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Code Issues Releases Activity

USB: Update the USB configuration structure to include the GPIO that is used

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for sensing and then load different config for CC and CC3D.  Updated the
bootloader as well.  Also changed the PIOS_USB_CheckAvailability function to
only return the sense signal and not the transfer_possible flag as this is not
set in time for the bootloader on CC3D for some reason.
This commit is contained in:
James Cotton 2012-01-24 22:15:43 -06:00
parent bc3703ce33
commit 5ad37e691c
8 changed files with 104 additions and 39 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
flight/Bootloaders/CopterControl/Makefile
View File

@ -105,6 +105,7 @@ SRC += $(PIOSSTM32F10X)/pios_irq.c
SRC += $(PIOSSTM32F10X)/pios_debug.c
SRC += $(PIOSSTM32F10X)/pios_gpio.c
SRC += $(PIOSSTM32F10X)/pios_iap.c
SRC += $(PIOSSTM32F10X)/pios_bl_helper.c
# PIOS USB related files (seperated to make code maintenance more easy)
SRC += $(PIOSSTM32F10X)/pios_usb.c
@ -118,7 +119,6 @@ SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_board_info.c
SRC += $(PIOSCOMMON)/pios_com_msg.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/printf-stdarg.c
## Libraries for flight calculations

20
flight/Bootloaders/CopterControl/main.c
View File

@ -70,25 +70,13 @@ uint8_t processRX();
void jump_to_app();
int main() {
PIOS_SYS_Init();
if (BSL_HOLD_STATE == 0)
USB_connected = TRUE;
const struct pios_board_info * bdinfo = &pios_board_info_blob;
switch(bdinfo->board_rev) {
case 0x01:
// Original LED, no problem
break;
case 0x02:
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
break;
}
PIOS_SYS_Init();
PIOS_Board_Init();
PIOS_IAP_Init();
USB_connected = PIOS_USB_CheckAvailable(0);
if (PIOS_IAP_CheckRequest() == TRUE) {
PIOS_Board_Init();
PIOS_DELAY_WaitmS(1000);
User_DFU_request = TRUE;
PIOS_IAP_ClearRequest();

31
flight/Bootloaders/CopterControl/pios_board.c
View File

@ -31,7 +31,7 @@
* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
*/
#include "board_hw_defs.c"
#include <pios_board_info.h>
#include <pios.h>
uint32_t pios_com_telem_usb_id;
@ -59,8 +59,20 @@ void PIOS_Board_Init(void) {
/* Initialize the PiOS library */
PIOS_GPIO_Init();
const struct pios_board_info * bdinfo = &pios_board_info_blob;
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
switch(bdinfo->board_rev) {
case 0x01: // Revision 1
PIOS_LED_Init(&pios_led_cfg_cc);
break;
case 0x02: // Revision 2
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
PIOS_LED_Init(&pios_led_cfg_cc3d);
break;
default:
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_USB)
@ -71,8 +83,15 @@ void PIOS_Board_Init(void) {
PIOS_USB_DESC_HID_ONLY_Init();
uint32_t pios_usb_id;
if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) {
PIOS_Assert(0);
switch(bdinfo->board_rev) {
case 0x01: // Revision 1
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc);
break;
case 0x02: // Revision 2
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc3d);
break;
default:
PIOS_Assert(0);
}
#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
uint32_t pios_usb_hid_id;
@ -90,3 +109,7 @@ void PIOS_Board_Init(void) {
board_init_complete = true;
}
void PIOS_ADC_DMA_Handler()
{
}

12
flight/CopterControl/System/pios_board.c
View File

@ -270,7 +270,17 @@ void PIOS_Board_Init(void) {
}
uint32_t pios_usb_id;
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);
switch(bdinfo->board_rev) {
case 0x01: // Revision 1
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc);
break;
case 0x02: // Revision 2
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc3d);
break;
default:
PIOS_Assert(0);
}
#if defined(PIOS_INCLUDE_USB_CDC)

26
flight/PiOS/STM32F10x/pios_usb.c
View File

@ -51,12 +51,20 @@ struct pios_usb_dev {
const struct pios_usb_cfg * cfg;
};
#if 0
static bool PIOS_USB_validate(struct pios_usb_dev * usb_dev)
/**
* @brief Validate the usb device structure
* @returns 0 if valid device or -1 otherwise
*/
static int32_t PIOS_USB_validate(struct pios_usb_dev * usb_dev)
{
return (usb_dev->magic == PIOS_USB_DEV_MAGIC);
if(usb_dev == NULL)
return -1;
if (usb_dev->magic != PIOS_USB_DEV_MAGIC)
return -1;
return 0;
}
#endif
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_usb_dev * PIOS_USB_alloc(void)
@ -205,9 +213,17 @@ int32_t PIOS_USB_Reenumerate()
* \return 0: interface not available
* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
*/
uint32_t usb_found;
bool PIOS_USB_CheckAvailable(uint8_t id)
{
return (PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) != 0 && transfer_possible ? 1 : 0;
struct pios_usb_dev * usb_dev = (struct pios_usb_dev *) pios_usb_com_id;
if(PIOS_USB_validate(usb_dev) != 0)
return 0;
usb_found = (usb_dev->cfg->vsense.gpio->IDR & usb_dev->cfg->vsense.init.GPIO_Pin);
return usb_found;
return usb_found != 0 && transfer_possible ? 1 : 0;
}
#endif

