mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-03-15 07:29:15 +01:00
More work to the revolution build
This commit is contained in:
James Cotton
parent
4d6f810984
commit
48d2e038bb
@ -94,6 +94,16 @@ TIM8 | | | |
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//------------------------
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#define PIOS_SPI_MAX_DEVS 2
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//------------------------
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// PIOS_WDG
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//------------------------
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#define PIOS_WATCHDOG_TIMEOUT 250
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#define PIOS_WDG_REGISTER RTC_BKP_DR4
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#define PIOS_WDG_ACTUATOR 0x0001
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#define PIOS_WDG_STABILIZATION 0x0002
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#define PIOS_WDG_AHRS 0x0004
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#define PIOS_WDG_MANUAL 0x0008
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//------------------------
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// PIOS_I2C
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// See also pios_board.c
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@ -116,16 +126,26 @@ extern uint32_t pios_i2c_gyro_adapter_id;
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//
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// See also pios_board.c
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//-------------------------
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#define PIOS_COM_MAX_DEVS 2
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#define PIOS_COM_MAX_DEVS 4
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extern uint32_t pios_com_telem_rf_id;
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extern uint32_t pios_com_gps_id;
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extern uint32_t pios_com_aux_id;
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extern uint32_t pios_com_telem_usb_id;
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#define PIOS_COM_AUX (pios_com_aux_id)
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#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
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#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
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#define PIOS_COM_DEBUG PIOS_COM_AUX
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//------------------------
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// TELEMETRY
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//------------------------
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#define TELEM_QUEUE_SIZE 20
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#define PIOS_TELEM_STACK_SIZE 624
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//-------------------------
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// System Settings
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//-------------------------
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#define PIOS_MASTER_CLOCK 120000000
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#define PIOS_MASTER_CLOCK 168000000
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#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
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//-------------------------
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@ -136,6 +156,48 @@ extern uint32_t pios_com_aux_id;
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#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
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#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
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//------------------------
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// PIOS_RCVR
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// See also pios_board.c
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//------------------------
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#define PIOS_RCVR_MAX_DEVS 1
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#define PIOS_RCVR_MAX_CHANNELS 12
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//-------------------------
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// Receiver PPM input
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//-------------------------
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#define PIOS_PPM_MAX_DEVS 1
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#define PIOS_PPM_NUM_INPUTS 12
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//-------------------------
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// Receiver PWM input
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//-------------------------
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#define PIOS_PWM_MAX_DEVS 1
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#define PIOS_PWM_NUM_INPUTS 8
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//-------------------------
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// Receiver SPEKTRUM input
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//-------------------------
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#define PIOS_SPEKTRUM_MAX_DEVS 1
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#define PIOS_SPEKTRUM_NUM_INPUTS 12
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//-------------------------
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// Receiver S.Bus input
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//-------------------------
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#define PIOS_SBUS_MAX_DEVS 0
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#define PIOS_SBUS_NUM_INPUTS (16+2)
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//-------------------------
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// Servo outputs
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//-------------------------
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#define PIOS_SERVO_UPDATE_HZ 50
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#define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
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//--------------------------
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// Timer controller settings
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//--------------------------
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#define PIOS_TIM_MAX_DEVS 3
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//-------------------------
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// ADC
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// None.
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BIN
flight/Revolution/.Makefile.swp
Normal file
BIN
flight/Revolution/.Makefile.swp
Normal file
Binary file not shown.
