mirror of
https://bitbucket.org/librepilot/librepilot.git
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test add of SimPosix architecture - doesnt work yet
This commit is contained in:
Corvus Corax
parent
3b0508e753
commit
414310fcba
14
Makefile
14
Makefile
@ -114,9 +114,6 @@ help:
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@echo " supported boards are ($(BL_BOARDS))"
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@echo
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@echo " [Simulation]"
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@echo " sim_posix - Build OpenPilot simulation firmware for"
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@echo " a POSIX compatible system (Linux, Mac OS X, ...)"
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@echo " sim_posix_clean - Delete all build output for the POSIX simulation"
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@echo " sim_win32 - Build OpenPilot simulation firmware for"
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@echo " Windows using mingw and msys"
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@echo " sim_win32_clean - Delete all build output for the win32 simulation"
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@ -633,12 +630,13 @@ all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
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all_$(1)_clean: $$(addsuffix _clean, $$(filter ef_$(1), $$(EF_TARGETS)))
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endef
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ALL_BOARDS := coptercontrol pipxtreme revolution
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ALL_BOARDS := coptercontrol pipxtreme revolution simposix
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# Friendly names of each board (used to find source tree)
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coptercontrol_friendly := CopterControl
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pipxtreme_friendly := PipXtreme
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revolution_friendly := Revolution
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simposix_friendly := SimPosix
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# Start out assuming that we'll build fw, bl and bu for all boards
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FW_BOARDS := $(ALL_BOARDS)
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@ -692,14 +690,6 @@ $(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_fr
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# Expand the entire-flash rules
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$(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_friendly))))
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.PHONY: sim_posix
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sim_posix: sim_posix_elf
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sim_posix_%: uavobjects_flight
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$(V1) mkdir -p $(BUILD_DIR)/sitl_posix
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$(V1) $(MAKE) --no-print-directory \
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-C $(ROOT_DIR)/flight/OpenPilot --file=$(ROOT_DIR)/flight/OpenPilot/Makefile.posix $*
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.PHONY: sim_win32
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sim_win32: sim_win32_exe
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11
flight/PiOS.posix/posix/Libraries/FreeRTOS/library.mk
Normal file
11
flight/PiOS.posix/posix/Libraries/FreeRTOS/library.mk
Normal file
@ -0,0 +1,11 @@
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#
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# Rules to add FreeRTOS to a PiOS target
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#
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# Note that the PIOS target-specific makefile will detect that FREERTOS_DIR
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# has been defined and add in the target-specific pieces separately.
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#
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FREERTOS_DIR := $(dir $(lastword $(MAKEFILE_LIST)))/Source
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SRC += $(wildcard $(FREERTOS_DIR)/*.c)
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EXTRAINCDIRS += $(FREERTOS_DIR)/include
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8
flight/PiOS.posix/posix/Libraries/msheap/library.mk
Normal file
8
flight/PiOS.posix/posix/Libraries/msheap/library.mk
Normal file
@ -0,0 +1,8 @@
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#
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# Rules to add the MSHeap allocator to a PiOS target
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#
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MSHEAP_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
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SRC += $(wildcard $(MSHEAP_DIR)*.c)
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EXTRAINCDIRS += $(MSHEAP_DIR)
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578
flight/PiOS.posix/posix/Libraries/msheap/msheap.c
Normal file
578
flight/PiOS.posix/posix/Libraries/msheap/msheap.c
Normal file
@ -0,0 +1,578 @@
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/* -*- Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- */
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/*-
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* MSHEAP
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*
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* A compact, low-overhead heap implementation with configurable
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* integrity checking.
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*
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* Copyright 2011 Michael Smith. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above
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* copyright notice, this list of conditions and the following
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* disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials
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* provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDER ''AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> OR
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* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
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* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
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* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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* SUCH DAMAGE.
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*/
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#include "msheap.h"
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/*
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* Integrity checking.
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*
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* The HEAP_CHECK_LEVEL define determines the level of heap and
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* argument integrity checking that will be performed.
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*
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* Higher checking levels include all the checks from lower levels.
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*
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* 0 : Pointers passed to msheap_free are checked; this will
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* detect overflowing of the freed region and overflows from
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* adjacent regions into the freed region.
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* msheap_panic() is called if an overflow is detected.
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*
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* 1 : Heap elements are checked during msheap_alloc(); this will
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* detect overflowing of any region that is seen during the
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* allocation.
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* msheap_panic() is called if an overflow is detected.
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*
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* 2 : msheap_panic() is called with more informative diagnostics
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* including the test that failed.
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*
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* 3 : The entire heap is checked on every call to msheap_alloc()
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* and msheap_free(). This will detect overflowing of any
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* region.
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* Every argument is checked before use.
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* Regions are checked after operations.
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*
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* -1: No integrity checking of any sort is performed.
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*
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* HEAP_CHECK_LEVEL defaults to 2 if DEBUG is defined, or 0
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* otherwise.
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*/
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#ifndef HEAP_CHECK_LEVEL
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# ifdef DEBUG
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# define HEAP_CHECK_LEVEL 2
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# else
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# define HEAP_CHECK_LEVEL 0
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# endif
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#endif
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/**
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* Utility debug/checking macro.
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*
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* @param _expr Expression to evaluate. Calls msheap_panic if the
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* evaluation returns false.
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* @param _str String to pass to msheap_panic.
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* @return Zero, but only if _expr evaluates true.
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*/
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#define __ASSERT(_expr, _str) \
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({ \
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int _a __attribute__((unused)) = 0; \
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if (!(_expr)) \
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msheap_panic(_str); \
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_a; \
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})
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/** canonical macro weirdness */
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#define __STR(_x) # _x
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/* at level 2+, add the expression string and line number */
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#if HEAP_CHECK_LEVEL >= 2
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# define __ASSERT_FMT(_expr, _line, _str) __ASSERT(_expr, "heap assertion failed @" __STR(_line) ": " _str)
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#else
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# define __ASSERT_FMT(_expr, _line, _str) __ASSERT(_expr, "heap assertion failed")
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#endif
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/**
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* Assert if HEAP_CHECK_LEVEL >= _level and _expr evaluates false
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*
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* @param _level The lowest HEAP_CHECK_LEVEL at which this assertion should be tested.
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* @param _expr The expression to test.
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*/
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#define ASSERT(_level, _expr) (void)((HEAP_CHECK_LEVEL < _level) || __ASSERT_FMT(_expr, __LINE__, #_expr))
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/**
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* Assert if HEAP_CHECK_LEVEL >= _level and _expr evaluates false, return test result otherwise.
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*
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* @param _level The lowest HEAP_CHECK_LEVEL at which to assert.
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* @param _expr The expression to test.
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* @return 1 if _expr evaluates false, 0 otherwise.
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*/
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#define ASSERT_TEST(_level, _expr) \
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({ \
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ASSERT(_level, _expr); \
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(_expr) ? 0 : 1; \
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})
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/*
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* The heap consists of ranges (free or allocated) separated and
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* bounded by markers.
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*
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* For maximum space efficiency, the default is to use 4-byte
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* 'compact' markers, which limits the heap to a maxium of 128KiB.
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* For larger heaps define HEAP_SUPPORT_LARGE, which doubles markers
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* to 8 bytes each, but allows heaps up to 2^^33 bytes in size.
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*
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* Each marker contains two structures, one describing the previous
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* region and one describing the next. Thus, markers form a
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* doubly-linked list chaining each region together.
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*
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* Each region is described by two identical structures, providing
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* a measure of referential integrity that can be used to detect
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* overflows out of the region without the use of separate magic
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* numbers.
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*
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* The region descriptor size includes the size of the marker at its
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* head. This means that zero is not a legal marker value.
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*
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* Free regions are always coalesced, and a pointer is kept to the
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* most recently-created free region to accelerate allocation in the
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* common case where a large number of free objects are allocated
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* early.
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*
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* The heap is bounded by markers pointing to zero-sized allocated
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* ranges, so they can never be merged.
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*/
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#ifdef HEAP_SUPPORT_LARGE
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struct region_descriptor {
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uint32_t size:31; /* size of the region (including marker) in multiples of the marker size */
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uint32_t free:1; /* if nonzero, region is free */
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};
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static const uint32_t max_free = 0x7fffffff;
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#else /* !HEAP_SUPPORT_LARGE */
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struct region_descriptor {
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uint16_t size:15; /* size of the region (including marker) in multiples of the marker size */
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uint16_t free:1; /* if nonzero, region is free */
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};
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static const uint32_t max_free = 0x7fff;
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#endif /* HEAP_SUPPORT_LARGE */
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/**
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* The marker placed between regions.
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*
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* Allocations are aligned and rounded to the size of this structure.
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*/
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struct marker {
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struct region_descriptor prev;
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struct region_descriptor next;
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};
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typedef struct marker *marker_t;
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static const uintptr_t marker_size = sizeof(struct marker);
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/* heap boundaries */
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static marker_t heap_base;
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static marker_t heap_limit;
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static uint32_t heap_free;
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static marker_t free_hint; /* likely free region, or heap_base if no free region hint */
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/* rounding macros for powers of 2 */
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#define round_down(_val, _boundary) ((_val) & ~(_boundary - 1))
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#define round_up(_val, _boundary) round_down((_val) + (_boundary) - 1, _boundary)
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/* default panic handler */
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void msheap_panic(const char *reason) __attribute__((weak, noreturn));
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static int region_check(marker_t marker);
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static void split_region(marker_t marker, uint32_t size);
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static void merge_region(marker_t marker);
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/**
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* Initialise the heap.
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*
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* @param base The lower boundary of the heap.
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* @param limit The upper boundary of the heap.
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*/
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void
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msheap_init(void *base, void *limit)
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{
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heap_base = (marker_t)round_up((uintptr_t)base, marker_size);
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heap_limit = (marker_t)round_down((uintptr_t)limit, marker_size) - 1;
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ASSERT(3, heap_base); /* must not be NULL */
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ASSERT(3, heap_limit); /* must not be NULL */
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ASSERT(3, heap_limit > heap_base); /* limit must be above base */
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/* Initial size of the free region (includes the heap_base marker) */
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heap_free = heap_limit - heap_base;
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ASSERT(0, heap_free <= max_free); /* heap must not be too large */
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ASSERT(3, heap_free > 1); /* heap must be at least 1 marker in size */
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/*
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* Initialise the base and limit markers.
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*/
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heap_base->prev.size = 0;
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heap_base->prev.free = 0;
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heap_base->next.size = heap_free;
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heap_base->next.free = 1;
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heap_limit->prev.size = heap_free;
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heap_limit->prev.free = 1;
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heap_limit->next.size = 0;
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heap_limit->next.free = 0;
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free_hint = heap_base; /* a good place to start ... */
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region_check(heap_base);
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region_check(heap_limit);
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}
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void *
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msheap_alloc(uint32_t size)
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{
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marker_t cursor;
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marker_t best;
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ASSERT(3, msheap_check());
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/* convert the passed-in size to the number of marker-size units we need to allocate */
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size += marker_size;
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size = round_up(size, marker_size);
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size /= marker_size;
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/* cannot possibly satisfy this allocation */
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if (size > heap_free)
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return 0;
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/* simple single-pass best-fit search */
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restart:
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cursor = free_hint;
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best = 0;
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while (cursor != heap_limit) {
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ASSERT(1, region_check(cursor));
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/* if the region is free and large enough */
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if ((cursor->next.free) && (cursor->next.size >= size)) {
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/* if we have no candidate, or the new one is smaller, take it */
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if (!best || (cursor->next.size < best->next.size))
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best = cursor;
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}
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cursor += cursor->next.size;
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}
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if (!best) {
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/*
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* If we were working from the hint and found nothing, reset
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* the hint and try again
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*/
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if (free_hint != heap_base) {
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free_hint = heap_base;
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goto restart;
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}
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/* no space */
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return 0;
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}
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/* split the free region to make space */
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split_region(best, size);
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/* update free space counter */
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heap_free -= size;
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/* and return a pointer to the allocated region */
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return (void *)(best + 1);
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}
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void
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msheap_free(void *ptr)
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{
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marker_t marker;
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marker = (marker_t)ptr - 1;
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ASSERT(0, region_check(marker));
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ASSERT(3, msheap_check());
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/* this region is free, mark it accordingly */
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marker->next.free = 1;
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(marker + marker->next.size)->prev.free = 1;
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/* account for space we are freeing */
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heap_free += marker->next.size;
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/* possibly merge this region and the following */
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merge_region(marker);
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/* possibly merge this region and the preceeding */
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if (marker->prev.free) {
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marker -= marker->prev.size;
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merge_region(marker);
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}
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/*
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* Marker now points to the new free region, so update
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* the free hint if this has opened space earlier in the heap.
