rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-20 10:54:14 +01:00
Code Issues Releases Activity

LP-480 More work in progress.

Browse Source
This commit is contained in:
Vladimir Zidar 2017-02-21 18:48:00 +01:00
parent ddc4f3d855
commit 5cebebe33b
10 changed files with 114 additions and 105 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
flight/modules/System/systemmod.c
View File

@ -62,7 +62,7 @@
#include <pios_notify.h>
#include <pios_task_monitor.h>
#include <pios_board_init.h>
#include <pios_board_io.h>
#ifdef PIOS_INCLUDE_INSTRUMENTATION
#include <instrumentation.h>

82
flight/pios/common/pios_board_io.c
View File

@ -354,6 +354,17 @@ static const struct uart_function uart_function_map[] = {
.com_rx_buf_len = PIOS_COM_HKOSD_RX_BUF_LEN,
.com_tx_buf_len = PIOS_COM_HKOSD_TX_BUF_LEN,
},
#ifdef PIOS_INCLUDE_DEBUG_CONSOLE
[PIOS_BOARD_IO_UART_DEBUGCONSOLE] = {
.com_id = &pios_com_debug_id,
.com_tx_buf_len = PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN,
},
#endif
[PIOS_BOARD_IO_UART_COMBRIDGE] = {
.com_id = &pios_com_bridge_id,
.com_rx_buf_len = PIOS_COM_BRIDGE_RX_BUF_LEN,
.com_tx_buf_len = PIOS_COM_BRIDGE_TX_BUF_LEN,
},
#ifdef PIOS_INCLUDE_RCVR
# ifdef PIOS_INCLUDE_IBUS
[PIOS_BOARD_IO_UART_IBUS] = {
@ -505,19 +516,7 @@ void PIOS_BOARD_IO_Configure_GCSRCVR()
#ifdef PIOS_INCLUDE_RFM22B
#if defined(PIOS_INCLUDE_OPLINKRCVR) && defined(PIOS_INCLUDE_RCVR)
static void PIOS_Board_PPM_callback(const int16_t *channels)
{
OPLinkReceiverData opl_rcvr;
for (uint8_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM; ++i) {
opl_rcvr.Channel[i] = (i < RFM22B_PPM_NUM_CHANNELS) ? channels[i] : PIOS_RCVR_TIMEOUT;
}
OPLinkReceiverSet(&opl_rcvr);
}
#endif /* PIOS_INCLUDE_OPLINKRCVR && PIOS_INCLUDE_RCVR */
void PIOS_BOARD_IO_Configure_RFM22B()
void PIOS_BOARD_IO_Configure_RFM22B(uint32_t spi_id, PIOS_BOARD_IO_RADIOAUX_Function radioaux_function)
{
#if defined(PIOS_INCLUDE_RFM22B)
OPLinkSettingsInitialize();
@ -547,7 +546,6 @@ void PIOS_BOARD_IO_Configure_RFM22B()
(oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_DATAANDCONTROL));
bool ppm_mode = ((oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_CONTROL) ||
(oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_DATAANDCONTROL));
bool ppm_only = (oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_CONTROL);
bool is_enabled = ((oplinkSettings.Protocol != OPLINKSETTINGS_PROTOCOL_DISABLED) &&
((oplinkSettings.MaxRFPower != OPLINKSETTINGS_MAXRFPOWER_0) || openlrs));
if (is_enabled) {
@ -556,22 +554,22 @@ void PIOS_BOARD_IO_Configure_RFM22B()
uint32_t openlrs_id;
const struct pios_openlrs_cfg *openlrs_cfg = PIOS_BOARD_HW_DEFS_GetOpenLRSCfg(pios_board_info_blob.board_rev);
PIOS_OpenLRS_Init(&openlrs_id, PIOS_RFM22_SPI_PORT, 0, openlrs_cfg);
{
uint32_t openlrsrcvr_id;
PIOS_OpenLRS_Rcvr_Init(&openlrsrcvr_id, openlrs_id);
uint32_t openlrsrcvr_rcvr_id;