@ -48,11 +48,20 @@ endif
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FLASH_TOOL = OPENOCD
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# List of modules to include
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MODULES = Actuator Telemetry ManualControl Stabilization FirmwareIAP
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PYMODULES = FlightPlan
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# Paths
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INS = ./
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INSINC = $(INS)/inc
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OPSYSTEM = ./System
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OPSYSTEMINC = $(OPSYSTEM)/inc
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OPUAVTALK = ../UAVTalk
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OPUAVTALKINC = $(OPUAVTALK)/inc
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OPUAVOBJ = ../UAVObjects
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OPUAVOBJINC = $(OPUAVOBJ)/inc
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PIOS = ../PiOS
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PIOSINC = $(PIOS)/inc
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OPMODULEDIR = ../Modules
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FLIGHTLIB = ../Libraries
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FLIGHTLIBINC = ../Libraries/inc
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PIOSSTM32F4XX = $(PIOS)/STM32F4xx
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@ -64,37 +73,58 @@ STMLIBDIR = $(APPLIBDIR)
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STMSPDDIR = $(STMLIBDIR)/STM32F4xx_StdPeriph_Driver
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STMSPDSRCDIR = $(STMSPDDIR)/src
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STMSPDINCDIR = $(STMSPDDIR)/inc
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OPDIR = ../OpenPilot
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OPUAVOBJ = ../UAVObjects
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OPUAVOBJINC = $(OPUAVOBJ)/inc
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OPSYSINC = $(OPDIR)/System/inc
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BOOT = ../Bootloaders/INS
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BOOTINC = $(BOOT)/inc
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PYMITE = $(FLIGHTLIB)/PyMite
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PYMITELIB = $(PYMITE)/lib
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PYMITEPLAT = $(PYMITE)/platform/openpilot
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PYMITETOOLS = $(PYMITE)/tools
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PYMITEVM = $(PYMITE)/vm
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PYMITEINC = $(PYMITEVM)
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PYMITEINC += $(PYMITEPLAT)
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PYMITEINC += $(OUTDIR)
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FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
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FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
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OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
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UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
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SRC =
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# optional component libraries
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include $(PIOSCOMMONLIB)/FreeRTOS/library.mk
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include $(PIOSCOMMONLIB)/FreeRTOS/library.mk
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#include $(PIOSCOMMONLIB)/dosfs/library.mk
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include $(PIOSCOMMONLIB)/msheap/library.mk
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# List C source files here. (C dependencies are automatically generated.)
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# use file-extension c for "c-only"-files
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## INS:
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SRC += ins.c
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SRC += pios_board.c
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SRC += insgps13state.c
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SRC += insgps_helper.c
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## PyMite files and modules
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SRC += $(OUTDIR)/pmlib_img.c
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SRC += $(OUTDIR)/pmlib_nat.c
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SRC += $(OUTDIR)/pmlibusr_img.c
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SRC += $(OUTDIR)/pmlibusr_nat.c
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PYSRC += $(wildcard ${PYMITEVM}/*.c)
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PYSRC += $(wildcard ${PYMITEPLAT}/*.c)
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PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
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SRC += $(PYSRC)
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## MODULES
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SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
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## OPENPILOT CORE:
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SRC += ${OPMODULEDIR}/System/systemmod.c
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SRC += $(OPSYSTEM)/revolution.c
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SRC += $(OPSYSTEM)/pios_board.c
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SRC += $(OPSYSTEM)/alarms.c
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SRC += $(OPSYSTEM)/taskmonitor.c
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SRC += $(OPUAVTALK)/uavtalk.c
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SRC += $(OPUAVOBJ)/uavobjectmanager.c
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SRC += $(OPUAVOBJ)/eventdispatcher.c
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SRC += $(OPSYSTEM)/cm3_fault_handlers.c
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SRC += $(FLIGHTLIB)/CoordinateConversions.c
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SRC += $(FLIGHTLIB)/fifo_buffer.c
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SRC += $(FLIGHTLIB)/ahrs_spi_comm.c
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SRC += $(FLIGHTLIB)/ahrs_comm_objects.c
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SRC += $(FLIGHTLIB)/NMEA.c
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SRC += $(BOOT)/ahrs_spi_program_slave.c
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SRC += $(BOOT)/ahrs_slave_test.c
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SRC += $(BOOT)/ahrs_spi_program.c
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## PIOS Hardware (STM32F4xx)
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include $(PIOS)/STM32F4xx/library.mk
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@ -103,7 +133,10 @@ include $(PIOS)/STM32F4xx/library.mk
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SRC += $(PIOSCOMMON)/pios_com.c
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SRC += $(PIOSCOMMON)/printf-stdarg.c
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SRC += $(PIOSCOMMON)/pios_bl_helper.c
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#SRC += $(PIOSCOMMON)/pios_bl_helper.c
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include ./UAVObjects.inc
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SRC += $(UAVOBJSRC)
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# List C source files here which must be compiled in ARM-Mode (no -mthumb).
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# use file-extension c for "c-only"-files
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@ -135,15 +168,36 @@ ASRCARM =
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# Each directory must be seperated by a space.
