolution";
break;
case 0x904:
case 0x0904:
filename = "fw_discoveryf4bare";
break;
case 0x905:
case 0x0905:
filename = "fw_revonano";
break;
case 0x9201:
filename = "fw_sparky2";
break;
default:
emit progressUpdate(FAILURE, QVariant(tr("Unknown board id '0x%1'").arg(QString::number(m_dfu->devices[0].ID, 16))));
emit autoUpdateFailed();
@ -1020,7 +1023,8 @@ void UploaderGadgetWidget::startAutoUpdateErase()
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
int id = utilMngr->getBoardModel();
if (id == 0x905) {
// reset if Nano
if (id == 0x0905) {
systemReset();
}
}

7
ground/gcs/src/plugins/usagetracker/usagetrackerplugin.cpp
View File

@ -194,6 +194,13 @@ void UsageTrackerPlugin::collectUsageParameters(QMap<QString, QString> &paramete
parameters["conf_mport"] = getUAVFieldValue(objManager, "HwSettings", "RM_MainPort");
parameters["conf_fport"] = getUAVFieldValue(objManager, "HwSettings", "RM_FlexiPort");
parameters["conf_fusion"] = getUAVFieldValue(objManager, "RevoSettings", "FusionAlgorithm");
} else if ((boardModel & 0xff00) == 0x9200) {
// Sparky2
parameters["conf_rport"] = getUAVFieldValue(objManager, "HwSettings", "SPK2_RcvrPort");
parameters["conf_mport"] = getUAVFieldValue(objManager, "HwSettings", "SPK2_MainPort");
parameters["conf_fport"] = getUAVFieldValue(objManager, "HwSettings", "SPK2_FlexiPort");
parameters["conf_iport"] = getUAVFieldValue(objManager, "HwSettings", "SPK2_I2CPort");
parameters["conf_fusion"] = getUAVFieldValue(objManager, "RevoSettings", "FusionAlgorithm");
}
parameters["conf_uport"] = getUAVFieldValue(objManager, "HwSettings", "USB_HIDPort");

3
package/linux/45-uav.rules
View File

@ -14,6 +14,9 @@ SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415c", GOTO="op_ru
# OpenPilot Revolution board
SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415e", GOTO="op_rules"
# Taulabs Sparky2 board
SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="41d0", GOTO="op_rules"
# Other OpenPilot reserved pids
SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415d", GOTO="op_rules"
SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="4194", GOTO="op_rules"

6
shared/uavobjectdefinition/hwsettings.xml
View File

@ -16,6 +16,12 @@
limits="%0905NE:PPM+PWM:PPM+Telemetry:Telemetry:ComBridge;"/>
<field name="RM_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM,DebugConsole,ComBridge,OsdHk,MSP" defaultvalue="Disabled"/>
<field name="RM_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM,EX.Bus,HoTT SUMD,HoTT SUMH,SRXL,DebugConsole,ComBridge,OsdHk,MSP" defaultvalue="Disabled"/>
<field name="SPK2_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PPM,S.Bus,DSM,SRXL,EX.Bus,HoTT SUMD,HoTT SUMH" defaultvalue="PPM"/>
<field name="SPK2_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,DSM,DebugConsole,ComBridge,OsdHk,MSP" defaultvalue="Disabled"/>
<field name="SPK2_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM,EX.Bus,HoTT SUMD,HoTT SUMH,SRXL,DebugConsole,ComBridge,OsdHk,MSP" defaultvalue="Disabled"/>
<field name="SPK2_I2CPort" units="function" type="enum" elements="1" options="Disabled,I2C" defaultvalue="Disabled"/>
<field name="TelemetrySpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<field name="GPSSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200,230400" defaultvalue="57600"/>
<field name="ComUsbBridgeSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>

2
shared/uavobjectdefinition/manualcontrolsettings.xml
View File

@ -3,7 +3,7 @@
<description>Settings to indicate how to decode receiver input by @ref ManualControlModule.</description>
<field name="ChannelGroups" units="Channel Group" type="enum"
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2,Accessory3"
options="PWM,PPM,DSM (MainPort),DSM (FlexiPort),S.Bus,EX.Bus,HoTT,SRXL,GCS,OPLink,None" defaultvalue="None"/>
options="PWM,PPM,DSM (MainPort),DSM (FlexiPort),DSM (RcvrPort),S.Bus,EX.Bus,HoTT,SRXL,GCS,OPLink,None" defaultvalue="None"/>
<field name="ChannelNumber" units="channel" type="uint8" defaultvalue="0"
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2,Accessory3"/>
<field name="ChannelMin" units="us" type="int16" defaultvalue="1000"

2
shared/uavobjectdefinition/receiveractivity.xml
View File

@ -2,7 +2,7 @@
<object name="ReceiverActivity" singleinstance="true" settings="false" category="System">
<description>Monitors which receiver channels have been active within the last second.</description>
<field name="ActiveGroup" units="Channel Group" type="enum" elements="1"
options="PWM,PPM,DSM (MainPort),DSM (FlexiPort),S.Bus,EX.Bus,HoTT,SRXL,GCS,OPLink,None"
options="PWM,PPM,DSM (MainPort),DSM (FlexiPort),DSM (RcvrPort),S.Bus,EX.Bus,HoTT,SRXL,GCS,OPLink,None"
defaultvalue="None"/>
<field name="ActiveChannel" units="channel" type="uint8" elements="1"
defaultvalue="255"/>