if (PIOS_RCVR_Init(&openlrsrcvr_rcvr_id, &pios_openlrs_rcvr_driver, openlrsrcvr_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_OPENLRS] = openlrsrcvr_rcvr_id;
uint32_t openlrs_id;
PIOS_OpenLRS_Init(&openlrs_id, spi_id, 0, openlrs_cfg);
uint32_t openlrsrcvr_id;
PIOS_OpenLRS_Rcvr_Init(&openlrsrcvr_id, openlrs_id);
uint32_t openlrsrcvr_rcvr_id;
if (PIOS_RCVR_Init(&openlrsrcvr_rcvr_id, &pios_openlrs_rcvr_driver, openlrsrcvr_id)) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_OPENLRS_RCVR && PIOS_INCLUDE_RCVR */
} else {
/* Configure the RFM22B device. */
const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(pios_board_info_blob.board_rev);
if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, rfm22b_cfg->slave_num, rfm22b_cfg, oplinkSettings.RFBand)) {
if (PIOS_RFM22B_Init(&pios_rfm22b_id, spi_id, rfm22b_cfg->slave_num, rfm22b_cfg, oplinkSettings.RFBand)) {
PIOS_Assert(0);
}
@ -622,12 +620,6 @@ void PIOS_BOARD_IO_Configure_RFM22B()
PIOS_RFM22B_SetXtalCap(pios_rfm22b_id, oplinkSettings.RFXtalCap);
PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, is_coordinator, data_mode, ppm_mode);
#if defined(PIOS_INCLUDE_OPLINKRCVR) && defined(PIOS_INCLUDE_RCVR)
/* Set the PPM callback if we should be receiving PPM. */
if (ppm_mode || (ppm_only && !is_coordinator)) {
PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback);
}
#endif
/* Set the modem Tx power level */
switch (oplinkSettings.MaxRFPower) {
case OPLINKSETTINGS_MAXRFPOWER_125:
@ -665,22 +657,32 @@ void PIOS_BOARD_IO_Configure_RFM22B()
// TODO: this is in preparation for full mavlink support and is used by LP-368
uint16_t mavlink_rx_size = PIOS_COM_MAVLINK_RX_BUF_LEN;
uint8_t hwsettings_radioaux;
HwSettingsRadioAuxStreamGet(&hwsettings_radioaux);
switch (hwsettings_radioaux) {
case HWSETTINGS_RADIOAUXSTREAM_DEBUGCONSOLE:
case HWSETTINGS_RADIOAUXSTREAM_DISABLED:
break;
case HWSETTINGS_RADIOAUXSTREAM_MAVLINK:
{
switch (radioaux_function) {
default: ;
case PIOS_BOARD_IO_RADIOAUX_DEBUGCONSOLE:
#ifdef PIOS_INCLUDE_DEBUG_CONSOLE
if (PIOS_COM_Init(&pios_com_debug_id, &pios_rfm22b_aux_com_driver, pios_rfm22b_id,
0, 0,
0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
#endif
break;
case PIOS_BOARD_IO_RADIOAUX_COMBRIDGE:
if(PIOS_COM_Init(&pios_com_bridge_id, &pios_rfm22b_aux_com_driver, pios_rfm22b_id,
0, PIOS_COM_BRIDGE_RX_BUF_LEN,
0, PIOS_COM_BRIDGE_TX_BUF_LEN))
{
PIOS_Assert(0);
}
break;
case PIOS_BOARD_IO_RADIOAUX_MAVLINK:
if (PIOS_COM_Init(&pios_com_mavlink_id, &pios_rfm22b_aux_com_driver, pios_rfm22b_id,
0, mavlink_rx_size,
0, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
}
}
} else {
oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_DISABLED;

3
flight/pios/common/pios_usb_desc_hid_cdc.c
View File

@ -331,11 +331,12 @@ const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
.data_rx_ep = 1,
.data_tx_ep = 1,
};
#ifdef PIOS_INCLUDE_USB_RCTX
const struct pios_usb_rctx_cfg pios_usb_rctx_cfg = {
.data_if = 2,
.data_tx_ep = 1,
};
#endif
int32_t PIOS_USB_DESC_HID_CDC_Init(void)
{