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*/
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if (marker < free_hint)
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free_hint = marker;
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}
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int
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msheap_check(void)
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{
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marker_t cursor;
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uint32_t free_space = 0;
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cursor = heap_base; /* start at the base of the heap */
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for (;;) {
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if (ASSERT_TEST(2, region_check(cursor))) /* check the current region */
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return 0;
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if (cursor->next.free) /* if the region is free */
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free_space += cursor->next.size; /* count it as free space */
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if (cursor == heap_limit) /* if this was the last region, stop */
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break;
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cursor += cursor->next.size; /* next region */
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}
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if (ASSERT_TEST(2, region_check(free_hint)))
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return 0;
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if (ASSERT_TEST(2, free_space == heap_free))
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return 0;
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return 1;
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}
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void
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msheap_walk(void (* callback)(void *ptr, uint32_t size, int free))
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{
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marker_t cursor;
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cursor = heap_base;
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for (;;) {
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callback(cursor + 1, cursor->next.size * marker_size, cursor->next.free);
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if (cursor == heap_limit)
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break;
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cursor += cursor->next.size;
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}
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}
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uint32_t
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msheap_free_space(void)
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{
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return heap_free * marker_size;
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}
|
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|
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void
|
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msheap_extend(uint32_t size)
|
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{
|
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marker_t new_free;
|
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|
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/* convert to marker-sized units (and implicitly round down) */
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size /= marker_size;
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if (size < 1)
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return;
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|
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/*
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* We can either extend a free region immediately prior to
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* the heap limit, or we can turn the heap limit marker
|
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* into the marker for a free region.
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*/
|
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if (heap_limit->prev.free) {
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new_free = heap_limit - heap_limit->prev.size;
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} else {
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new_free = heap_limit;
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}
|
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/* update new free region */
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new_free->next.size += size;
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new_free->next.free = 1;
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||||
|
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/* new end marker */
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heap_limit = new_free + new_free->next.size;
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heap_limit->prev.size = new_free->next.size;
|
||||
heap_limit->prev.free = 1;
|
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heap_limit->next.size = 0;
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heap_limit->next.free = 0;
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ASSERT(3, msheap_check());
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}
|
||||
|
||||
/**
|
||||
* Local heap panic implementation.
|
||||
*
|
||||
* Just sits and spins - should normally be overridden by the wrapper.
|
||||
*
|
||||
* @param reason The reason we are panicking.
|
||||
*/
|
||||
void
|
||||
msheap_panic(const char *reason)
|
||||
{
|
||||
for (;;)
|
||||
;
|
||||
}
|
||||
|
||||
/**
|
||||
* Check that a region is sane.
|
||||
*
|
||||
* If HEAP_CHECK_LEVEL is >= 2, assert at the point where the test fails, otherwise
|
||||
* expect that we are being called from inside an ASSERT wrapper at an appropriate
|
||||
* but lower level.
|
||||
*
|
||||
* @param marker The region to test.
|
||||
* @return 0 if the region fails checking, 1 otherwise.
|
||||
*/
|
||||
static int
|
||||
region_check(marker_t marker)
|
||||
{
|
||||
marker_t other;
|
||||
|
||||
if (ASSERT_TEST(2, marker) | /* not NULL */
|
||||
ASSERT_TEST(2, !((uintptr_t)marker % marker_size)) | /* properly aligned */
|
||||
ASSERT_TEST(2, marker >= heap_base) | /* within the heap */
|
||||
ASSERT_TEST(2, marker <= heap_limit))
|
||||
return 0;
|
||||
|
||||
/* validate link to next marker & return link from that marker */
|
||||
if (marker->next.size > 0) {
|
||||
other = marker + marker->next.size;
|
||||
|
||||
if (ASSERT_TEST(2, other > marker) | /* must be after */
|
||||
ASSERT_TEST(2, other <= heap_limit) | /* must be inside the heap */
|
||||
ASSERT_TEST(2, marker->next.size == other->prev.size) | /* sizes must match */
|
||||
ASSERT_TEST(2, marker->next.free == other->prev.free)) /* free state must match */
|
||||
return 0;
|
||||
} else {
|
||||
if (ASSERT_TEST(2, marker == heap_limit)) /* or it's the end of the heap */
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* validate link to previous marker & return link from that marker */
|
||||
if (marker->prev.size > 0) {
|
||||
other = marker - marker->prev.size;
|
||||
|
||||
if (ASSERT_TEST(2, other < marker) | /* must be before */
|
||||
ASSERT_TEST(2, other >= heap_base) | /* must be inside the heap */
|
||||
ASSERT_TEST(2, marker->prev.size == other->next.size) | /* sizes must match */
|
||||
ASSERT_TEST(2, marker->prev.free == other->next.free)) /* free state must match */
|
||||
return 0;
|
||||
} else {
|
||||
if (ASSERT_TEST(2, marker == heap_base)) /* or it's the end of the heap */
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* must never be two free regions adjacent */
|
||||
if (ASSERT_TEST(2, !(marker->prev.free && marker->next.free)))
|
||||
return 0;
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
/**
|
||||
* Split a free region into two and allocate the first portion.
|
||||
*
|
||||
* @param marker Marker at the head of the region to be split.
|
||||
* @param size Size of the portion to be allocated.
|
||||
*/
|
||||
static void
|
||||
split_region(marker_t marker, uint32_t size)
|
||||
{
|
||||
marker_t split, tail;
|
||||
|
||||
ASSERT(1, marker->next.free); /* must be splitting a free region */
|
||||
ASSERT(1, !marker->prev.free); /* free region must never follow a free region */
|
||||
ASSERT(1, marker->next.size >= size); /* size must fit in region */
|
||||
|
||||
ASSERT(3, size); /* split result must be at least one marker in size */
|
||||
|
||||
tail = marker + marker->next.size;
|
||||
ASSERT(1, region_check(tail)); /* validate the following region */
|
||||
|
||||
/*
|
||||
* The split marker is at the end of the allocated region; it may actually
|
||||
* be at the end of the previous free region as well.
|
||||
*/
|
||||
split = marker + size;
|
||||
|
||||
/* describe the now-allocated region */
|
||||
split->prev.size = size;
|
||||
split->prev.free = 0;
|
||||
|
||||
/* if there is a real split, then describe the free region */
|
||||
if (split != tail) {
|
||||
split->next.size = marker->next.size - size;
|
||||
split->next.free = 1;
|
||||
tail->prev.size = split->next.size;
|
||||
tail->prev.free = 1;
|
||||
|
||||
/*
|
||||
* Update the allocation speedup hint to
|
||||
* point to the new free region if we just used it.
|
||||
*/
|
||||
if (free_hint == marker)
|
||||
free_hint = split;
|
||||
} else {
|
||||
|
||||
/*
|
||||
* If we just allocated all of what the free hint
|
||||
* pointed to, reset it to the base of the heap.
|
||||
*/
|
||||
if (free_hint == marker)
|
||||
free_hint = heap_base;
|
||||
}
|
||||
|
||||
/* and update the allocated region */
|
||||
marker->next.size = size;
|
||||
marker->next.free = 0;
|
||||
|
||||
ASSERT(3, region_check(marker));
|
||||
ASSERT(3, region_check(split));
|
||||
ASSERT(3, region_check(tail));
|
||||
}
|
||||
|
||||
/**
|
||||
* Merge a free region with the following region, if possible.
|
||||
*
|
||||
* @param marker Marker preceeding the region to be merged.
|
||||
*/
|
||||
static void
|
||||
merge_region(marker_t marker)
|
||||
{
|
||||
marker_t other;
|
||||
|
||||
/*
|
||||
* note - cannot region_check(marker) here as we are
|
||||
* actively fixing adjacent free regions.
|
||||
*/
|
||||
|
||||
other = marker + marker->next.size;
|
||||
|
||||
/* if this region and the next region are both free, merge */
|
||||
if (marker->next.free && other->next.free) {
|
||||
|
||||
/* update region size */
|
||||
marker->next.size += other->next.size;
|
||||
|
||||
/* update the marker following the end of the merged regions */
|
||||
other = marker + marker->next.size;
|
||||
other->prev.size = marker->next.size;
|
||||
}
|
||||
}
|
||||
|
||||
91
flight/PiOS.posix/posix/Libraries/msheap/msheap.h
Normal file
91
flight/PiOS.posix/posix/Libraries/msheap/msheap.h
Normal file
@ -0,0 +1,91 @@
|
||||
/* -*- Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- */
|
||||
/*-
|
||||
* MSHEAP
|
||||
*
|
||||
* A compact, low-overhead heap implementation with configurable
|
||||
* integrity checking.
|
||||
*
|
||||
* Copyright 2011 Michael Smith. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above
|
||||
* copyright notice, this list of conditions and the following
|
||||
* disclaimer.
|
||||
*
|
||||
* 2. Redistributions in binary form must reproduce the above
|
||||
* copyright notice, this list of conditions and the following
|
||||
* disclaimer in the documentation and/or other materials
|
||||
* provided with the distribution.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDER ''AS IS'' AND ANY
|
||||
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> OR
|
||||
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
||||
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
|
||||
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||||
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
|
||||
* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
|
||||
* SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
/**
|
||||
* Initialise the heap.
|
||||
*
|
||||
* @param base The lower boundary of the heap.
|
||||
* @param limit The upper boundary of the heap.
|
||||
*/
|
||||
extern void msheap_init(void *base, void *limit);
|
||||
|
||||
/**
|
||||
* Allocate memory from the heap.
|
||||
*
|
||||
* @param size The number of bytes required (more may be allocated).
|
||||
*/
|
||||
extern void *msheap_alloc(uint32_t size);
|
||||
|
||||
/**
|
||||
* Free memory back to the heap.
|
||||
*
|
||||
* @param ptr Pointer being freed to the heap.
|
||||
*/
|
||||
extern void msheap_free(void *ptr);
|
||||
|
||||
/**
|
||||
* Validate the heap.
|
||||
*
|
||||
* @return Zero if the heap integrity checks pass, nonzero
|
||||
* otherwise.
|
||||
*/
|
||||
extern int msheap_check(void);
|
||||
|
||||
/**
|
||||
* Walk the heap.
|
||||
*
|
||||
* @param callback Called for each allocation in the heap.
|
||||
* The ptr argument gives the allocated address or
|
||||
* the free region address, size is the region size
|
||||
* in bytes and free is nonzero if the region is free.
|
||||
*/
|
||||
extern void msheap_walk(void (* callback)(void *ptr, uint32_t size, int free));
|
||||
|
||||
/**
|
||||
* Return the amount of free space in the heap.
|
||||
*
|
||||
* @return The total number of bytes available for allocation.
|
||||
*/
|
||||
extern uint32_t msheap_free_space(void);
|
||||
|
||||
/**
|
||||
* Extend the heap.
|
||||
*
|
||||
* @param size The size of the extension in bytes.
|
||||
*/
|
||||
extern void msheap_extend(uint32_t size);
|
||||
140
flight/PiOS.posix/posix/Libraries/msheap/pios_msheap.c
Normal file
140
flight/PiOS.posix/posix/Libraries/msheap/pios_msheap.c
Normal file
@ -0,0 +1,140 @@
|
||||
/* -*- Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- */
|
||||
/*-
|
||||
* PIOS interface shims for MSHEAP
|
||||
*
|
||||
* Copyright 2011 Michael Smith. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above
|
||||
* copyright notice, this list of conditions and the following
|
||||
* disclaimer.