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EXTRAINCDIRS += $(PIOS)
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EXTRAINCDIRS += $(PIOSINC)
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EXTRAINCDIRS += $(OPSYSTEMINC)
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EXTRAINCDIRS += $(OPUAVTALK)
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EXTRAINCDIRS += $(OPUAVTALKINC)
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EXTRAINCDIRS += $(OPUAVOBJ)
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EXTRAINCDIRS += $(OPUAVOBJINC)
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EXTRAINCDIRS += $(UAVOBJSYNTHDIR)
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EXTRAINCDIRS += $(FLIGHTLIBINC)
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EXTRAINCDIRS += $(PIOSSTM32F4XX)
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EXTRAINCDIRS += $(PIOSCOMMON)
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EXTRAINCDIRS += $(PIOSBOARDS)
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EXTRAINCDIRS += $(STMSPDINCDIR)
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EXTRAINCDIRS += $(CMSISDIR)
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EXTRAINCDIRS += $(INSINC)
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EXTRAINCDIRS += $(OPUAVSYNTHDIR)
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EXTRAINCDIRS += $(BOOTINC)
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EXTRAINCDIRS += $(PYMITEINC)
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# Generate intermediate code
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gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h
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$(PYSRC): gencode
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PYTHON = python
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# Generate code for PyMite
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${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)
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@echo $(MSG_PYMITEINIT) $(call toprel, $@)
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@$(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 $(FLIGHTPLANLIB)/*.py)
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@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
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@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
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EXTRAINCDIRS += ${foreach MOD, ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
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# List any extra directories to look for library files here.
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# Also add directories where the linker should search for
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@ -282,6 +336,7 @@ LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
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# Define programs and commands.
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REMOVE = $(REMOVE_CMD) -f
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PYHON = python
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# List of all source files.
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ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
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@ -313,6 +368,7 @@ endif
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endif
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endif
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# Link: create ELF output file from object files.
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$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
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210
flight/Revolution/System/alarms.c
Normal file
210
flight/Revolution/System/alarms.c
Normal file
@ -0,0 +1,210 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @{
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* @addtogroup OpenPilotLibraries OpenPilot System Libraries
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* @brief OpenPilot System libraries are available to all OP modules.
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* @{
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* @file alarms.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Library for setting and clearing system alarms
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
|
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* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
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*
|
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* 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
