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Code Issues Releases Activity

Move DSM to Flexiport and enable GPS on GPS port. Currently GPS module locks

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up though.
This commit is contained in:
James Cotton 2011-11-28 09:11:13 -06:00
parent c33816dd79
commit 43fa9e702e
5 changed files with 26 additions and 28 deletions
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1
flight/Modules/GPS/GPS.c
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@ -140,7 +140,6 @@ int32_t GPSInitialize(void)
#ifdef PIOS_GPS_SETS_HOMELOCATION #ifdef PIOS_GPS_SETS_HOMELOCATION
HomeLocationInitialize(); HomeLocationInitialize();
#endif #endif
HwSettingsInitialize();
updateSettings(); updateSettings();
gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH); gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH);

1
flight/PiOS/Boards/STM32F4xx_Revolution.h
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@ -130,6 +130,7 @@ extern uint32_t pios_com_gps_id;
extern uint32_t pios_com_aux_id; extern uint32_t pios_com_aux_id;
extern uint32_t pios_com_telem_usb_id; extern uint32_t pios_com_telem_usb_id;
#define PIOS_COM_AUX (pios_com_aux_id) #define PIOS_COM_AUX (pios_com_aux_id)
#define PIOS_COM_GPS (pios_com_gps_id)
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id) #define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id) #define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
#define PIOS_COM_DEBUG PIOS_COM_AUX #define PIOS_COM_DEBUG PIOS_COM_AUX

4
flight/Revolution/Makefile
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@ -49,7 +49,7 @@ endif
FLASH_TOOL = OPENOCD FLASH_TOOL = OPENOCD
# List of modules to include # List of modules to include
MODULES = Telemetry Attitude/revolution ManualControl Stabilization Altitude/revolution Actuator MODULES = Telemetry Attitude/revolution ManualControl Stabilization Altitude/revolution Actuator GPS
PYMODULES = PYMODULES =
#FlightPlan #FlightPlan
@ -129,7 +129,7 @@ SRC += $(OPSYSTEM)/cm3_fault_handlers.c
SRC += $(FLIGHTLIB)/CoordinateConversions.c SRC += $(FLIGHTLIB)/CoordinateConversions.c
SRC += $(FLIGHTLIB)/fifo_buffer.c SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(FLIGHTLIB)/NMEA.c SRC += $(FLIGHTLIB)/WorldMagModel.c
## PIOS Hardware (STM32F4xx) ## PIOS Hardware (STM32F4xx)
include $(PIOS)/STM32F4xx/library.mk include $(PIOS)/STM32F4xx/library.mk

6
flight/Revolution/System/inc/pios_config.h
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@ -71,7 +71,7 @@
#define PIOS_INCLUDE_DSM #define PIOS_INCLUDE_DSM
//#define PIOS_INCLUDE_SBUS //#define PIOS_INCLUDE_SBUS
//#define PIOS_INCLUDE_PPM //#define PIOS_INCLUDE_PPM
//#define PIOS_INCLUDE_PWM #define PIOS_INCLUDE_PWM
//#define PIOS_INCLUDE_GCSRCVR //#define PIOS_INCLUDE_GCSRCVR
#define PIOS_INCLUDE_SETTINGS #define PIOS_INCLUDE_SETTINGS
@ -82,11 +82,11 @@
/* Other Interfaces */ /* Other Interfaces */
//#define PIOS_INCLUDE_I2C_ESC //#define PIOS_INCLUDE_I2C_ESC
/* Flags that alter behaviors */ /* Flags that alter behaviors - mostly to lower resources for CC */
#define PIOS_INCLUDE_INITCALL /* Include init call structures */ #define PIOS_INCLUDE_INITCALL /* Include init call structures */
#define PIOS_TELEM_PRIORITY_QUEUE /* Enable a priority queue in telemetry */ #define PIOS_TELEM_PRIORITY_QUEUE /* Enable a priority queue in telemetry */
#define PIOS_QUATERNION_STABILIZATION /* Stabilization options */ #define PIOS_QUATERNION_STABILIZATION /* Stabilization options */
#define PIOS_GPS_SETS_HOMELOCATION /* GPS options */ //#define PIOS_GPS_SETS_HOMELOCATION /* GPS options */
/* Alarm Thresholds */ /* Alarm Thresholds */
#define HEAP_LIMIT_WARNING 4000 #define HEAP_LIMIT_WARNING 4000