|
||||
*
|
||||
* 2. Redistributions in binary form must reproduce the above
|
||||
* copyright notice, this list of conditions and the following
|
||||
* disclaimer in the documentation and/or other materials
|
||||
* provided with the distribution.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDER ''AS IS'' AND ANY
|
||||
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> OR
|
||||
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
||||
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
|
||||
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||||
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
|
||||
* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
|
||||
* SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#include "msheap.h"
|
||||
#include "pios_config.h"
|
||||
#include "pios.h"
|
||||
|
||||
/*
|
||||
* Symbols exported by the linker script telling us where the heap is.
|
||||
*/
|
||||
extern char _sheap;
|
||||
extern char _eheap;
|
||||
|
||||
#if defined(PIOS_INCLUDE_FREERTOS)
|
||||
/*
|
||||
* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
|
||||
* all the API functions to use the MPU wrappers. That should only be done when
|
||||
* task.h is included from an application file.
|
||||
* */
|
||||
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
|
||||
# include "FreeRTOS.h"
|
||||
# include "task.h"
|
||||
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
|
||||
|
||||
/*
|
||||
* Optional callback for allocation failures.
|
||||
*/
|
||||
extern void vApplicationMallocFailedHook(void) __attribute__((weak));
|
||||
|
||||
void *
|
||||
pvPortMalloc(size_t s)
|
||||
{
|
||||
void *p;
|
||||
|
||||
vPortEnterCritical();
|
||||
p = msheap_alloc(s);
|
||||
vPortExitCritical();
|
||||
|
||||
if (p == NULL && &vApplicationMallocFailedHook != NULL)
|
||||
vApplicationMallocFailedHook();
|
||||
|
||||
return p;
|
||||
}
|
||||
|
||||
void
|
||||
vPortFree(void *p)
|
||||
{
|
||||
vPortEnterCritical();
|
||||
msheap_free(p);
|
||||
vPortExitCritical();
|
||||
}
|
||||
|
||||
size_t
|
||||
xPortGetFreeHeapSize(void)
|
||||
{
|
||||
return msheap_free_space();
|
||||
}
|
||||
|
||||
void
|
||||
vPortInitialiseBlocks(void)
|
||||
{
|
||||
msheap_init(&_sheap, &_eheap);
|
||||
}
|
||||
|
||||
void
|
||||
xPortIncreaseHeapSize(size_t bytes)
|
||||
{
|
||||
msheap_extend(bytes);
|
||||
}
|
||||
|
||||
void *
|
||||
malloc(size_t size)
|
||||
{
|
||||
return pvPortMalloc(size);
|
||||
}
|
||||
|
||||
void
|
||||
free(void *p)
|
||||
{
|
||||
return vPortFree(p);
|
||||
}
|
||||
|
||||
#else /* !PIOS_INCLUDE_FREERTOS */
|
||||
int heap_init_done;
|
||||
void *
|
||||
malloc(size_t size)
|
||||
{
|
||||
// static
|
||||
|
||||
if (!heap_init_done) {
|
||||
msheap_init(&_sheap, &_eheap);
|
||||
heap_init_done = 1;
|
||||
}
|
||||
|
||||
return msheap_alloc(size);
|
||||
}
|
||||
|
||||
void
|
||||
free(void *p)
|
||||
{
|
||||
return msheap_free(p);
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_FREERTOS */
|
||||
|
||||
void
|
||||
msheap_panic(const char *reason)
|
||||
{
|
||||
//PIOS_DEBUG_Panic(reason);
|
||||
}
|
||||
74
flight/PiOS.posix/posix/library.mk
Normal file
74
flight/PiOS.posix/posix/library.mk
Normal file
@ -0,0 +1,74 @@
|
||||
#
|
||||
# Rules to (help) build the F4xx device support.
|
||||
#
|
||||
|
||||
#
|
||||
# Directory containing this makefile
|
||||
#
|
||||
PIOS_DEVLIB := $(dir $(lastword $(MAKEFILE_LIST)))
|
||||
|
||||
#
|
||||
# Hardcoded linker script names for now
|
||||
#
|
||||
#LINKER_SCRIPTS_APP = $(PIOS_DEVLIB)/link_STM32F4xx_OP_memory.ld \
|
||||
$(PIOS_DEVLIB)/link_STM32F4xx_sections.ld
|
||||
|
||||
#LINKER_SCRIPTS_BL = $(PIOS_DEVLIB)/link_STM32F4xx_BL_memory.ld \
|
||||
$(PIOS_DEVLIB)/link_STM32F4xx_sections.ld
|
||||
|
||||
#
|
||||
# Compiler options implied by the F4xx
|
||||
#
|
||||
#CDEFS += -DSTM32F4XX
|
||||
#CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ)
|
||||
#CDEFS += -DUSE_STDPERIPH_DRIVER
|
||||
#ARCHFLAGS += -mcpu=cortex-m4 -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
|
||||
|
||||
#
|
||||
# PIOS device library source and includes
|
||||
#
|
||||
SRC += $(wildcard $(PIOS_DEVLIB)*.c)
|
||||
EXTRAINCDIRS += $(PIOS_DEVLIB)/inc
|
||||
|
||||
#
|
||||
# CMSIS for the F4
|
||||
#
|
||||
#include $(PIOSCOMMONLIB)/CMSIS2/library.mk
|
||||
#CMSIS2_DEVICEDIR := $(PIOS_DEVLIB)/Libraries/CMSIS2/Device/ST/STM32F4xx
|
||||
#SRC += $(wildcard $(CMSIS2_DEVICEDIR)/Source/*.c)
|
||||
#EXTRAINCDIRS += $(CMSIS2_DEVICEDIR)/Include
|
||||
|
||||
#
|
||||
# ST Peripheral library
|
||||
#
|
||||
#PERIPHLIB = $(PIOS_DEVLIB)/Libraries/STM32F4xx_StdPeriph_Driver
|
||||
#SRC += $(wildcard $(PERIPHLIB)/src/*.c)
|
||||
#EXTRAINCDIRS += $(PERIPHLIB)/inc
|
||||
|
||||
#
|
||||
# ST USB OTG library
|
||||
#
|
||||
#USBOTGLIB = $(PIOS_DEVLIB)/Libraries/STM32_USB_OTG_Driver
|
||||
#USBOTGLIB_SRC = usb_core.c usb_dcd.c usb_dcd_int.c
|
||||
#SRC += $(addprefix $(USBOTGLIB)/src/,$(USBOTGLIB_SRC))
|
||||
#EXTRAINCDIRS += $(USBOTGLIB)/inc
|
||||
|
||||
#
|
||||
# ST USB Device library
|
||||
#
|
||||
#USBDEVLIB = $(PIOS_DEVLIB)/Libraries/STM32_USB_Device_Library
|
||||
#SRC += $(wildcard $(USBDEVLIB)/Core/src/*.c)
|
||||
#EXTRAINCDIRS += $(USBDEVLIB)/Core/inc
|
||||
|
||||
#
|
||||
# FreeRTOS
|
||||
#
|
||||
# If the application has included the generic FreeRTOS support, then add in
|
||||
# the device-specific pieces of the code.
|
||||
#
|
||||
ifneq ($(FREERTOS_DIR),)
|
||||
FREERTOS_PORTDIR := $(PIOS_DEVLIB)/Libraries/FreeRTOS/Source
|
||||
SRC += $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM4/*.c)
|
||||
EXTRAINCDIRS += $(FREERTOS_PORTDIR)/portable/GCC/Posix
|
||||
endif
|
||||
|
||||
485
flight/SimPosix/Makefile
Normal file
485
flight/SimPosix/Makefile
Normal file
@ -0,0 +1,485 @@
|
||||
#####
|
||||
# Project: OpenPilot INS
|
||||
#
|
||||
#
|
||||
# Makefile for OpenPilot INS project
|
||||
#
|
||||
# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
|
||||
#
|
||||
#
|
||||
# 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
|
||||
#####
|
||||
|
||||
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
|
||||
TOP := $(realpath $(WHEREAMI)/../../)
|
||||
|
||||
override TCHAIN_PREFIX := ""
|
||||
include $(TOP)/make/firmware-defs.mk
|
||||
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
|
||||
|
||||
# Target file name (without extension).
|
||||
TARGET := fw_$(BOARD_NAME)
|
||||
|
||||
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
|
||||
OUTDIR := $(TOP)/build/$(TARGET)
|
||||
|
||||
# Set developer code and compile options
|
||||
# Set to YES for debugging
|
||||
DEBUG ?= NO
|
||||
|
||||
# Set to YES when using Code Sourcery toolchain
|
||||
CODE_SOURCERY ?= NO
|
||||
|
||||
ifeq ($(CODE_SOURCERY), YES)
|
||||
REMOVE_CMD = cs-rm
|
||||
else
|
||||
REMOVE_CMD = rm
|
||||
endif
|
||||
|
||||
FLASH_TOOL = OPENOCD
|
||||
|
||||
# List of modules to include
|
||||
MODULES = Sensors Attitude/revolution ManualControl Stabilization Altitude/revolution Actuator GPS FirmwareIAP AltitudeHold
|
||||
MODULES += CameraStab
|
||||
MODULES += Telemetry
|
||||
MODULES += OveroSync
|
||||
PYMODULES =
|
||||
#FlightPlan
|
||||
|
||||
# Paths
|
||||
OPSYSTEM = ./System
|
||||
OPSYSTEMINC = $(OPSYSTEM)/inc
|
||||
OPUAVTALK = ../UAVTalk
|
||||
OPUAVTALKINC = $(OPUAVTALK)/inc
|
||||
OPUAVOBJ = ../UAVObjects
|
||||
OPUAVOBJINC = $(OPUAVOBJ)/inc
|
||||
PIOS = ../PiOS.posix
|
||||
PIOSINC = $(PIOS)/inc
|
||||
OPMODULEDIR = ../Modules
|
||||
FLIGHTLIB = ../Libraries
|
||||
FLIGHTLIBINC = ../Libraries/inc
|
||||
PIOSPOSIX = $(PIOS)/posix
|
||||
PIOSCOMMON = $(PIOS)/posix
|
||||
PIOSBOARDS = $(PIOS)/Boards
|
||||
PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries
|
||||
#APPLIBDIR = $(PIOSSTM32F4XX)/Libraries
|
||||
OPUAVOBJ = ../UAVObjects
|
||||
OPUAVOBJINC = $(OPUAVOBJ)/inc
|
||||
BOOT =
|
||||
BOOTINC =
|
||||
PYMITE = $(FLIGHTLIB)/PyMite
|
||||
PYMITELIB = $(PYMITE)/lib
|
||||
PYMITEPLAT = $(PYMITE)/platform/openpilot
|
||||
PYMITETOOLS = $(PYMITE)/tools
|
||||
PYMITEVM = $(PYMITE)/vm
|
||||
PYMITEINC = $(PYMITEVM)
|
||||
PYMITEINC += $(PYMITEPLAT)
|
||||
PYMITEINC += $(OUTDIR)
|
||||
FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
|
||||
FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
|
||||
HWDEFSINC = ../board_hw_defs/$(BOARD_NAME)