|
||||
*/
|
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|
||||
#include "openpilot.h"
|
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#include "alarms.h"
|
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|
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// Private constants
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|
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// Private types
|
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// Private variables
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static xSemaphoreHandle lock;
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|
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// Private functions
|
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static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
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|
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/**
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* Initialize the alarms library
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*/
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int32_t AlarmsInitialize(void)
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{
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SystemAlarmsInitialize();
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lock = xSemaphoreCreateRecursiveMutex();
|
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return 0;
|
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}
|
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|
||||
/**
|
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* Set an alarm
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* @param alarm The system alarm to be modified
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* @param severity The alarm severity
|
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* @return 0 if success, -1 if an error
|
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*/
|
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int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
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{
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SystemAlarmsData alarms;
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// Check that this is a valid alarm
|
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if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
|
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{
|
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return -1;
|
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}
|
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|
||||
// Lock
|
||||
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
|
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|
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// Read alarm and update its severity only if it was changed
|
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SystemAlarmsGet(&alarms);
|
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if ( alarms.Alarm[alarm] != severity )
|
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{
|
||||
alarms.Alarm[alarm] = severity;
|
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SystemAlarmsSet(&alarms);
|
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}
|
||||
|
||||
// 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;
|
||||
}
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
|
||||
50
flight/Revolution/System/inc/alarms.h
Normal file
50
flight/Revolution/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/Revolution/System/inc/dcc_stdio.h
Normal file
36
flight/Revolution/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/Revolution/System/inc/op_config.h
Normal file
39
flight/Revolution/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/Revolution/System/inc/openpilot.h
Normal file
53
flight/Revolution/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 */
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
109
flight/Revolution/System/inc/pios_config.h
Normal file
109
flight/Revolution/System/inc/pios_config.h
Normal file
@ -0,0 +1,109 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @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
|
||||
|
||||
|
||||
/* 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_RCVR
|
||||
#define PIOS_INCLUDE_SPEKTRUM
|
||||
#define PIOS_INCLUDE_SBUS
|
||||
#define PIOS_INCLUDE_PWM
|
||||
#define PIOS_INCLUDE_PPM
|
||||
#define PIOS_INCLUDE_TELEMETRY_RF
|
||||
#define PIOS_INCLUDE_SERVO
|
||||
#define PIOS_INCLUDE_SPI
|
||||
#define PIOS_INCLUDE_SYS
|
||||
#define PIOS_INCLUDE_USART
|
||||
#define PIOS_INCLUDE_USB_HID
|
||||
|
||||
#define PIOS_INCLUDE_GPS