31
flight/pios/inc/pios_board_io.h
View File

@ -98,7 +98,8 @@ extern uint32_t pios_com_telem_rf_id;
/* RFM22B telemetry */
#ifdef PIOS_INCLUDE_RFM22B
extern uint32_t pios_com_rf_id;
extern uint32_t pios_rfm22b_id; /* RFM22B handle */
extern uint32_t pios_com_rf_id; /* oplink telemetry */
# define PIOS_COM_RF (pios_com_rf_id)
# ifndef PIOS_COM_RFM22B_RF_RX_BUF_LEN
# define PIOS_COM_RFM22B_RF_RX_BUF_LEN 512
@ -179,10 +180,34 @@ typedef enum {
PIOS_BOARD_IO_UART_SRXL, /* rcvr */
PIOS_BOARD_IO_UART_IBUS, /* rcvr */
PIOS_BOARD_IO_UART_EXBUS, /* rcvr */
// PIOS_BOARD_IO_UART_FRSKY_SPORT_TELEMETRY, /* com */
} PIOS_BOARD_IO_UART_Function;
typedef enum {
PIOS_BOARD_IO_RADIOAUX_NONE,
PIOS_BOARD_IO_RADIOAUX_MAVLINK,
PIOS_BOARD_IO_RADIOAUX_COMBRIDGE,
PIOS_BOARD_IO_RADIOAUX_DEBUGCONSOLE,
// PIOS_BOARD_IO_RADIOAUX_FRSKY_SPORT_TELEMETRY,
} PIOS_BOARD_IO_RADIOAUX_Function;
typedef enum {
PIOS_BOARD_IO_USB_HID_NONE,
PIOS_BOARD_IO_USB_HID_TELEMETRY,
PIOS_BOARD_IO_USB_HID_RCTX,
} PIOS_BOARD_IO_USB_HID_Function;
typedef enum {
PIOS_BOARD_IO_USB_CDC_NONE,
PIOS_BOARD_IO_USB_CDC_TELEMETRY,
PIOS_BOARD_IO_USB_CDC_COMBRIDGE,
PIOS_BOARD_IO_USB_CDC_MAVLINK,
PIOS_BOARD_IO_USB_CDC_DEBUGCONSOLE,
// PIOS_BOARD_IO_USB_CDC_MSP,
} PIOS_BOARD_IO_USB_CDC_Function;
#ifdef PIOS_INCLUDE_USB
void PIOS_BOARD_IO_Configure_USB();
void PIOS_BOARD_IO_Configure_USB(PIOS_BOARD_IO_USB_HID_Function hid_function, PIOS_BOARD_IO_USB_CDC_Function cdc_function);
# if defined(PIOS_INCLUDE_USB_HID)
# include <pios_usb_hid_priv.h>
extern const struct pios_usb_hid_cfg pios_usb_hid_cfg;
@ -198,7 +223,7 @@ void PIOS_BOARD_IO_Configure_PPM(const struct pios_ppm_cfg *ppm_cfg);
void PIOS_BOARD_IO_Configure_UART(const struct pios_usart_cfg *usart_cfg, PIOS_BOARD_IO_UART_Function function);
#ifdef PIOS_INCLUDE_RFM22B
void PIOS_BOARD_IO_Configure_RFM22B();
void PIOS_BOARD_IO_Configure_RFM22B(uint32_t spi_id, PIOS_BOARD_IO_RADIOAUX_Function function);
#endif
#ifdef PIOS_INCLUDE_I2C