|
||||
UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
|
||||
|
||||
SRC =
|
||||
# optional component libraries
|
||||
include $(PIOSCOMMONLIB)/FreeRTOS/library.mk
|
||||
#include $(PIOSCOMMONLIB)/dosfs/library.mk
|
||||
include $(PIOSCOMMONLIB)/msheap/library.mk
|
||||
|
||||
|
||||
# List C source files here. (C dependencies are automatically generated.)
|
||||
# use file-extension c for "c-only"-files
|
||||
|
||||
## PyMite files and modules
|
||||
SRC += $(OUTDIR)/pmlib_img.c
|
||||
SRC += $(OUTDIR)/pmlib_nat.c
|
||||
SRC += $(OUTDIR)/pmlibusr_img.c
|
||||
SRC += $(OUTDIR)/pmlibusr_nat.c
|
||||
PYSRC += $(wildcard ${PYMITEVM}/*.c)
|
||||
PYSRC += $(wildcard ${PYMITEPLAT}/*.c)
|
||||
PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
|
||||
SRC += $(PYSRC)
|
||||
|
||||
## MODULES
|
||||
SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
|
||||
## OPENPILOT CORE:
|
||||
SRC += ${OPMODULEDIR}/System/systemmod.c
|
||||
SRC += $(OPSYSTEM)/simposix.c
|
||||
SRC += $(OPSYSTEM)/pios_board.c
|
||||
SRC += $(OPSYSTEM)/pios_usb_board_data.c
|
||||
SRC += $(OPSYSTEM)/alarms.c
|
||||
SRC += $(OPUAVTALK)/uavtalk.c
|
||||
SRC += $(OPUAVOBJ)/uavobjectmanager.c
|
||||
SRC += $(OPUAVOBJ)/eventdispatcher.c
|
||||
|
||||
#ifeq ($(DEBUG),YES)
|
||||
SRC += $(OPSYSTEM)/dcc_stdio.c
|
||||
SRC += $(OPSYSTEM)/cm3_fault_handlers.c
|
||||
#endif
|
||||
|
||||
SRC += $(FLIGHTLIB)/CoordinateConversions.c
|
||||
SRC += $(FLIGHTLIB)/fifo_buffer.c
|
||||
SRC += $(FLIGHTLIB)/WorldMagModel.c
|
||||
SRC += $(FLIGHTLIB)/insgps13state.c
|
||||
SRC += $(FLIGHTLIB)/taskmonitor.c
|
||||
|
||||
## PIOS Hardware (STM32F4xx)
|
||||
include $(PIOS)/posix/library.mk
|
||||
|
||||
## PIOS Hardware (Common)
|
||||
#SRC += $(PIOSCOMMON)/pios_mpu6000.c
|
||||
#SRC += $(PIOSCOMMON)/pios_bma180.c
|
||||
#SRC += $(PIOSCOMMON)/pios_l3gd20.c
|
||||
#SRC += $(PIOSCOMMON)/pios_hmc5883.c
|
||||
#SRC += $(PIOSCOMMON)/pios_ms5611.c
|
||||
#SRC += $(PIOSCOMMON)/pios_crc.c
|
||||
#SRC += $(PIOSCOMMON)/pios_com.c
|
||||
#SRC += $(PIOSCOMMON)/pios_rcvr.c
|
||||
#SRC += $(PIOSCOMMON)/pios_flash_jedec.c
|
||||
#SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c
|
||||
#SRC += $(PIOSCOMMON)/printf-stdarg.c
|
||||
#SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c
|
||||
#SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
|
||||
|
||||
include ./UAVObjects.inc
|
||||
SRC += $(UAVOBJSRC)
|
||||
|
||||
# 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 Assembler source files here.
|
||||
# Make them always end in a capital .S. Files ending in a lowercase .s
|
||||
# will not be considered source files but generated files (assembler
|
||||
# output from the compiler), and will be deleted upon "make clean"!
|
||||
# Even though the DOS/Win* filesystem matches both .s and .S the same,
|
||||
# it will preserve the spelling of the filenames, and gcc itself does
|
||||
# care about how the name is spelled on its command-line.
|
||||
|
||||
|
||||
# List Assembler source files here which must be assembled in ARM-Mode..
|
||||
ASRCARM =
|
||||
|
||||
# List any extra directories to look for include files here.
|
||||
# Each directory must be seperated by a space.
|
||||
EXTRAINCDIRS += $(PIOS)
|
||||
EXTRAINCDIRS += $(PIOSINC)
|
||||
EXTRAINCDIRS += $(OPSYSTEMINC)
|
||||
EXTRAINCDIRS += $(OPUAVTALK)
|
||||
EXTRAINCDIRS += $(OPUAVTALKINC)
|
||||
EXTRAINCDIRS += $(OPUAVOBJ)
|
||||
EXTRAINCDIRS += $(OPUAVOBJINC)
|
||||
EXTRAINCDIRS += $(UAVOBJSYNTHDIR)
|
||||
EXTRAINCDIRS += $(FLIGHTLIBINC)
|
||||
#EXTRAINCDIRS += $(PIOSSTM32F4XX)
|
||||
EXTRAINCDIRS += $(PIOSCOMMON)
|
||||
EXTRAINCDIRS += $(PIOSBOARDS)
|
||||
#EXTRAINCDIRS += $(STMSPDINCDIR)
|
||||
EXTRAINCDIRS += $(CMSISDIR)
|
||||
EXTRAINCDIRS += $(OPUAVSYNTHDIR)
|
||||
EXTRAINCDIRS += $(BOOTINC)
|
||||
EXTRAINCDIRS += $(PYMITEINC)
|
||||
EXTRAINCDIRS += $(HWDEFSINC)
|
||||
|
||||
# Generate intermediate code
|
||||
gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h
|
||||
|
||||
$(PYSRC): gencode
|
||||
|
||||
PYTHON = python
|
||||
|
||||
# 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)
|
||||
@echo $(MSG_PYMITEINIT) $(call toprel, $@)
|
||||
@$(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 $(FLIGHTPLANLIB)/*.py)
|
||||
@$(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
|
||||
EXTRAINCDIRS += ${foreach MOD, ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${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 = $(PIOSSTM32F4XX)
|
||||
|
||||
# Optimization level, can be [0, 1, 2, 3, s].
|
||||
# 0 = turn off optimization. s = optimize for size.
|
||||
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
|
||||
|
||||
ifeq ($(DEBUG),YES)
|
||||
CFLAGS += -O0
|
||||
CFLAGS += -DGENERAL_COV
|
||||
CFLAGS += -finstrument-functions -ffixed-r10
|
||||
else
|
||||
CFLAGS += -Os
|
||||
endif
|
||||
|
||||
|
||||
|
||||
# common architecture-specific flags from the device-specific library makefile
|
||||
CFLAGS += $(ARCHFLAGS)
|
||||
|
||||
CFLAGS += -DDIAGNOSTICS
|
||||
CFLAGS += -DDIAG_TASKS
|
||||
|
||||
# This is not the best place for these. Really should abstract out
|
||||
# to the board file or something
|
||||
#CFLAGS += -DSTM32F4XX
|
||||
CFLAGS += -DMEM_SIZE=1024000000
|
||||
|
||||
# Output format. (can be ihex or binary or both)
|
||||
# binary to create a load-image in raw-binary format i.e. for SAM-BA,
|
||||
# ihex to create a load-image in Intel hex format
|
||||
#LOADFORMAT = ihex
|
||||
#LOADFORMAT = binary
|
||||
LOADFORMAT = both
|
||||
|
||||
# Debugging format.
|
||||
DEBUGF = dwarf-2
|
||||
|
||||
# Place project-specific -D (define) and/or
|
||||
# -U options for C here.
|
||||
CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ)
|
||||
CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ)
|
||||
CDEFS += -DUSE_STDPERIPH_DRIVER
|
||||
CDEFS += -DUSE_$(BOARD)
|
||||
|
||||
# Place project-specific -D and/or -U options for
|
||||
# Assembler with preprocessor here.
|
||||
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
|
||||
ADEFS = -D__ASSEMBLY__
|
||||
|
||||
# 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++)
|
||||
|
||||
CFLAGS += -g$(DEBUGF)
|
||||
|
||||
CFLAGS += -ffast-math
|
||||
|
||||
#CFLAGS += -mcpu=$(MCU)
|
||||
CFLAGS += $(CDEFS)
|
||||
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
|
||||
|
||||
#CFLAGS += -mapcs-frame
|
||||
CFLAGS += -fomit-frame-pointer
|
||||
ifeq ($(CODE_SOURCERY), YES)
|
||||
CFLAGS += -fpromote-loop-indices
|
||||
endif
|
||||
|
||||
CFLAGS += -Wall
|
||||
#CFLAGS += -Werror
|
||||
CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
|
||||
# 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 = $(ARCHFLAGS) -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 = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
|
||||
LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
|
||||
LDFLAGS += -lc
|
||||
LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
|
||||
LDFLAGS += $(MATH_LIB)
|
||||
LDFLAGS += -lc -lgcc
|
||||
|
||||
#Linker scripts
|
||||
LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
|
||||
|
||||
|
||||
# Define programs and commands.
|
||||
REMOVE = $(REMOVE_CMD) -f
|
||||
PYHON = python
|
||||
|
||||
# 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, $(ALLSRCBASE)))
|
||||
|
||||
# Default target.
|
||||
all: gccversion build
|
||||
|
||||
ifeq ($(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
|
||||
|
||||
|
||||
# Link: create ELF output file from object files.
|
||||
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
|
||||
|
||||
# Assemble: create object files from assembler source files.
|
||||
$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
|
||||
|
||||
# Assemble: create object files from assembler source files. ARM-only
|
||||
$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C source files.
|
||||
$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C source files. ARM-only
|
||||
$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C++ source files.
|
||||
$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C++ source files. ARM-only
|
||||
$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create assembler files from C source files. ARM/Thumb
|
||||
$(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
|
||||
|
||||
# Compile: create assembler files from C source files. ARM only
|
||||
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
|
||||
|
||||
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
|
||||
|
||||
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
|
||||
|
||||
# Add jtag targets (program and wipe)
|
||||
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
|
||||
|
||||
.PHONY: elf lss sym hex bin bino opfw
|
||||
elf: $(OUTDIR)/$(TARGET).elf
|
||||
lss: $(OUTDIR)/$(TARGET).lss
|
||||
sym: $(OUTDIR)/$(TARGET).sym
|
||||
hex: $(OUTDIR)/$(TARGET).hex
|
||||
bin: $(OUTDIR)/$(TARGET).bin
|
||||
bino: $(OUTDIR)/$(TARGET).bin.o
|
||||
opfw: $(OUTDIR)/$(TARGET).opfw
|
||||
|
||||
# Display sizes of sections.
|
||||
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
|
||||
|
||||
# Generate Doxygen documents
|
||||
docs:
|
||||
doxygen $(DOXYGENDIR)/doxygen.cfg
|
||||
|
||||
# Install: install binary file with prefix/suffix into install directory
|
||||
install: $(OUTDIR)/$(TARGET).opfw
|
||||
ifneq ($(INSTALL_DIR),)
|
||||
@echo $(MSG_INSTALLING) $(call toprel, $<)
|
||||
$(V1) mkdir -p $(INSTALL_DIR)
|
||||
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
|
||||
else
|
||||
$(error INSTALL_DIR must be specified for $@)
|
||||
endif
|
||||
|
||||
# Target: clean project.
|
||||
clean: clean_list
|
||||
|
||||
clean_list :
|
||||
@echo $(MSG_CLEANING)
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).map
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).elf
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).hex
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o
|
||||
$(V1) $(REMOVE) $(ALLOBJ)
|
||||
$(V1) $(REMOVE) $(LSTFILES)
|
||||
$(V1) $(REMOVE) $(DEPFILES)
|
||||
$(V1) $(REMOVE) $(SRC:.c=.s)
|
||||
$(V1) $(REMOVE) $(SRCARM:.c=.s)
|
||||
$(V1) $(REMOVE) $(CPPSRC:.cpp=.s)
|
||||
$(V1) $(REMOVE) $(CPPSRCARM:.cpp=.s)
|
||||
|
||||
# Create output files directory
|
||||
# all known MS Windows OS define the ComSpec environment variable
|
||||
ifdef ComSpec
|
||||
$(shell md $(subst /,\\,$(OUTDIR)) 2>NUL)
|
||||
else
|
||||
$(shell mkdir -p $(OUTDIR) 2>/dev/null)
|
||||
endif
|
||||
|
||||
# Include the dependency files.
|
||||
ifdef ComSpec
|
||||
-include $(shell md $(subst /,\\,$(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 build clean clean_list install
|
||||
210
flight/SimPosix/System/alarms.c
Normal file
210
flight/SimPosix/System/alarms.c
Normal file
@ -0,0 +1,210 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @{
|
||||
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
|
||||
* @brief OpenPilot System libraries are available to all OP modules.