|
||||
#define PIOS_INCLUDE_BMA180
|
||||
#define PIOS_INCLUDE_HMC5883
|
||||
#define PIOS_INCLUDE_BMP085
|
||||
#define PIOS_INCLUDE_IMU3000
|
||||
|
||||
//#define PIOS_INCLUDE_HCSR04
|
||||
#define PIOS_INCLUDE_COM
|
||||
#define PIOS_INCLUDE_GPS
|
||||
//#define PIOS_INCLUDE_SDCARD
|
||||
#define PIOS_INCLUDE_SETTINGS
|
||||
#define PIOS_INCLUDE_FREERTOS
|
||||
//#define PIOS_INCLUDE_GPIO
|
||||
//#define PIOS_INCLUDE_EXTI
|
||||
#define PIOS_INCLUDE_RTC
|
||||
#define PIOS_INCLUDE_WDG
|
||||
//#define PIOS_INCLUDE_I2C_ESC
|
||||
#define PIOS_INCLUDE_BL_HELPER
|
||||
|
||||
#define PIOS_INCLUDE_COM_AUX
|
||||
|
||||
/* Defaults for Logging */
|
||||
#define LOG_FILENAME "PIOS.LOG"
|
||||
#define STARTUP_LOG_ENABLED 1
|
||||
|
||||
/* Enable a priority queue in telemetry */
|
||||
#define PIOS_TELEM_PRIORITY_QUEUE
|
||||
|
||||
/* COM Module */
|
||||
#define GPS_BAUDRATE 19200
|
||||
#define TELEM_BAUDRATE 19200
|
||||
#define AUXUART_ENABLED 0
|
||||
#define AUXUART_BAUDRATE 19200
|
||||
|
||||
/* 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
|
||||
|
||||
/* Stabilization options */
|
||||
#define PIOS_QUATERNION_STABILIZATION
|
||||
|
||||
/* GPS options */
|
||||
#define PIOS_GPS_SETS_HOMELOCATION
|
||||
|
||||
|
||||
#endif /* PIOS_CONFIG_H */
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
43
flight/Revolution/System/inc/taskmonitor.h
Normal file
43
flight/Revolution/System/inc/taskmonitor.h
Normal file
@ -0,0 +1,43 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @{
|
||||
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
|
||||
* @{
|
||||
* @file taskmonitor.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Include file of the task monitoring 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 TASKMONITOR_H
|
||||
#define TASKMONITOR_H
|
||||
|
||||
#include "taskinfo.h"
|
||||
|
||||
int32_t TaskMonitorInitialize(void);
|
||||
int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle);
|
||||
int32_t TaskMonitorRemove(TaskInfoRunningElem task);
|
||||
void TaskMonitorUpdateAll(void);
|
||||
|
||||
#endif // TASKMONITOR_H
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
339
flight/Revolution/System/revolution.c
Normal file
339
flight/Revolution/System/revolution.c
Normal file
@ -0,0 +1,339 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @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")));
|
||||
|
||||
/**
|
||||
* OpenPilot Main function:
|
||||
*
|
||||
* Initialize PiOS<BR>
|
||||
* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
|
||||
* Start FreeRTOS Scheduler (vTaskStartScheduler)<BR>
|
||||
* If something goes wrong, blink LED1 and LED2 every 100ms
|
||||
*
|
||||
*/
|
||||
int main()
|
||||
{
|
||||
/* NOTE: Do NOT modify the following start-up sequence */
|
||||
/* Any new initialization functions should be added in OpenPilotInit() */
|
||||
|
||||
/* Brings up System using CMSIS functions, enables the LEDs. */
|
||||
PIOS_SYS_Init();
|
||||
|
||||
/* Architecture dependant Hardware and
|
||||
* core subsystem initialisation
|
||||
* (see pios_board.c for your arch)
|
||||
* */
|
||||
PIOS_Board_Init();
|
||||
|
||||
/* Initialize modules */
|
||||
MODULE_INITIALISE_ALL
|
||||
|
||||
#if INCLUDE_TEST_TASKS
|
||||
/* Create test tasks */
|
||||
xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
|
||||
xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
|
||||
xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
|
||||
xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
|
||||
#endif
|
||||
|
||||
/* swap the stack to use the IRQ stack (does nothing in sim mode) */
|
||||
Stack_Change_Weak();
|
||||
|
||||
/* Start the FreeRTOS scheduler which should never returns.*/
|
||||
vTaskStartScheduler();
|
||||
|
||||
/* If all is well we will never reach here as the scheduler will now be running. */
|
||||
|
||||
/* Do some indication to user that something bad just happened */
|
||||
PIOS_LED_Off(LED1); \
|
||||
for(;;) { \
|
||||
PIOS_LED_Toggle(LED1); \
|
||||
PIOS_DELAY_WaitmS(100); \
|
||||
};
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
#if INCLUDE_TEST_TASKS
|
||||
static void TaskTesting(void *pvParameters)
|
||||
{
|
||||
portTickType xDelay = 250 / portTICK_RATE_MS;
|
||||
portTickType xTimeout = 10 / portTICK_RATE_MS;
|
||||
|
||||
//PIOS_BMP085_Init();
|
||||
|
||||
for(;;)
|
||||
{
|
||||
/* This blocks the task until the BMP085 EOC */
|
||||
/*
|
||||
PIOS_BMP085_StartADC(TemperatureConv);
|
||||
xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
|
||||
PIOS_BMP085_ReadADC();
|
||||
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u\r", PIOS_BMP085_GetTemperature());
|
||||
|
||||
PIOS_BMP085_StartADC(PressureConv);
|
||||
xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