1
flight/PiOS/inc/pios_usb_priv.h
View File

@ -36,6 +36,7 @@
struct pios_usb_cfg {
struct stm32_irq irq;
struct stm32_gpio vsense;
};
extern int32_t PIOS_USB_Init(uint32_t * usb_id, const struct pios_usb_cfg * cfg);

6
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -83,6 +83,7 @@
6543A04914CF1823004EEC4C /* board_hw_defs.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = board_hw_defs.c; sourceTree = "<group>"; };
6543A04B14CF1823004EEC4C /* board_hw_defs.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = board_hw_defs.c; sourceTree = "<group>"; };
6543A04C14CF717E004EEC4C /* pios_usb.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_usb.c; sourceTree = "<group>"; };
6543A04D14CF9F5E004EEC4C /* pios_usb_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_usb_priv.h; sourceTree = "<group>"; };
6549E0D21279B3C800C5476F /* fifo_buffer.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = fifo_buffer.c; sourceTree = "<group>"; };
6549E0D31279B3CF00C5476F /* fifo_buffer.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = fifo_buffer.h; sourceTree = "<group>"; };
655268BC121FBD2900410C6E /* ahrscalibration.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ahrscalibration.xml; sourceTree = "<group>"; };
@ -3340,7 +3341,6 @@
65FF4BCD13791C3300146BE4 /* common.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = common.h; sourceTree = "<group>"; };
65FF4BCE13791C3300146BE4 /* op_dfu.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = op_dfu.h; sourceTree = "<group>"; };
65FF4BCF13791C3300146BE4 /* pios_config.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_config.h; sourceTree = "<group>"; };
65FF4BD013791C3300146BE4 /* pios_usb.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_usb.h; sourceTree = "<group>"; };
65FF4BD113791C3300146BE4 /* main.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = main.c; sourceTree = "<group>"; };
65FF4BD213791C3300146BE4 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; path = Makefile; sourceTree = "<group>"; };
65FF4BD313791C3300146BE4 /* op_dfu.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = op_dfu.c; sourceTree = "<group>"; };
@ -8482,7 +8482,6 @@
65E8F03811EFF25C00BBF654 /* inc */ = {
isa = PBXGroup;
children = (
65FA9B8514709E9F0019A260 /* pios_usb_hid_priv.h */,
65DEA78513F0FE6000095B06 /* stm32f2xx_conf.h */,
65F5FBAB14CA08FD00261DE0 /* pios_board_info.h */,
6528CCE212E40F6700CF5144 /* pios_adxl345.h */,
@ -8543,7 +8542,9 @@
65E8F05111EFF25C00BBF654 /* pios_usart.h */,
65E8F05211EFF25C00BBF654 /* pios_usart_priv.h */,
65E8F05311EFF25C00BBF654 /* pios_usb.h */,
6543A04D14CF9F5E004EEC4C /* pios_usb_priv.h */,
65E8F05511EFF25C00BBF654 /* pios_usb_hid.h */,
65FA9B8514709E9F0019A260 /* pios_usb_hid_priv.h */,
651CF9F0120B700D00EEFD70 /* pios_usb_hid_istr.h */,
651CF9F2120B700D00EEFD70 /* pios_usb_hid_pwr.h */,
6526645B122DF972006F9A3C /* pios_wdg.h */,
@ -9280,7 +9281,6 @@
65FF4BCD13791C3300146BE4 /* common.h */,
65FF4BCE13791C3300146BE4 /* op_dfu.h */,
65FF4BCF13791C3300146BE4 /* pios_config.h */,
65FF4BD013791C3300146BE4 /* pios_usb.h */,
);
path = inc;
sourceTree = "<group>";

45
flight/board_hw_defs/coptercontrol/board_hw_defs.c
View File

@ -1216,15 +1216,42 @@ void PIOS_I2C_flexi_adapter_er_irq_handler(void)
#if defined(PIOS_INCLUDE_USB)
#include "pios_usb_priv.h"
static const struct pios_usb_cfg pios_usb_main_cfg = {
.irq = {
.init = {
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
static const struct pios_usb_cfg pios_usb_main_cfg_cc = {
.irq = {
.init = {
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.vsense = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_AF_OD,
},
}
};
static const struct pios_usb_cfg pios_usb_main_cfg_cc3d = {
.irq = {
.init = {
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.vsense = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_14,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_AF_OD,
},
}
};
#include "pios_usb_board_data_priv.h"