|
||||
* @{
|
||||
* @file alarms.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Library for setting and clearing system alarms
|
||||
* @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 "openpilot.h"
|
||||
#include "alarms.h"
|
||||
|
||||
// Private constants
|
||||
|
||||
// Private types
|
||||
|
||||
// Private variables
|
||||
static xSemaphoreHandle lock;
|
||||
|
||||
// Private functions
|
||||
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
|
||||
|
||||
/**
|
||||
* Initialize the alarms library
|
||||
*/
|
||||
int32_t AlarmsInitialize(void)
|
||||
{
|
||||
SystemAlarmsInitialize();
|
||||
lock = xSemaphoreCreateRecursiveMutex();
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set an alarm
|
||||
* @param alarm The system alarm to be modified
|
||||
* @param severity The alarm severity
|
||||
* @return 0 if success, -1 if an error
|
||||
*/
|
||||
int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
|
||||
{
|
||||
SystemAlarmsData alarms;
|
||||
|
||||
// Check that this is a valid alarm
|
||||
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Lock
|
||||
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
|
||||
|
||||
// Read alarm and update its severity only if it was changed
|
||||
SystemAlarmsGet(&alarms);
|
||||
if ( alarms.Alarm[alarm] != severity )
|
||||
{
|
||||
alarms.Alarm[alarm] = severity;
|
||||
SystemAlarmsSet(&alarms);
|
||||
}
|
||||
|
||||
// Release lock
|
||||
xSemaphoreGiveRecursive(lock);
|
||||
return 0;
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Get an alarm
|
||||
* @param alarm The system alarm to be read
|
||||
* @return Alarm severity
|
||||
*/
|
||||
SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
|
||||
{
|
||||
SystemAlarmsData alarms;
|
||||
|
||||
// Check that this is a valid alarm
|
||||
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Read alarm
|
||||
SystemAlarmsGet(&alarms);
|
||||
return alarms.Alarm[alarm];
|
||||
}
|
||||
|
||||
/**
|
||||
* Set an alarm to it's default value
|
||||
* @param alarm The system alarm to be modified
|
||||
* @return 0 if success, -1 if an error
|
||||
*/
|
||||
int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
|
||||
{
|
||||
return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
|
||||
}
|
||||
|
||||
/**
|
||||
* Default all alarms
|
||||
*/
|
||||
void AlarmsDefaultAll()
|
||||
{
|
||||
uint32_t n;
|
||||
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
|
||||
{
|
||||
AlarmsDefault(n);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Clear an alarm
|
||||
* @param alarm The system alarm to be modified
|
||||
* @return 0 if success, -1 if an error
|
||||
*/
|
||||
int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
|
||||
{
|
||||
return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
|
||||
}
|
||||
|
||||
/**
|
||||
* Clear all alarms
|
||||
*/
|
||||
void AlarmsClearAll()
|
||||
{
|
||||
uint32_t n;
|
||||
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
|
||||
{
|
||||
AlarmsClear(n);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Check if there are any alarms with the given or higher severity
|
||||
* @return 0 if no alarms are found, 1 if at least one alarm is found
|
||||
*/
|
||||
int32_t AlarmsHasWarnings()
|
||||
{
|
||||
return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
|
||||
}
|
||||
|
||||
/**
|
||||
* Check if there are any alarms with error or higher severity
|
||||
* @return 0 if no alarms are found, 1 if at least one alarm is found
|
||||
*/
|
||||
int32_t AlarmsHasErrors()
|
||||
{
|
||||
return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
|
||||
};
|
||||
|
||||
/**
|
||||
* Check if there are any alarms with critical or higher severity
|
||||
* @return 0 if no alarms are found, 1 if at least one alarm is found
|
||||
*/
|
||||
int32_t AlarmsHasCritical()
|
||||
{
|
||||
return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
|
||||
};
|
||||
|
||||
/**
|
||||
* Check if there are any alarms with the given or higher severity
|
||||
* @return 0 if no alarms are found, 1 if at least one alarm is found
|
||||
*/
|
||||
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
|
||||
{
|
||||
SystemAlarmsData alarms;
|
||||
uint32_t n;
|
||||
|
||||
// Lock
|
||||
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
|
||||
|
||||
// Read alarms
|
||||
SystemAlarmsGet(&alarms);
|
||||
|
||||
// Go through alarms and check if any are of the given severity or higher
|
||||
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
|
||||
{
|
||||
if ( alarms.Alarm[n] >= severity)
|
||||
{
|
||||
xSemaphoreGiveRecursive(lock);
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
|
||||
// If this point is reached then no alarms found
|
||||
xSemaphoreGiveRecursive(lock);
|
||||
return 0;
|
||||
}
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
|
||||
87
flight/SimPosix/System/cm3_fault_handlers.c
Normal file
87
flight/SimPosix/System/cm3_fault_handlers.c
Normal file
@ -0,0 +1,87 @@
|
||||
/*
|
||||
* cm3_fault_handlers.c
|
||||
*
|
||||
* Created on: Apr 24, 2011
|
||||
* Author: msmith
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
#include "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
flight/SimPosix/System/dcc_stdio.c
Normal file
149
flight/SimPosix/System/dcc_stdio.c
Normal file
@ -0,0 +1,149 @@
|
||||
/***************************************************************************
|
||||
* 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 "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]);
|
||||
}
|
||||
103
flight/SimPosix/System/inc/FreeRTOSConfig.h
Normal file
103
flight/SimPosix/System/inc/FreeRTOSConfig.h
Normal file
@ -0,0 +1,103 @@
|
||||
|
||||
#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
|
||||
|
||||
/* 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 */
|
||||
50
flight/SimPosix/System/inc/alarms.h
Normal file
50
flight/SimPosix/System/inc/alarms.h
Normal file
@ -0,0 +1,50 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @{
|
||||
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
|
||||
* @{
|
||||
* @file alarms.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Include file of the alarm library
|
||||
* @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 ALARMS_H
|
||||
#define ALARMS_H
|
||||
|
||||
#include "systemalarms.h"
|
||||
#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
|
||||
|
||||
int32_t AlarmsInitialize(void);
|
||||
int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
|
||||
SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
|
||||
int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
|
||||
void AlarmsDefaultAll();
|
||||
int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
|
||||
void AlarmsClearAll();
|
||||
int32_t AlarmsHasWarnings();
|
||||
int32_t AlarmsHasErrors();
|
||||
int32_t AlarmsHasCritical();
|
||||
|
||||
#endif // ALARMS_H
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
36
flight/SimPosix/System/inc/dcc_stdio.h
Normal file
36
flight/SimPosix/System/inc/dcc_stdio.h
Normal file
@ -0,0 +1,36 @@
|
||||
/***************************************************************************
|
||||
* 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 */
|
||||
39
flight/SimPosix/System/inc/op_config.h
Normal file
39
flight/SimPosix/System/inc/op_config.h
Normal file
@ -0,0 +1,39 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @{
|
||||
* @addtogroup OpenPilotCore OpenPilot Core
|
||||
* @{
|
||||
*
|
||||
* @file op_config.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief OpenPilot configuration header.
|
||||
* Compile time config for OpenPilot Application
|
||||
* @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 OP_CONFIG_H
|
||||
#define OP_CONFIG_H
|
||||
|
||||
#endif /* OP_CONFIG_H */
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
53
flight/SimPosix/System/inc/openpilot.h
Normal file
53
flight/SimPosix/System/inc/openpilot.h
Normal file
@ -0,0 +1,53 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @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 "op_config.h"
|
||||
#include "utlist.h"
|
||||
#include "uavobjectmanager.h"
|
||||
#include "eventdispatcher.h"
|
||||
#include "alarms.h"
|
||||
#include "taskmonitor.h"
|
||||
#include "uavtalk.h"
|
||||
|
||||
/* Global Functions */
|
||||
void OpenPilotInit(void);
|
||||
|
||||
#endif /* OPENPILOT_H */
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
117
flight/SimPosix/System/inc/pios_config.h
Normal file
117
flight/SimPosix/System/inc/pios_config.h
Normal file
@ -0,0 +1,117 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @{
|
||||
* @addtogroup OpenPilotCore OpenPilot Core
|
||||
* @{
|
||||
*
|
||||
* @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.
|
||||
* In particular, pios_config.h is where you define 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
|
||||
|
||||
/* Major features */
|
||||
#define PIOS_INCLUDE_FREERTOS
|
||||
#define PIOS_INCLUDE_BL_HELPER
|
||||
|
||||
/* Enable/Disable PiOS Modules */
|
||||
//#define PIOS_INCLUDE_ADC
|
||||
#define PIOS_INCLUDE_DELAY
|
||||
#define PIOS_INCLUDE_I2C
|
||||
#define PIOS_INCLUDE_IRQ
|
||||
#define PIOS_INCLUDE_LED
|
||||
#define PIOS_INCLUDE_IAP
|
||||
#define PIOS_INCLUDE_SERVO
|
||||
#define PIOS_INCLUDE_SPI
|
||||
#define PIOS_INCLUDE_SYS
|
||||
#define PIOS_INCLUDE_USART
|
||||
#define PIOS_INCLUDE_USB
|
||||
#define PIOS_INCLUDE_USB_HID
|
||||
//#define PIOS_INCLUDE_GPIO
|
||||
#define PIOS_INCLUDE_EXTI
|
||||
#define PIOS_INCLUDE_RTC
|
||||
#define PIOS_INCLUDE_WDG
|
||||
|
||||
/* Select the sensors to include */
|
||||
#define PIOS_INCLUDE_BMA180
|
||||
#define PIOS_INCLUDE_HMC5883
|
||||
//#define PIOS_INCLUDE_MPU6000
|
||||
//#define PIOS_MPU6000_ACCEL
|
||||
#define PIOS_INCLUDE_L3GD20
|
||||
#define PIOS_INCLUDE_MS5611
|
||||
//#define PIOS_INCLUDE_HCSR04
|
||||
#define PIOS_FLASH_ON_ACCEL /* true for second revo */
|
||||
#define FLASH_FREERTOS
|
||||
/* Com systems to include */
|
||||
#define PIOS_INCLUDE_COM
|
||||
#define PIOS_INCLUDE_COM_TELEM
|
||||
#define PIOS_INCLUDE_COM_AUX
|
||||
#define PIOS_INCLUDE_COM_AUXSBUS
|
||||
#define PIOS_INCLUDE_COM_FLEXI
|
||||
|
||||
#define PIOS_INCLUDE_GPS
|
||||
#define PIOS_OVERO_SPI
|
||||
/* Supported receiver interfaces */
|
||||
#define PIOS_INCLUDE_RCVR
|
||||
#define PIOS_INCLUDE_DSM
|
||||
//#define PIOS_INCLUDE_SBUS
|
||||
#define PIOS_INCLUDE_PPM
|
||||
#define PIOS_INCLUDE_PWM
|
||||
//#define PIOS_INCLUDE_GCSRCVR
|
||||
|
||||
#define PIOS_INCLUDE_SETTINGS
|
||||
#define PIOS_INCLUDE_FLASH
|
||||
/* A really shitty setting saving implementation */
|
||||
#define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS
|
||||
|
||||
/* Other Interfaces */
|
||||
//#define PIOS_INCLUDE_I2C_ESC
|
||||
|
||||
/* Flags that alter behaviors - mostly to lower resources for CC */
|
||||
#define PIOS_INCLUDE_INITCALL /* Include init call structures */
|
||||
#define PIOS_TELEM_PRIORITY_QUEUE /* Enable a priority queue in telemetry */
|
||||
#define PIOS_QUATERNION_STABILIZATION /* Stabilization options */
|
||||
//#define PIOS_GPS_SETS_HOMELOCATION /* GPS options */
|
||||
|
||||
/* Alarm Thresholds */
|
||||
#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
|
||||
|
||||
// This actually needs calibrating
|
||||