|
||||
PIOS_BMP085_ReadADC();
|
||||
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u\r", PIOS_BMP085_GetPressure());
|
||||
*/
|
||||
|
||||
#if defined(PIOS_INCLUDE_SPEKTRUM)
|
||||
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u\r", PIOS_SPEKTRUM_Get(0), PIOS_SPEKTRUM_Get(1), PIOS_SPEKTRUM_Get(2), PIOS_SPEKTRUM_Get(3), PIOS_SPEKTRUM_Get(4), PIOS_SPEKTRUM_Get(5), PIOS_SPEKTRUM_Get(6), PIOS_SPEKTRUM_Get(7));
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_SBUS)
|
||||
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u\r", PIOS_SBus_Get(0), PIOS_SBus_Get(1), PIOS_SBus_Get(2), PIOS_SBus_Get(3), PIOS_SBus_Get(4), PIOS_SBus_Get(5), PIOS_SBus_Get(6), PIOS_SBus_Get(7));
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_PWM)
|
||||
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u uS\r", PIOS_PWM_Get(0), PIOS_PWM_Get(1), PIOS_PWM_Get(2), PIOS_PWM_Get(3), PIOS_PWM_Get(4), PIOS_PWM_Get(5), PIOS_PWM_Get(6), PIOS_PWM_Get(7));
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_PPM)
|
||||
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u uS\r", PIOS_PPM_Get(0), PIOS_PPM_Get(1), PIOS_PPM_Get(2), PIOS_PPM_Get(3), PIOS_PPM_Get(4), PIOS_PPM_Get(5), PIOS_PPM_Get(6), PIOS_PPM_Get(7));
|
||||
#endif
|
||||
|
||||
/* This blocks the task until there is something on the buffer */
|
||||
/*xSemaphoreTake(PIOS_USART1_Buffer, portMAX_DELAY);
|
||||
int32_t len = PIOS_COM_ReceiveBufferUsed(COM_USART1);
|
||||
for(int32_t i = 0; i < len; i++) {
|
||||
PIOS_COM_SendFormattedString(COM_DEBUG_USART, ">%c\r", PIOS_COM_ReceiveBuffer(COM_USART1));
|
||||
}*/
|
||||
|
||||
//int32_t state = PIOS_USB_CableConnected();
|
||||
//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "State: %d\r", state);
|
||||
|
||||
//PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x57, (uint8_t *)50, 1);
|
||||
|
||||
/* Test ADC pins */
|
||||
//temp = ((1.43 - ((Vsense / 4096) * 3.3)) / 4.3) + 25;
|
||||
//uint32_t vsense = PIOS_ADC_PinGet(0);
|
||||
//uint32_t Temp = (1.42 - vsense * 3.3 / 4096) * 1000 / 4.35 + 25;
|
||||
//PIOS_COM_SendFormattedString(COM_DEBUG_USART, "Temp: %d, CS_I: %d, CS_V: %d, 5v: %d\r", PIOS_ADC_PinGet(0), PIOS_ADC_PinGet(1), PIOS_ADC_PinGet(2), PIOS_ADC_PinGet(3));
|
||||
//PIOS_COM_SendFormattedString(COM_DEBUG_USART, "AUX1: %d, AUX2: %d, AUX3: %d\r", PIOS_ADC_PinGet(4), PIOS_ADC_PinGet(5), PIOS_ADC_PinGet(6));
|
||||
|
||||
vTaskDelay(xDelay);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
#if INCLUDE_TEST_TASKS
|
||||
static void TaskHIDTest(void *pvParameters)
|
||||
{
|
||||
uint8_t byte;
|
||||
uint8_t line_buffer[128];
|
||||
uint16_t line_ix = 0;
|
||||
|
||||
for(;;)
|
||||
{
|
||||
/* HID Loopback Test */
|
||||
#if 0
|
||||
if(PIOS_COM_ReceiveBufferUsed(COM_USB_HID) != 0) {
|
||||
byte = PIOS_COM_ReceiveBuffer(COM_USB_HID);
|
||||
if(byte == '\r' || byte == '\n' || byte == 0) {
|
||||
PIOS_COM_SendFormattedString(COM_USB_HID, "RX: %s\r", line_buffer);
|
||||
PIOS_COM_SendFormattedString(COM_DEBUG_USART, "RX: %s\r", line_buffer);
|
||||
line_ix = 0;
|
||||
} else if(line_ix < sizeof(line_buffer)) {
|
||||
line_buffer[line_ix++] = byte;
|
||||
line_buffer[line_ix] = 0;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
/* HID Loopback Test */
|
||||
if(PIOS_COM_ReceiveBufferUsed(COM_USART2) != 0) {
|
||||
byte = PIOS_COM_ReceiveBuffer(COM_USART2);
|
||||
#if 0
|
||||
if(byte == '\r' || byte == '\n' || byte == 0) {
|
||||
PIOS_COM_SendFormattedString(COM_DEBUG_USART, "RX: %s\r", line_buffer);
|
||||
line_ix = 0;
|
||||
} else if(line_ix < sizeof(line_buffer)) {
|
||||
line_buffer[line_ix++] = byte;
|
||||
line_buffer[line_ix] = 0;
|
||||
}
|
||||
#endif
|
||||
PIOS_COM_SendChar(COM_DEBUG_USART, (char)byte);
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
#if INCLUDE_TEST_TASKS
|
||||
static void TaskServos(void *pvParameters)
|
||||
{
|
||||
/* For testing servo outputs */
|
||||
portTickType xDelay;
|
||||
|
||||
/* Used to test servos, cycles all servos from one side to the other */
|
||||
for(;;) {
|
||||
/*xDelay = 250 / portTICK_RATE_MS;
|
||||
PIOS_Servo_Set(0, 2000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(1, 2000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(2, 2000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(3, 2000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(4, 2000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(5, 2000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(6, 2000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(7, 2000);
|
||||
vTaskDelay(xDelay);
|
||||
|
||||