42
flight/Revolution/System/pios_board.c
View File

@ -451,10 +451,7 @@ static const struct pios_usart_cfg pios_usart_gps_cfg = {
}, },
}; };
#define PIOS_COM_AUX_TX_BUF_LEN 150 #define PIOS_COM_GPS_RX_BUF_LEN 192
static uint8_t pios_com_aux_tx_buffer[PIOS_COM_AUX_TX_BUF_LEN];
#define PIOS_COM_AUX_RX_BUF_LEN 10
static uint8_t pios_com_aux_rx_buffer[PIOS_COM_AUX_RX_BUF_LEN];
#endif /* PIOS_INCLUDE_GPS */ #endif /* PIOS_INCLUDE_GPS */
@ -504,11 +501,6 @@ static const struct pios_usart_cfg pios_usart_aux_cfg = {
}, },
}; };
#define PIOS_COM_GPS_TX_BUF_LEN 10
static uint8_t pios_com_gps_tx_buffer[PIOS_COM_GPS_TX_BUF_LEN];
#define PIOS_COM_GPS_RX_BUF_LEN 192
static uint8_t pios_com_gps_rx_buffer[PIOS_COM_GPS_RX_BUF_LEN];
#endif /* PIOS_COM_AUX */ #endif /* PIOS_COM_AUX */
#ifdef PIOS_INCLUDE_COM_TELEM #ifdef PIOS_INCLUDE_COM_TELEM
@ -569,8 +561,8 @@ static const struct pios_usart_cfg pios_usart_telem_main_cfg = {
#include <pios_dsm_priv.h> #include <pios_dsm_priv.h>
static const struct pios_usart_cfg pios_usart_dsm_main_cfg = { static const struct pios_usart_cfg pios_usart_dsm_main_cfg = {
.regs = USART1, .regs = USART3,
.remap = GPIO_AF_USART1, .remap = GPIO_AF_USART3,
.init = { .init = {
.USART_BaudRate = 115200, .USART_BaudRate = 115200,
.USART_WordLength = USART_WordLength_8b, .USART_WordLength = USART_WordLength_8b,
@ -581,16 +573,16 @@ static const struct pios_usart_cfg pios_usart_dsm_main_cfg = {
}, },
.irq = { .irq = {
.init = { .init = {
.NVIC_IRQChannel = USART1_IRQn, .NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE, .NVIC_IRQChannelCmd = ENABLE,
}, },
}, },
.rx = { .rx = {
.gpio = GPIOA, .gpio = GPIOB,
.init = { .init = {
.GPIO_Pin = GPIO_Pin_10, .GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF, .GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP, .GPIO_OType = GPIO_OType_PP,
@ -598,9 +590,9 @@ static const struct pios_usart_cfg pios_usart_dsm_main_cfg = {
}, },
}, },
.tx = { .tx = {
.gpio = GPIOA, .gpio = GPIOB,
.init = { .init = {
.GPIO_Pin = GPIO_Pin_9, .GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF, .GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP, .GPIO_OType = GPIO_OType_PP,
@ -611,9 +603,9 @@ static const struct pios_usart_cfg pios_usart_dsm_main_cfg = {
static const struct pios_dsm_cfg pios_dsm_main_cfg = { static const struct pios_dsm_cfg pios_dsm_main_cfg = {
.bind = { .bind = {
.gpio = GPIOA, .gpio = GPIOB,
.init = { .init = {
.GPIO_Pin = GPIO_Pin_10, .GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_OUT, .GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP, .GPIO_OType = GPIO_OType_PP,
@ -1561,13 +1553,17 @@ void PIOS_Board_Init(void) {
uint32_t pios_usart_gps_id; uint32_t pios_usart_gps_id;
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) { if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
PIOS_DEBUG_Assert(0); PIOS_Assert(0);
} }
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id, if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
pios_com_gps_rx_buffer, sizeof(pios_com_gps_rx_buffer), rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
pios_com_gps_tx_buffer, sizeof(pios_com_gps_tx_buffer))) { NULL, 0)) {
PIOS_DEBUG_Assert(0); PIOS_Assert(0);
} }
#endif /* PIOS_INCLUDE_GPS */ #endif /* PIOS_INCLUDE_GPS */
#if defined(PIOS_INCLUDE_COM_AUX) #if defined(PIOS_INCLUDE_COM_AUX)
@ -1628,6 +1624,7 @@ void PIOS_Board_Init(void) {
} }
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT] = pios_dsm_rcvr_id; pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT] = pios_dsm_rcvr_id;
#if defined(PIOS_INCLUDE_PWM) && defined(PIOS_INCLUDE_RCVR)
/* Set up the receiver port. Later this should be optional */ /* Set up the receiver port. Later this should be optional */
uint32_t pios_pwm_id; uint32_t pios_pwm_id;
PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg); PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);
@ -1637,6 +1634,7 @@ void PIOS_Board_Init(void) {
PIOS_Assert(0); PIOS_Assert(0);
} }
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id; pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
#endif
/* Set up the servo outputs */ /* Set up the servo outputs */
PIOS_Servo_Init(&pios_servo_cfg); PIOS_Servo_Init(&pios_servo_cfg);