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD (8379692)
|
||||
|
||||
#define REVOLUTION
|
||||
|
||||
#endif /* PIOS_CONFIG_H */
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
45
flight/SimPosix/System/inc/pios_usb_board_data.h
Normal file
45
flight/SimPosix/System/inc/pios_usb_board_data.h
Normal file
@ -0,0 +1,45 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @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 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
|
||||
|
||||
#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_REVOLUTION
|
||||
#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_REVOLUTION, USB_OP_BOARD_MODE_FW)
|
||||
|
||||
#endif /* PIOS_USB_BOARD_DATA_H */
|
||||
817
flight/SimPosix/System/pios_board.c
Normal file
817
flight/SimPosix/System/pios_board.c
Normal file
@ -0,0 +1,817 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup Revolution Revolution configuration files
|
||||
* @{
|
||||
* @brief Configures the revolution board
|
||||
* @{
|
||||
*
|
||||
* @file pios_board.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief Defines board specific static initializers for hardware for the Revolution 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 <openpilot.h>
|
||||
#include <uavobjectsinit.h>
|
||||
#include "hwsettings.h"
|
||||
#include "manualcontrolsettings.h"
|
||||
|
||||
#include "board_hw_defs.c"
|
||||
|
||||
/**
|
||||
* Sensor configurations
|
||||
*/
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
#include "pios_hmc5883.h"
|
||||
static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
|
||||
.vector = PIOS_HMC5883_IRQHandler,
|
||||
.line = EXTI_Line5,
|
||||
.pin = {
|
||||
.gpio = GPIOB,
|
||||
.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_LOW,
|
||||
.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_hmc5883_cfg pios_hmc5883_cfg = {
|
||||
.exti_cfg = &pios_exti_hmc5883_cfg,
|
||||
.M_ODR = PIOS_HMC5883_ODR_75,
|
||||
.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
|
||||
.Gain = PIOS_HMC5883_GAIN_1_9,
|
||||
.Mode = PIOS_HMC5883_MODE_CONTINUOUS,
|
||||
|
||||
};
|
||||
#endif /* PIOS_INCLUDE_HMC5883 */
|
||||
|
||||
/**
|
||||
* Configuration for the MS5611 chip
|
||||
*/
|
||||
#if defined(PIOS_INCLUDE_MS5611)
|
||||
#include "pios_ms5611.h"
|
||||
static const struct pios_ms5611_cfg pios_ms5611_cfg = {
|
||||
.oversampling = 1,
|
||||
};
|
||||
#endif /* PIOS_INCLUDE_MS5611 */
|
||||
|
||||
/**
|
||||
* Configuration for the BMA180 chip
|
||||
*/
|
||||
#if defined(PIOS_INCLUDE_BMA180)
|
||||
#include "pios_bma180.h"
|
||||
static const struct pios_exti_cfg pios_exti_bma180_cfg __exti_config = {
|
||||
.vector = PIOS_BMA180_IRQHandler,
|
||||
.line = EXTI_Line4,
|
||||
.pin = {
|
||||
.gpio = GPIOC,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_4,
|
||||
.GPIO_Speed = GPIO_Speed_100MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IN,
|
||||
.GPIO_OType = GPIO_OType_OD,
|
||||
.GPIO_PuPd = GPIO_PuPd_NOPULL,
|
||||
},
|
||||
},
|
||||
.irq = {
|
||||
.init = {
|
||||
.NVIC_IRQChannel = EXTI4_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.exti = {
|
||||
.init = {
|
||||
.EXTI_Line = EXTI_Line4, // matches above GPIO pin
|
||||
.EXTI_Mode = EXTI_Mode_Interrupt,
|
||||
.EXTI_Trigger = EXTI_Trigger_Rising,
|
||||
.EXTI_LineCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
};
|
||||
static const struct pios_bma180_cfg pios_bma180_cfg = {
|
||||
.exti_cfg = &pios_exti_bma180_cfg,
|
||||
.bandwidth = BMA_BW_600HZ,
|
||||
.range = BMA_RANGE_8G,
|
||||
};
|
||||
#endif /* PIOS_INCLUDE_BMA180 */
|
||||
|
||||
/**
|
||||
* Configuration for the MPU6000 chip
|
||||
*/
|
||||
#if defined(PIOS_INCLUDE_MPU6000)
|
||||
#include "pios_mpu6000.h"
|
||||
static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
|
||||
.vector = PIOS_MPU6000_IRQHandler,
|
||||
.line = EXTI_Line8,
|
||||
.pin = {
|
||||
.gpio = GPIOD,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_8,
|
||||
.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_Line8, // matches above GPIO pin
|
||||
.EXTI_Mode = EXTI_Mode_Interrupt,
|
||||
.EXTI_Trigger = EXTI_Trigger_Rising,
|
||||
.EXTI_LineCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
|
||||
.exti_cfg = &pios_exti_mpu6000_cfg,
|
||||
.Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
|
||||
// Clock at 8 khz, downsampled by 8 for 1khz
|
||||
.Smpl_rate_div = 7,
|
||||
.interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
|
||||
.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
|
||||
.User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN,
|
||||
.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
|
||||
.gyro_range = PIOS_MPU6000_SCALE_500_DEG,
|
||||
.filter = PIOS_MPU6000_LOWPASS_256_HZ
|
||||
};
|
||||
#endif /* PIOS_INCLUDE_MPU6000 */
|
||||
|
||||
/**
|
||||
* Configuration for L3GD20 chip
|
||||
*/
|
||||
#if defined(PIOS_INCLUDE_L3GD20)
|
||||
#include "pios_l3gd20.h"
|
||||
static const struct pios_exti_cfg pios_exti_l3gd20_cfg __exti_config = {
|
||||
.vector = PIOS_L3GD20_IRQHandler,
|
||||
.line = EXTI_Line8,
|
||||
.pin = {
|
||||
.gpio = GPIOD,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_8,
|
||||
.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_Line8, // matches above GPIO pin
|
||||
.EXTI_Mode = EXTI_Mode_Interrupt,
|
||||
.EXTI_Trigger = EXTI_Trigger_Rising,
|
||||
.EXTI_LineCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
static const struct pios_l3gd20_cfg pios_l3gd20_cfg = {
|
||||
.exti_cfg = &pios_exti_l3gd20_cfg,
|
||||
.range = PIOS_L3GD20_SCALE_500_DEG,
|
||||
};
|
||||
#endif /* PIOS_INCLUDE_L3GD20 */
|
||||
|
||||
|
||||
static const struct flashfs_cfg flashfs_m25p_cfg = {
|
||||
.table_magic = 0x85FB3D35,
|
||||
.obj_magic = 0x3015A371,
|
||||
.obj_table_start = 0x00000010,
|
||||
.obj_table_end = 0x00010000,
|
||||
.sector_size = 0x00010000,
|
||||
};
|
||||
|
||||
static const struct pios_flash_jedec_cfg flash_m25p_cfg = {
|
||||
.sector_erase = 0xD8,
|
||||
.chip_erase = 0xC7
|
||||
};
|
||||
|
||||
/* 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 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_AUX_RX_BUF_LEN 512
|
||||
#define PIOS_COM_AUX_TX_BUF_LEN 512
|
||||
|
||||
uint32_t pios_com_aux_id = 0;
|
||||
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_bridge_id = 0;
|
||||
|
||||
/*
|
||||
* Setup a com port based on the passed cfg, driver and buffer sizes. tx size of -1 make the port rx only
|
||||
*/
|
||||
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 = (uint8_t *) pvPortMalloc(rx_buf_len);
|
||||
PIOS_Assert(rx_buffer);
|
||||
if(tx_buf_len!= -1){ // this is the case for rx/tx ports
|
||||
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(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);
|
||||
}
|
||||
}
|
||||
else{ //rx only port
|
||||
if (PIOS_COM_Init(pios_com_id, com_driver, pios_usart_id,
|
||||
rx_buffer, rx_buf_len,
|
||||
NULL, 0)) {
|
||||
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 *pios_usart_com_driver,enum pios_dsm_proto *proto,
|
||||
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, pios_usart_com_driver,
|
||||
pios_usart_dsm_id, *proto, *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;
|
||||
}
|
||||
|
||||
/**
|
||||
* PIOS_Board_Init()
|
||||
* initializes all the core subsystems on this specific hardware
|
||||
* called from System/openpilot.c
|
||||
*/
|
||||
void PIOS_Board_Init(void) {
|
||||
|
||||
/* Delay system */
|
||||
PIOS_DELAY_Init();
|
||||
|
||||
PIOS_LED_Init(&pios_led_cfg);
|
||||
|
||||
/* Set up the SPI interface to the accelerometer*/
|
||||
if (PIOS_SPI_Init(&pios_spi_accel_id, &pios_spi_accel_cfg)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
|
||||
/* Set up the SPI interface to the gyro */
|
||||
if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
#if !defined(PIOS_FLASH_ON_ACCEL)
|
||||
/* Set up the SPI interface to the flash */
|
||||
if (PIOS_SPI_Init(&pios_spi_flash_id, &pios_spi_flash_cfg)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
PIOS_Flash_Jedec_Init(pios_spi_flash_id, 0, &flash_m25p_cfg);
|
||||
#else
|
||||
PIOS_Flash_Jedec_Init(pios_spi_accel_id, 1, &flash_m25p_cfg);
|
||||
#endif
|
||||
PIOS_FLASHFS_Init(&flashfs_m25p_cfg);
|
||||
|
||||
#if defined(PIOS_OVERO_SPI)
|
||||
/* Set up the SPI interface to the gyro */
|
||||
if (PIOS_SPI_Init(&pios_spi_overo_id, &pios_spi_overo_cfg)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
#endif
|
||||
|
||||
/* Initialize UAVObject libraries */
|
||||
EventDispatcherInitialize();
|
||||
UAVObjInitialize();
|
||||
|
||||
HwSettingsInitialize();
|
||||
|
||||
#if defined(PIOS_INCLUDE_RTC)
|
||||
PIOS_RTC_Init(&pios_rtc_main_cfg);
|
||||
#endif
|
||||
|
||||
/* Initialize the alarms library */
|
||||
AlarmsInitialize();
|
||||
|
||||
/* Initialize the task monitor library */
|
||||
TaskMonitorInitialize();
|
||||
|
||||
/* Set up pulse timers */
|
||||
PIOS_TIM_InitClock(&tim_1_cfg);
|
||||
PIOS_TIM_InitClock(&tim_3_cfg);
|
||||
PIOS_TIM_InitClock(&tim_4_cfg);
|
||||
PIOS_TIM_InitClock(&tim_5_cfg);
|
||||
PIOS_TIM_InitClock(&tim_9_cfg);
|
||||
PIOS_TIM_InitClock(&tim_10_cfg);
|
||||
PIOS_TIM_InitClock(&tim_11_cfg);
|
||||
|
||||
/* IAP System Setup */
|
||||
PIOS_IAP_Init();
|
||||
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);
|
||||
}
|
||||
|
||||
|
||||
//PIOS_IAP_Init();
|
||||
|
||||
#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;
|
||||
|
||||
uint8_t hwsettings_usb_devicetype;
|
||||
HwSettingsUSB_DeviceTypeGet(&hwsettings_usb_devicetype);
|
||||
|
||||
switch (hwsettings_usb_devicetype) {
|
||||
case HWSETTINGS_USB_DEVICETYPE_HIDONLY:
|
||||
if (PIOS_USB_DESC_HID_ONLY_Init()) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
usb_hid_present = true;
|
||||
break;
|
||||
case HWSETTINGS_USB_DEVICETYPE_HIDVCP:
|
||||
if (PIOS_USB_DESC_HID_CDC_Init()) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
usb_hid_present = true;
|
||||
usb_cdc_present = true;
|
||||
break;
|
||||
case HWSETTINGS_USB_DEVICETYPE_VCPONLY:
|
||||
break;
|
||||
default:
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
uint32_t pios_usb_id;
|
||||
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);
|
||||
|
||||
#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;
|
||||
}
|
||||
|
||||
switch (hwsettings_usb_vcpport) {
|
||||
case HWSETTINGS_USB_VCPPORT_DISABLED:
|
||||
break;
|
||||
case HWSETTINGS_USB_VCPPORT_USBTELEMETRY:
|
||||
#if defined(PIOS_INCLUDE_COM)
|
||||
PIOS_Board_configure_com(&pios_usb_cdc_cfg, PIOS_COM_TELEM_USB_RX_BUF_LEN, PIOS_COM_TELEM_USB_TX_BUF_LEN, &pios_usb_cdc_com_driver, &pios_com_telem_usb_id);
|
||||
#endif /* PIOS_INCLUDE_COM */
|
||||
break;
|
||||
case HWSETTINGS_USB_VCPPORT_COMBRIDGE:
|
||||
#if defined(PIOS_INCLUDE_COM)
|
||||
PIOS_Board_configure_com(&pios_usb_cdc_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usb_cdc_com_driver, &pios_com_vcp_id);
|
||||
#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)
|
||||
{
|
||||
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);
|
||||
}
|
||||
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
|
||||
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(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 IO ports */
|
||||
uint8_t hwsettings_DSMxBind;
|