PIOS_Servo_Set(7, 1000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(6, 1000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(5, 1000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(4, 1000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(3, 1000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(2, 1000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(1, 1000);
|
||||
vTaskDelay(xDelay);
|
||||
PIOS_Servo_Set(0, 1000);
|
||||
vTaskDelay(xDelay);*/
|
||||
|
||||
xDelay = 1 / portTICK_RATE_MS;
|
||||
for(int i = 1000; i < 2000; i++) {
|
||||
PIOS_Servo_Set(0, i);
|
||||
PIOS_Servo_Set(1, i);
|
||||
PIOS_Servo_Set(2, i);
|
||||
PIOS_Servo_Set(3, i);
|
||||
PIOS_Servo_Set(4, i);
|
||||
PIOS_Servo_Set(5, i);
|
||||
PIOS_Servo_Set(6, i);
|
||||
PIOS_Servo_Set(7, i);
|
||||
vTaskDelay(xDelay);
|
||||
}
|
||||
for(int i = 2000; i > 1000; i--) {
|
||||
PIOS_Servo_Set(0, i);
|
||||
PIOS_Servo_Set(1, i);
|
||||
PIOS_Servo_Set(2, i);
|
||||
PIOS_Servo_Set(3, i);
|
||||
PIOS_Servo_Set(4, i);
|
||||
PIOS_Servo_Set(5, i);
|
||||
PIOS_Servo_Set(6, i);
|
||||
PIOS_Servo_Set(7, i);
|
||||
vTaskDelay(xDelay);
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
#if INCLUDE_TEST_TASKS
|
||||
static void TaskSDCard(void *pvParameters)
|
||||
{
|
||||
uint16_t second_delay_ctr = 0;
|
||||
portTickType xLastExecutionTime;
|
||||
|
||||
/* Initialise the xLastExecutionTime variable on task entry */
|
||||
xLastExecutionTime = xTaskGetTickCount();
|
||||
|
||||
for(;;) {
|
||||
vTaskDelayUntil(&xLastExecutionTime, 1 / portTICK_RATE_MS);
|
||||
|
||||
/* Each second: */
|
||||
/* Check if SD card is available */
|
||||
/* High-speed access if SD card was previously available */
|
||||
if(++second_delay_ctr >= 1000) {
|
||||
second_delay_ctr = 0;
|
||||
|
||||
uint8_t prev_sdcard_available = sdcard_available;
|
||||
sdcard_available = PIOS_SDCARD_CheckAvailable(prev_sdcard_available);
|
||||
|
||||
if(sdcard_available && !prev_sdcard_available) {
|
||||
/* SD Card has been connected! */
|
||||
/* Switch to mass storage device */
|
||||
MSD_Init(0);
|
||||
} else if(!sdcard_available && prev_sdcard_available) {
|
||||
/* Re-init USB for HID */
|
||||
PIOS_USB_Init(1);
|
||||
/* SD Card disconnected! */
|
||||
}
|
||||
}
|
||||
|
||||
/* Each millisecond: */
|
||||
/* Handle USB access if device is available */
|
||||
if(sdcard_available) {
|
||||
MSD_Periodic_mS();
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
|
||||
150
flight/Revolution/System/taskmonitor.c
Normal file
150
flight/Revolution/System/taskmonitor.c
Normal file
@ -0,0 +1,150 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @{
|
||||
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
|
||||
* @{
|
||||
* @file taskmonitor.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Task monitoring 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
|
||||
*/
|
||||
#include "openpilot.h"
|
||||
//#include "taskmonitor.h"
|
||||
|
||||
// Private constants
|
||||
|
||||
// Private types
|
||||
|
||||
// Private variables
|
||||
static xSemaphoreHandle lock;
|
||||
static xTaskHandle handles[TASKINFO_RUNNING_NUMELEM];
|
||||
static uint32_t lastMonitorTime;
|
||||
|
||||
// Private functions
|
||||
|
||||
/**
|
||||
* Initialize library
|
||||
*/
|
||||
int32_t TaskMonitorInitialize(void)
|
||||
{
|
||||
lock = xSemaphoreCreateRecursiveMutex();
|
||||
memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM);
|
||||
lastMonitorTime = 0;
|
||||
#if defined(DIAGNOSTICS)
|
||||
lastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
|
||||
#endif
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Register a task handle with the library
|
||||
*/
|
||||
int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle)
|
||||
{
|
||||
if (task < TASKINFO_RUNNING_NUMELEM)
|
||||
{
|
||||
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
|
||||
handles[task] = handle;
|
||||
xSemaphoreGiveRecursive(lock);
|
||||
return 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Remove a task handle from the library
|
||||
*/
|
||||
int32_t TaskMonitorRemove(TaskInfoRunningElem task)
|
||||
{
|
||||
if (task < TASKINFO_RUNNING_NUMELEM)
|
||||
{
|
||||
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
|
||||
handles[task] = 0;
|
||||
xSemaphoreGiveRecursive(lock);
|
||||
return 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Update the status of all tasks
|
||||
*/
|
||||
void TaskMonitorUpdateAll(void)
|
||||
{
|
||||
#if defined(DIAGNOSTICS)
|
||||
TaskInfoData data;
|
||||
int n;
|
||||
|
||||
// Lock
|
||||
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
|
||||
|
||||
#if ( configGENERATE_RUN_TIME_STATS == 1 )
|
||||
uint32_t currentTime;
|
||||
uint32_t deltaTime;
|
||||
|
||||
/*
|
||||
* Calculate the amount of elapsed run time between the last time we
|
||||
* measured and now. Scale so that we can convert task run times
|
||||
* directly to percentages.