6
flight/pios/inc/pios_usb_desc_hid_cdc_priv.h
View File

@ -33,13 +33,17 @@
#include <stdint.h>
#include <pios_usb_hid_priv.h>
#include <pios_usb_cdc_priv.h>
#include <pios_usb_rctx_priv.h>
#ifdef PIOS_INCLUDE_USB_RCTX
# include <pios_usb_rctx_priv.h>
#endif
extern int32_t PIOS_USB_DESC_HID_CDC_Init(void);
extern const struct pios_usb_cdc_cfg pios_usb_cdc_cfg;
extern const struct pios_usb_hid_cfg pios_usb_hid_cfg;
#ifdef PIOS_INCLUDE_USB_RCTX
extern const struct pios_usb_rctx_cfg pios_usb_rctx_cfg;
#endif
#endif /* PIOS_USB_DESC_HID_CDC_PRIV_H */

12
flight/targets/boards/discoveryf4bare/firmware/pios_board.c
View File

@ -98,6 +98,11 @@ static const PIOS_BOARD_IO_UART_Function flexi_function_map[] = {
[HWSETTINGS_RM_FLEXIPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
};
static const PIOS_BOARD_IO_RADIOAUX_Function radioaux_function_map[] = {
[HWSETTINGS_RADIOAUXSTREAM_DEBUGCONSOLE] = PIOS_BOARD_IO_RADIOAUX_DEBUGCONSOLE,
[HWSETTINGS_RADIOAUXSTREAM_MAVLINK] = PIOS_BOARD_IO_RADIOAUX_MAVLINK,
[HWSETTINGS_RADIOAUXSTREAM_COMBRIDGE] = PIOS_BOARD_IO_RADIOAUX_COMBRIDGE,
};
int32_t PIOS_BOARD_USART_Ioctl(uint32_t usart_id, uint32_t ctl, void *param)
{
@ -280,7 +285,12 @@ void PIOS_Board_Init(void)
}
#if defined(PIOS_INCLUDE_RFM22B)
PIOS_BOARD_IO_Configure_RFM22B();
uint8_t hwsettings_radioaux;
HwSettingsRadioAuxStreamGet(&hwsettings_radioaux);
if(hwsettings_radioaux < NELEMENTS(radioaux_function_map)) {
PIOS_BOARD_IO_Configure_RFM22B(pios_spi_telem_flash_id, radioaux_function_map[hwsettings_radioaux]);
}
#endif /* PIOS_INCLUDE_RFM22B */

55
flight/targets/boards/oplinkmini/board_hw_defs.c
View File

@ -693,22 +693,6 @@ const struct pios_ppm_out_cfg pios_flexi_ppm_out_cfg = {
*/
static const struct pios_usart_cfg pios_usart_main_cfg = {
.regs = USART1,
.init = {
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
@ -729,22 +713,6 @@ static const struct pios_usart_cfg pios_usart_main_cfg = {
static const struct pios_usart_cfg pios_usart_flexi_cfg = {
.regs = USART3,
.init = {
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOB,
.init = {
@ -839,29 +807,6 @@ static const struct pios_usb_cfg pios_usb_main_cfg = {
#endif /* PIOS_INCLUDE_COM_MSG */
#if defined(PIOS_INCLUDE_USB_HID)
#include <pios_usb_hid_priv.h>
const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
.data_if = 2,
.data_rx_ep = 1,
.data_tx_ep = 1,
};
#endif /* PIOS_INCLUDE_USB_HID */
#if defined(PIOS_INCLUDE_USB_CDC)
#include <pios_usb_cdc_priv.h>
const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = {
.ctrl_if = 0,
.ctrl_tx_ep = 2,
.data_if = 1,
.data_rx_ep = 3,
.data_tx_ep = 3,
};
#endif /* PIOS_INCLUDE_USB_CDC */
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
#include <pios_eeprom.h>