||||
HwSettingsDSMxBindGet(&hwsettings_DSMxBind);
|
||||
|
||||
/* Configure Telemetry port */
|
||||
uint8_t hwsettings_rv_telemetryport;
|
||||
HwSettingsRV_TelemetryPortGet(&hwsettings_rv_telemetryport);
|
||||
|
||||
switch (hwsettings_rv_telemetryport){
|
||||
case HWSETTINGS_RV_TELEMETRYPORT_DISABLED:
|
||||
break;
|
||||
case HWSETTINGS_RV_TELEMETRYPORT_TELEMETRY:
|
||||
PIOS_Board_configure_com(&pios_usart_telem_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_RV_TELEMETRYPORT_COMAUX:
|
||||
PIOS_Board_configure_com(&pios_usart_telem_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
|
||||
break;
|
||||
case HWSETTINGS_RV_TELEMETRYPORT_COMBRIDGE:
|
||||
PIOS_Board_configure_com(&pios_usart_telem_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
|
||||
break;
|
||||
|
||||
} /* hwsettings_rv_telemetryport */
|
||||
|
||||
/* Configure GPS port */
|
||||
uint8_t hwsettings_rv_gpsport;
|
||||
HwSettingsRV_GPSPortGet(&hwsettings_rv_gpsport);
|
||||
switch (hwsettings_rv_gpsport){
|
||||
case HWSETTINGS_RV_GPSPORT_DISABLED:
|
||||
break;
|
||||
|
||||
case HWSETTINGS_RV_GPSPORT_TELEMETRY:
|
||||
PIOS_Board_configure_com(&pios_usart_gps_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_RV_GPSPORT_GPS:
|
||||
PIOS_Board_configure_com(&pios_usart_gps_cfg, PIOS_COM_GPS_RX_BUF_LEN, -1, &pios_usart_com_driver, &pios_com_gps_id);
|
||||
break;
|
||||
|
||||
case HWSETTINGS_RV_GPSPORT_COMAUX:
|
||||
PIOS_Board_configure_com(&pios_usart_gps_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
|
||||
break;
|
||||
|
||||
case HWSETTINGS_RV_GPSPORT_COMBRIDGE:
|
||||
PIOS_Board_configure_com(&pios_usart_gps_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
|
||||
break;
|
||||
}/* hwsettings_rv_gpsport */
|
||||
|
||||
/* Configure AUXPort */
|
||||
uint8_t hwsettings_rv_auxport;
|
||||
HwSettingsRV_AuxPortGet(&hwsettings_rv_auxport);
|
||||
|
||||
switch (hwsettings_rv_auxport) {
|
||||
case HWSETTINGS_RV_AUXPORT_DISABLED:
|
||||
break;
|
||||
|
||||
case HWSETTINGS_RV_AUXPORT_TELEMETRY:
|
||||
PIOS_Board_configure_com(&pios_usart_aux_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_RV_AUXPORT_DSM2:
|
||||
case HWSETTINGS_RV_AUXPORT_DSMX10BIT:
|
||||
case HWSETTINGS_RV_AUXPORT_DSMX11BIT:
|
||||
{
|
||||
enum pios_dsm_proto proto;
|
||||
switch (hwsettings_rv_auxport) {
|
||||
case HWSETTINGS_RV_AUXPORT_DSM2:
|
||||
proto = PIOS_DSM_PROTO_DSM2;
|
||||
break;
|
||||
case HWSETTINGS_RV_AUXPORT_DSMX10BIT:
|
||||
proto = PIOS_DSM_PROTO_DSMX10BIT;
|
||||
break;
|
||||
case HWSETTINGS_RV_AUXPORT_DSMX11BIT:
|
||||
proto = PIOS_DSM_PROTO_DSMX11BIT;
|
||||
break;
|
||||
default:
|
||||
PIOS_Assert(0);
|
||||
break;
|
||||
}
|
||||
//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
|
||||
PIOS_Board_configure_dsm(&pios_usart_dsm_aux_cfg, &pios_dsm_aux_cfg,
|
||||
&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hwsettings_DSMxBind);
|
||||
}
|
||||
break;
|
||||
case HWSETTINGS_RV_AUXPORT_COMAUX:
|
||||
PIOS_Board_configure_com(&pios_usart_aux_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
|
||||
break;
|
||||
case HWSETTINGS_RV_AUXPORT_COMBRIDGE:
|
||||
PIOS_Board_configure_com(&pios_usart_aux_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
|
||||
break;
|
||||
} /* hwsettings_rv_auxport */
|
||||
/* Configure AUXSbusPort */
|
||||
//TODO: ensure that the serial invertion pin is setted correctly
|
||||
uint8_t hwsettings_rv_auxsbusport;
|
||||
HwSettingsRV_AuxSBusPortGet(&hwsettings_rv_auxsbusport);
|
||||
|
||||
switch (hwsettings_rv_auxsbusport) {
|
||||
case HWSETTINGS_RV_AUXSBUSPORT_DISABLED:
|
||||
break;
|
||||
case HWSETTINGS_RV_AUXSBUSPORT_SBUS:
|
||||
#ifdef PIOS_INCLUDE_SBUS
|
||||
{
|
||||
uint32_t pios_usart_sbus_id;
|
||||
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_auxsbus_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 /* PIOS_INCLUDE_SBUS */
|
||||
break;
|
||||
|
||||
case HWSETTINGS_RV_AUXSBUSPORT_DSM2:
|
||||
case HWSETTINGS_RV_AUXSBUSPORT_DSMX10BIT:
|
||||
case HWSETTINGS_RV_AUXSBUSPORT_DSMX11BIT:
|
||||
{
|
||||
enum pios_dsm_proto proto;
|
||||
switch (hwsettings_rv_auxsbusport) {
|
||||
case HWSETTINGS_RV_AUXSBUSPORT_DSM2:
|
||||
proto = PIOS_DSM_PROTO_DSM2;
|
||||
break;
|
||||
case HWSETTINGS_RV_AUXSBUSPORT_DSMX10BIT:
|
||||
proto = PIOS_DSM_PROTO_DSMX10BIT;
|
||||
break;
|
||||
case HWSETTINGS_RV_AUXSBUSPORT_DSMX11BIT:
|
||||
proto = PIOS_DSM_PROTO_DSMX11BIT;
|
||||
break;
|
||||
default:
|
||||
PIOS_Assert(0);
|
||||
break;
|
||||
}
|
||||
//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
|
||||
PIOS_Board_configure_dsm(&pios_usart_dsm_auxsbus_cfg, &pios_dsm_auxsbus_cfg,
|
||||
&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hwsettings_DSMxBind);
|
||||
}
|
||||
break;
|
||||
case HWSETTINGS_RV_AUXSBUSPORT_COMAUX:
|
||||
PIOS_Board_configure_com(&pios_usart_auxsbus_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
|
||||
break;
|
||||
case HWSETTINGS_RV_AUXSBUSPORT_COMBRIDGE:
|
||||
PIOS_Board_configure_com(&pios_usart_auxsbus_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
|
||||
break;
|
||||
} /* hwsettings_rv_auxport */
|
||||
|
||||
/* Configure FlexiPort */
|
||||
|
||||
uint8_t hwsettings_rv_flexiport;
|
||||
HwSettingsRV_FlexiPortGet(&hwsettings_rv_flexiport);
|
||||
|
||||
switch (hwsettings_rv_flexiport) {
|
||||
case HWSETTINGS_RV_FLEXIPORT_DISABLED:
|
||||
break;
|
||||
case HWSETTINGS_RV_FLEXIPORT_I2C:
|
||||
//TODO: Enable I2C
|
||||
#if defined(PIOS_INCLUDE_I2C)
|
||||
/*
|
||||
{
|
||||
if (PIOS_I2C_Init(&pios_i2c_flexi_adapter_id, &pios_i2c_flexi_adapter_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
}
|
||||
*/
|
||||
#endif /* PIOS_INCLUDE_I2C */
|
||||
break;
|
||||
|
||||
case HWSETTINGS_RV_FLEXIPORT_DSM2:
|
||||
case HWSETTINGS_RV_FLEXIPORT_DSMX10BIT:
|
||||
case HWSETTINGS_RV_FLEXIPORT_DSMX11BIT:
|
||||
{
|
||||
enum pios_dsm_proto proto;
|
||||
switch (hwsettings_rv_flexiport) {
|
||||
case HWSETTINGS_RV_FLEXIPORT_DSM2:
|
||||
proto = PIOS_DSM_PROTO_DSM2;
|
||||
break;
|
||||
case HWSETTINGS_RV_FLEXIPORT_DSMX10BIT:
|
||||
proto = PIOS_DSM_PROTO_DSMX10BIT;
|
||||
break;
|
||||
case HWSETTINGS_RV_FLEXIPORT_DSMX11BIT:
|
||||
proto = PIOS_DSM_PROTO_DSMX11BIT;
|
||||
break;
|
||||
default:
|
||||
PIOS_Assert(0);
|
||||
break;
|
||||
}
|
||||
//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
|
||||
PIOS_Board_configure_dsm(&pios_usart_dsm_flexi_cfg, &pios_dsm_flexi_cfg,
|
||||
&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hwsettings_DSMxBind);
|
||||
}
|
||||
break;
|
||||
case HWSETTINGS_RV_FLEXIPORT_COMAUX:
|
||||
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
|
||||
break;
|
||||
case HWSETTINGS_RV_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;
|
||||
} /* hwsettings_rv_flexiport */
|
||||
|
||||
|
||||
/* Configure the receiver port*/
|
||||
uint8_t hwsettings_rcvrport;
|
||||
HwSettingsRV_RcvrPortGet(&hwsettings_rcvrport);
|
||||
//
|
||||
switch (hwsettings_rcvrport){
|
||||
case HWSETTINGS_RV_RCVRPORT_DISABLED:
|
||||
break;
|
||||
case HWSETTINGS_RV_RCVRPORT_PWM:
|
||||
#if defined(PIOS_INCLUDE_PWM)
|
||||
{
|
||||
/* Set up the receiver port. Later this should be optional */
|
||||
uint32_t pios_pwm_id;
|
||||
PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);
|
||||
|
||||
uint32_t pios_pwm_rcvr_id;
|
||||
if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_PWM */
|
||||
break;
|
||||
case HWSETTINGS_RV_RCVRPORT_PPM:
|
||||
case HWSETTINGS_RV_RCVRPORT_PPMOUTPUTS:
|
||||
#if defined(PIOS_INCLUDE_PPM)
|
||||
{
|
||||
uint32_t pios_ppm_id;
|
||||
PIOS_PPM_Init(&pios_ppm_id, &pios_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;
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_PPM */
|
||||
case HWSETTINGS_RV_RCVRPORT_OUTPUTS:
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
#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 */
|
||||
|
||||
#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
|
||||
switch (hwsettings_rcvrport) {
|
||||
case HWSETTINGS_RV_RCVRPORT_DISABLED:
|
||||
case HWSETTINGS_RV_RCVRPORT_PWM:
|
||||
case HWSETTINGS_RV_RCVRPORT_PPM:
|
||||
/* Set up the servo outputs */
|
||||
PIOS_Servo_Init(&pios_servo_cfg);
|
||||
break;
|
||||
case HWSETTINGS_RV_RCVRPORT_PPMOUTPUTS:
|
||||
case HWSETTINGS_RV_RCVRPORT_OUTPUTS:
|
||||
//PIOS_Servo_Init(&pios_servo_rcvr_cfg);
|
||||
//TODO: Prepare the configurations on board_hw_defs and handle here:
|
||||
PIOS_Servo_Init(&pios_servo_cfg);
|
||||
break;
|
||||
}
|
||||
#else
|
||||
PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
|
||||
#endif
|
||||
|
||||
if (PIOS_I2C_Init(&pios_i2c_mag_adapter_id, &pios_i2c_mag_adapter_cfg)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
|
||||
if (PIOS_I2C_Init(&pios_i2c_pressure_adapter_id, &pios_i2c_pressure_adapter_cfg)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
|
||||
PIOS_DELAY_WaitmS(500);
|
||||
|
||||
#if defined(PIOS_INCLUDE_BMA180)
|
||||
PIOS_BMA180_Init(pios_spi_accel_id, 0, &pios_bma180_cfg);
|
||||
PIOS_Assert(PIOS_BMA180_Test() == 0);
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_MPU6000)
|
||||
PIOS_MPU6000_Attach(pios_spi_gyro_id);
|
||||
PIOS_MPU6000_Init(&pios_mpu6000_cfg);
|
||||
// PIOS_Assert(PIOS_MPU6000_Test() == 0);
|
||||
#elif defined(PIOS_INCLUDE_L3GD20)
|
||||
PIOS_L3GD20_Init(pios_spi_gyro_id, 0, &pios_l3gd20_cfg);
|
||||
PIOS_Assert(PIOS_L3GD20_Test() == 0);
|
||||
#else
|
||||
PIOS_Assert(0);
|
||||
#endif
|
||||
|
||||
|
||||
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
|
||||
|
||||
PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_pressure_adapter_id);
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
|
||||
120
flight/SimPosix/System/pios_usb_board_data.c
Normal file
120
flight/SimPosix/System/pios_usb_board_data.c
Normal file
@ -0,0 +1,120 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @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 "pios_usb_board_data.h" /* struct usb_*, USB_* */
|
||||
#include "pios_sys.h" /* PIOS_SYS_SerialNumberGet */
|
||||
#include "pios_usbhook.h" /* PIOS_USBHOOK_* */
|
||||
|
||||
static const uint8_t usb_product_id[22] = {
|
||||
sizeof(usb_product_id),
|
||||
USB_DESC_TYPE_STRING,
|
||||
'R', 0,
|
||||
'e', 0,
|
||||
'v', 0,
|
||||
'o', 0,
|
||||
'l', 0,
|
||||
'u', 0,
|
||||
't', 0,
|
||||
'i', 0,
|
||||
'o', 0,
|
||||
'n', 0,
|
||||
};
|
||||
|
||||
static uint8_t usb_serial_number[52] = {
|
||||
sizeof(usb_serial_number),
|
||||
USB_DESC_TYPE_STRING,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0,
|
||||
0, 0
|
||||
};
|
||||
|
||||
static const struct usb_string_langid usb_lang_id = {
|
||||
.bLength = sizeof(usb_lang_id),
|
||||
.bDescriptorType = USB_DESC_TYPE_STRING,
|
||||
.bLangID = htousbs(USB_LANGID_ENGLISH_UK),
|
||||
};
|
||||
|
||||
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[25];
|
||||
PIOS_SYS_SerialNumberGet((char *)sn);
|
||||
for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < usb_serial_number[0]; i++) {
|
||||
usb_serial_number[2 + 2 * i] = sn[i];
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
143
flight/SimPosix/System/revolution.c
Normal file
143
flight/SimPosix/System/revolution.c
Normal file
@ -0,0 +1,143 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @brief These files are the core system files of OpenPilot.
