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OP-782 OP-780 Cleanup of overosync module, fixing headers. Added(but not enabled) its boilerplate declarations on board_hw_defs.c/Makefile/pios_config.
This commit is contained in:
Alessio Morale
parent
b1360f8136
commit
376467bf57
@ -2,13 +2,13 @@
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup TelemetryModule Telemetry Module
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* @brief Main telemetry module
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* Starts three tasks (RX, TX, and priority TX) that watch event queues
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* and handle all the telemetry of the UAVobjects
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* @addtogroup Overo Sync Module
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* @brief Overo sync module
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* Starts a sync tasks that watch event queues
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* and push to Overo spi port UAVobjects
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* @{
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*
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* @file telemetry.c
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* @file overosync.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Telemetry module, handles telemetry and UAVObject updates
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* @see The GNU Public License (GPL) Version 3
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@ -37,7 +37,6 @@
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#include "systemstats.h"
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// Private constants
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#define OVEROSYNC_PACKET_SIZE 1024
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#define MAX_QUEUE_SIZE 200
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#define STACK_SIZE_BYTES 512
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 0)
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@ -48,8 +47,6 @@
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static xQueueHandle queue;
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static UAVTalkConnection uavTalkCon;
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static xTaskHandle overoSyncTaskHandle;
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volatile bool buffer_swap_failed;
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volatile uint32_t buffer_swap_timeval;
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static bool overoEnabled;
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// Private functions
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@ -71,7 +68,7 @@ struct overosync {
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struct overosync *overosync;
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/**
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* Initialise the telemetry module
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* Initialise the overosync module
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* \return -1 if initialisation failed
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* \return 0 on success
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*/
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@ -108,7 +105,7 @@ int32_t OveroSyncInitialize(void)
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}
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/**
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* Initialise the telemetry module
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* Initialise the overosync module
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* \return -1 if initialisation failed
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* \return 0 on success
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*/
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@ -128,7 +125,7 @@ int32_t OveroSyncStart(void)
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// Process all registered objects and connect queue for updates
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UAVObjIterate(®isterObject);
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// Start telemetry tasks
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// Start overosync tasks
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xTaskCreate(overoSyncTask, (signed char *)"OveroSync", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &overoSyncTaskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_OVEROSYNC, overoSyncTaskHandle);
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@ -59,6 +59,7 @@ MODULES += Airspeed/revolution
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MODULES += AltitudeHold FixedWingPathFollower PathPlanner TxPID
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#MODULES += VtolPathFollower ## OP-700: VtolPathFollower disabled because its currently unsafe - remove this line once Sambas code has been merged
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MODULES += CameraStab
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#MODULES += OveroSync
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MODULES += Radio
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MODULES += Telemetry
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PYMODULES =
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@ -96,6 +96,8 @@
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/* Other Interfaces */
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//#define PIOS_INCLUDE_I2C_ESC
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//#define PIOS_OVERO_SPI
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/* Flags that alter behaviors - mostly to lower resources for CC */
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#define PIOS_INCLUDE_INITCALL /* Include init call structures */
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#define PIOS_TELEM_PRIORITY_QUEUE /* Enable a priority queue in telemetry */
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@ -104,6 +104,133 @@ const struct pios_led_cfg * PIOS_BOARD_HW_DEFS_GetLedCfg (uint32_t board_revisio
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#if defined(PIOS_INCLUDE_SPI)
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#include <pios_spi_priv.h>
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#if defined(PIOS_OVERO_SPI)
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/* SPI2 Interface
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* - Used for Flexi/IO/Overo communications
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3: PB12 = SPI2 NSS, CAN2 RX
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4: PB13 = SPI2 SCK, CAN2 TX, USART3 CTS
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5: PB14 = SPI2 MISO, TIM12 CH1, USART3 RTS
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6: PB15 = SPI2 MOSI, TIM12 CH2
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*/
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#include <pios_overo_priv.h>
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void PIOS_OVERO_irq_handler(void);
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void DMA1_Stream7_IRQHandler(void) __attribute__((alias("PIOS_OVERO_irq_handler")));
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static const struct pios_overo_cfg pios_overo_cfg = {
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.regs = SPI2,
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.remap = GPIO_AF_SPI2,
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.init = {
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.SPI_Mode = SPI_Mode_Slave,
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.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
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.SPI_DataSize = SPI_DataSize_8b,
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.SPI_NSS = SPI_NSS_Hard,
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.SPI_FirstBit = SPI_FirstBit_MSB,
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.SPI_CRCPolynomial = 7,
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.SPI_CPOL = SPI_CPOL_High,
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.SPI_CPHA = SPI_CPHA_2Edge,
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.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
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},
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.use_crc = false,
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.dma = {
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.irq = {
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// Note this is the stream ID that triggers interrupts (in this case TX)
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.flags = (DMA_IT_TCIF7),
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.init = {
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.NVIC_IRQChannel = DMA1_Stream7_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.channel = DMA1_Stream0,
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.init = {
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.DMA_Channel = DMA_Channel_0,
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.DMA_PeripheralBaseAddr = (uint32_t) & (SPI2->DR),
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.DMA_DIR = DMA_DIR_PeripheralToMemory,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Circular,
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.DMA_Priority = DMA_Priority_Medium,
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//TODO: Enable FIFO
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.DMA_FIFOMode = DMA_FIFOMode_Disable,
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.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
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.DMA_MemoryBurst = DMA_MemoryBurst_Single,
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.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
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},
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},
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.tx = {
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.channel = DMA1_Stream7,
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.init = {
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.DMA_Channel = DMA_Channel_0,
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.DMA_PeripheralBaseAddr = (uint32_t) & (SPI2->DR),
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.DMA_DIR = DMA_DIR_MemoryToPeripheral,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Circular,
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.DMA_Priority = DMA_Priority_Medium,
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.DMA_FIFOMode = DMA_FIFOMode_Disable,
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.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
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.DMA_MemoryBurst = DMA_MemoryBurst_Single,
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.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
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},
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},
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},
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.sclk = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_13,
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.GPIO_Speed = GPIO_Speed_100MHz,
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.GPIO_Mode = GPIO_Mode_AF,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_NOPULL
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},
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},
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.miso = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_14,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_AF,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_NOPULL
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},
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},
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.mosi = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_15,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_AF,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_NOPULL
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},
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},
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.slave_count = 1,
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.ssel = { {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_12,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_OUT,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_UP
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},
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} },
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};
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uint32_t pios_overo_id = 0;
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void PIOS_OVERO_irq_handler(void)
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{
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/* Call into the generic code to handle the IRQ for this specific device */
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PIOS_OVERO_DMA_irq_handler(pios_overo_id);
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}
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#endif /* PIOS_OVERO_SPI */
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/*
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* SPI1 Interface
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* Used for MPU6000 gyro and accelerometer
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