13
flight/targets/boards/revolution/firmware/pios_board.c
View File

@ -97,6 +97,12 @@ static const PIOS_BOARD_IO_UART_Function flexi_function_map[] = {
[HWSETTINGS_RM_FLEXIPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
};
static const PIOS_BOARD_IO_RADIOAUX_Function radioaux_function_map[] = {
[HWSETTINGS_RADIOAUXSTREAM_DEBUGCONSOLE] = PIOS_BOARD_IO_RADIOAUX_DEBUGCONSOLE,
[HWSETTINGS_RADIOAUXSTREAM_MAVLINK] = PIOS_BOARD_IO_RADIOAUX_MAVLINK,
[HWSETTINGS_RADIOAUXSTREAM_COMBRIDGE] = PIOS_BOARD_IO_RADIOAUX_COMBRIDGE,
};
int32_t PIOS_BOARD_USART_Ioctl(uint32_t usart_id, uint32_t ctl, void *param)
{
@ -282,7 +288,12 @@ void PIOS_Board_Init(void)
}
#if defined(PIOS_INCLUDE_RFM22B)
PIOS_BOARD_IO_Configure_RFM22B();
uint8_t hwsettings_radioaux;
HwSettingsRadioAuxStreamGet(&hwsettings_radioaux);
if(hwsettings_radioaux < NELEMENTS(radioaux_function_map)) {
PIOS_BOARD_IO_Configure_RFM22B(pios_spi_telem_flash_id, radioaux_function_map[hwsettings_radioaux]);
}
#endif /* PIOS_INCLUDE_RFM22B */
#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM)

13
flight/targets/boards/sparky2/firmware/pios_board.c
View File

@ -93,6 +93,12 @@ static const PIOS_BOARD_IO_UART_Function flexi_function_map[] = {
[HWSETTINGS_SPK2_FLEXIPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
};
static const PIOS_BOARD_IO_RADIOAUX_Function radioaux_function_map[] = {
[HWSETTINGS_RADIOAUXSTREAM_DEBUGCONSOLE] = PIOS_BOARD_IO_RADIOAUX_DEBUGCONSOLE,
[HWSETTINGS_RADIOAUXSTREAM_MAVLINK] = PIOS_BOARD_IO_RADIOAUX_MAVLINK,
[HWSETTINGS_RADIOAUXSTREAM_COMBRIDGE] = PIOS_BOARD_IO_RADIOAUX_COMBRIDGE,
};
int32_t PIOS_BOARD_USART_Ioctl(uint32_t usart_id, uint32_t ctl, void *param)
{
const struct pios_usart_cfg *usart_cfg = PIOS_USART_GetConfig(usart_id);
@ -258,7 +264,12 @@ void PIOS_Board_Init(void)
}
#if defined(PIOS_INCLUDE_RFM22B)
PIOS_BOARD_IO_Configure_RFM22B();
uint8_t hwsettings_radioaux;
HwSettingsRadioAuxStreamGet(&hwsettings_radioaux);
if(hwsettings_radioaux < NELEMENTS(radioaux_function_map)) {
PIOS_BOARD_IO_Configure_RFM22B(pios_spi_telem_flash_id, radioaux_function_map[hwsettings_radioaux]);
}
#endif /* PIOS_INCLUDE_RFM22B */
/* Initialize inverter gpio and set it to off */

2
shared/uavobjectdefinition/hwsettings.xml
View File

@ -29,7 +29,7 @@
<field name="MAVLinkSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<field name="USB_HIDPort" units="function" type="enum" elements="1" options="USBTelemetry,RCTransmitter,Disabled" defaultvalue="USBTelemetry"/>
<field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,DebugConsole,Disabled,MAVLink" defaultvalue="Disabled"/>
<field name="RadioAuxStream" units="function" type="enum" elements="1" options="DebugConsole,Disabled,MAVLink" defaultvalue="Disabled"/>
<field name="RadioAuxStream" units="function" type="enum" elements="1" options="DebugConsole,Disabled,MAVLink,ComBridge" defaultvalue="Disabled"/>
<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,CameraControl,GPS,Fault,Altitude,Airspeed,TxPID,Battery,Overo,MagBaro,OsdHk,AutoTune" options="Disabled,Enabled" defaultvalue="Disabled"/>
<field name="ADCRouting" units="" type="enum" elementnames="adc0,adc1,adc2,adc3,adc4,adc5,adc6,adc7" options="Disabled,BatteryVoltage,BatteryCurrent,AnalogAirspeed,Generic" defaultvalue="Disabled"/>