|
||||
* They are the ground layer just above PiOS. In practice, OpenPilot actually starts
|
||||
* in the main() function of openpilot.c
|
||||
* @{
|
||||
* @addtogroup OpenPilotCore OpenPilot Core
|
||||
* @brief This is where the OP firmware starts. Those files also define the compile-time
|
||||
* options of the firmware.
|
||||
* @{
|
||||
* @file openpilot.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Sets up and runs main OpenPilot 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
|
||||
*/
|
||||
|
||||
|
||||
/* OpenPilot Includes */
|
||||
#include "openpilot.h"
|
||||
#include "uavobjectsinit.h"
|
||||
#include "systemmod.h"
|
||||
|
||||
/* Task Priorities */
|
||||
#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
|
||||
|
||||
/* Global Variables */
|
||||
|
||||
/* Local Variables */
|
||||
#define INCLUDE_TEST_TASKS 0
|
||||
#if INCLUDE_TEST_TASKS
|
||||
static uint8_t sdcard_available;
|
||||
#endif
|
||||
FILEINFO File;
|
||||
char Buffer[1024];
|
||||
uint32_t Cache;
|
||||
|
||||
/* Function Prototypes */
|
||||
#if INCLUDE_TEST_TASKS
|
||||
static void TaskTick(void *pvParameters);
|
||||
static void TaskTesting(void *pvParameters);
|
||||
static void TaskHIDTest(void *pvParameters);
|
||||
static void TaskServos(void *pvParameters);
|
||||
static void TaskSDCard(void *pvParameters);
|
||||
#endif
|
||||
int32_t CONSOLE_Parse(uint8_t port, char c);
|
||||
void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value);
|
||||
|
||||
/* Prototype of PIOS_Board_Init() function */
|
||||
extern void PIOS_Board_Init(void);
|
||||
extern void Stack_Change(void);
|
||||
static void Stack_Change_Weak () __attribute__ ((weakref ("Stack_Change")));
|
||||
|
||||
/* Local Variables */
|
||||
#define INIT_TASK_PRIORITY (tskIDLE_PRIORITY + configMAX_PRIORITIES - 1) // max priority
|
||||
#define INIT_TASK_STACK (1024 / 4) // XXX this seems excessive
|
||||
static xTaskHandle initTaskHandle;
|
||||
|
||||
/* Function Prototypes */
|
||||
static void initTask(void *parameters);
|
||||
|
||||
/* Prototype of generated InitModules() function */
|
||||
extern void InitModules(void);
|
||||
|
||||
/**
|
||||
* 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()
|
||||
{
|
||||
int result;
|
||||
|
||||
/* 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();
|
||||
|
||||
/* For Revolution we use a FreeRTOS task to bring up the system so we can */
|
||||
/* always rely on FreeRTOS primitive */
|
||||
result = xTaskCreate(initTask, (const signed char *)"init",
|
||||
INIT_TASK_STACK, NULL, INIT_TASK_PRIORITY,
|
||||
&initTaskHandle);
|
||||
PIOS_Assert(result == pdPASS);
|
||||
|
||||
/* 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;
|
||||
}
|
||||
/**
|
||||
* Initialisation task.
|
||||
*
|
||||
* Runs board and module initialisation, then terminates.
|
||||
*/
|
||||
void
|
||||
initTask(void *parameters)
|
||||
{
|
||||
/* board driver init */
|
||||
PIOS_Board_Init();
|
||||
|
||||
/* Initialize modules */
|
||||
MODULE_INITIALISE_ALL;
|
||||
|
||||
/* terminate this task */
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
|
||||
83
flight/SimPosix/UAVObjects.inc
Normal file
83
flight/SimPosix/UAVObjects.inc
Normal file
@ -0,0 +1,83 @@
|
||||
#####
|
||||
# Project: OpenPilot
|
||||
#
|
||||
# Makefile for OpenPilot UAVObject code
|
||||
#
|
||||
# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2011.
|
||||
#
|
||||
# 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 OpenPilot target
|
||||
# (all architectures)
|
||||
|
||||
UAVOBJSRCFILENAMES =
|
||||
UAVOBJSRCFILENAMES += accessorydesired
|
||||
UAVOBJSRCFILENAMES += actuatorcommand
|
||||
UAVOBJSRCFILENAMES += actuatordesired
|
||||
UAVOBJSRCFILENAMES += actuatorsettings
|
||||
UAVOBJSRCFILENAMES += altholdsmoothed
|
||||
UAVOBJSRCFILENAMES += attitudesettings
|
||||
UAVOBJSRCFILENAMES += attitudeactual
|
||||
UAVOBJSRCFILENAMES += gyros
|
||||
UAVOBJSRCFILENAMES += gyrosbias
|
||||
UAVOBJSRCFILENAMES += accels
|
||||
UAVOBJSRCFILENAMES += magnetometer
|
||||
UAVOBJSRCFILENAMES += baroaltitude
|
||||
UAVOBJSRCFILENAMES += flightbatterysettings
|
||||
UAVOBJSRCFILENAMES += firmwareiapobj
|
||||
UAVOBJSRCFILENAMES += flightbatterystate
|
||||
UAVOBJSRCFILENAMES += flightplancontrol
|
||||
UAVOBJSRCFILENAMES += flightplansettings
|
||||
UAVOBJSRCFILENAMES += flightplanstatus
|
||||
UAVOBJSRCFILENAMES += flighttelemetrystats
|
||||
UAVOBJSRCFILENAMES += gcstelemetrystats
|
||||
UAVOBJSRCFILENAMES += gpsposition
|
||||
UAVOBJSRCFILENAMES += gpssatellites
|
||||
UAVOBJSRCFILENAMES += gpstime
|
||||
UAVOBJSRCFILENAMES += guidancesettings
|
||||
UAVOBJSRCFILENAMES += homelocation
|
||||
UAVOBJSRCFILENAMES += i2cstats
|
||||
UAVOBJSRCFILENAMES += manualcontrolcommand
|
||||
UAVOBJSRCFILENAMES += manualcontrolsettings
|
||||
UAVOBJSRCFILENAMES += mixersettings
|
||||
UAVOBJSRCFILENAMES += mixerstatus
|
||||
UAVOBJSRCFILENAMES += nedaccel
|
||||
UAVOBJSRCFILENAMES += objectpersistence
|
||||
UAVOBJSRCFILENAMES += overosyncstats
|
||||
UAVOBJSRCFILENAMES += positionactual
|
||||
UAVOBJSRCFILENAMES += positiondesired
|
||||
UAVOBJSRCFILENAMES += ratedesired
|
||||
UAVOBJSRCFILENAMES += revocalibration
|
||||
UAVOBJSRCFILENAMES += sonaraltitude
|
||||
UAVOBJSRCFILENAMES += stabilizationdesired
|
||||
UAVOBJSRCFILENAMES += stabilizationsettings
|
||||
UAVOBJSRCFILENAMES += systemalarms
|
||||
UAVOBJSRCFILENAMES += systemsettings
|
||||
UAVOBJSRCFILENAMES += systemstats
|
||||
UAVOBJSRCFILENAMES += taskinfo
|
||||
UAVOBJSRCFILENAMES += velocityactual
|
||||
UAVOBJSRCFILENAMES += velocitydesired
|
||||
UAVOBJSRCFILENAMES += watchdogstatus
|
||||
UAVOBJSRCFILENAMES += flightstatus
|
||||
UAVOBJSRCFILENAMES += hwsettings
|
||||
UAVOBJSRCFILENAMES += receiveractivity
|
||||
UAVOBJSRCFILENAMES += cameradesired
|
||||
UAVOBJSRCFILENAMES += camerastabsettings
|
||||
UAVOBJSRCFILENAMES += altitudeholdsettings
|
||||
UAVOBJSRCFILENAMES += altitudeholddesired
|
||||
|
||||
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
|
||||
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )
|
||||
24
make/boards/simposix/board-info.mk
Normal file
24
make/boards/simposix/board-info.mk
Normal file
@ -0,0 +1,24 @@
|
||||
BOARD_TYPE := 0x10
|
||||
BOARD_REVISION := 0x01
|
||||
BOOTLOADER_VERSION := 0x01
|
||||
HW_TYPE := 0x00
|
||||
|
||||
MCU :=
|
||||
CHIP :=
|
||||
BOARD := simposix
|
||||
MODEL :=
|
||||
MODEL_SUFFIX :=
|
||||
|
||||
OPENOCD_JTAG_CONFIG :=
|
||||
OPENOCD_CONFIG :=
|
||||
|
||||
# Note: These must match the values in link_$(BOARD)_memory.ld
|
||||
#BL_BANK_BASE := 0x08000000 # Start of bootloader flash
|
||||
#BL_BANK_SIZE := 0x00008000 # Should include BD_INFO region
|
||||
#FW_BANK_BASE := 0x08008000 # Start of firmware flash
|
||||
#FW_BANK_SIZE := 0x00038000 # Should include FW_DESC_SIZE
|
||||
|
||||
#FW_DESC_SIZE := 0x00000064
|
||||
|
||||
OSCILLATOR_FREQ := 8000000
|
||||
SYSCLK_FREQ := 168000000
|
||||
Loading…
x
Reference in New Issue
Block a user