|
||||
*/
|
||||
currentTime = portGET_RUN_TIME_COUNTER_VALUE();
|
||||
deltaTime = ((currentTime - lastMonitorTime) / 100) ? : 1; /* avoid divide-by-zero if the interval is too small */
|
||||
lastMonitorTime = currentTime;
|
||||
#endif
|
||||
|
||||
// Update all task information
|
||||
for (n = 0; n < TASKINFO_RUNNING_NUMELEM; ++n)
|
||||
{
|
||||
if (handles[n] != 0)
|
||||
{
|
||||
data.Running[n] = TASKINFO_RUNNING_TRUE;
|
||||
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
|
||||
data.StackRemaining[n] = 10000;
|
||||
#else
|
||||
data.StackRemaining[n] = uxTaskGetStackHighWaterMark(handles[n]) * 4;
|
||||
#if ( configGENERATE_RUN_TIME_STATS == 1 )
|
||||
/* Generate run time stats */
|
||||
data.RunningTime[n] = uxTaskGetRunTime(handles[n]) / deltaTime;
|
||||
|
||||
#endif
|
||||
#endif
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
data.Running[n] = TASKINFO_RUNNING_FALSE;
|
||||
data.StackRemaining[n] = 0;
|
||||
data.RunningTime[n] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// Update object
|
||||
TaskInfoSet(&data);
|
||||
|
||||
// Done
|
||||
xSemaphoreGiveRecursive(lock);
|
||||
#endif
|
||||
}
|
||||
77
flight/Revolution/UAVObjects.inc
Normal file
77
flight/Revolution/UAVObjects.inc
Normal file
@ -0,0 +1,77 @@
|
||||
#####
|
||||
# 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 += inssettings
|
||||
UAVOBJSRCFILENAMES += insstatus
|
||||
UAVOBJSRCFILENAMES += attitudeactual
|
||||
UAVOBJSRCFILENAMES += attituderaw
|
||||
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 += positionactual
|
||||
UAVOBJSRCFILENAMES += positiondesired
|
||||
UAVOBJSRCFILENAMES += ratedesired
|
||||
UAVOBJSRCFILENAMES += sonaraltitude
|
||||
UAVOBJSRCFILENAMES += stabilizationdesired
|
||||
UAVOBJSRCFILENAMES += stabilizationsettings
|
||||
UAVOBJSRCFILENAMES += systemalarms
|
||||
UAVOBJSRCFILENAMES += systemsettings
|
||||
UAVOBJSRCFILENAMES += systemstats
|
||||
UAVOBJSRCFILENAMES += taskinfo
|
||||
UAVOBJSRCFILENAMES += telemetrysettings
|
||||
UAVOBJSRCFILENAMES += velocityactual
|
||||
UAVOBJSRCFILENAMES += velocitydesired
|
||||
UAVOBJSRCFILENAMES += watchdogstatus
|
||||
UAVOBJSRCFILENAMES += flightstatus
|
||||
UAVOBJSRCFILENAMES += hwsettings
|
||||
UAVOBJSRCFILENAMES += receiveractivity
|
||||
UAVOBJSRCFILENAMES += cameradesired
|
||||
UAVOBJSRCFILENAMES += camerastabsettings
|
||||
|
||||
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
|
||||
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )
|
||||
@ -51,8 +51,7 @@
|
||||
#define PIOS_INCLUDE_HMC5883
|
||||
#define PIOS_INCLUDE_BMP085
|
||||
#define PIOS_INCLUDE_IMU3000
|
||||
#define PIOS_INCLUDE_GPIO
|
||||
#define PIOS_INCLUDE_EXTI
|
||||
//#define PIOS_INCLUDE_GPIO
|
||||
|
||||
#define PIOS_INCLUDE_BMA180
|
||||
#define PIOS_INCLUDE_FREERTOS
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user