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Code Issues Releases Activity

Merge branch 'cc3d' into revolution3

Browse Source 
Conflicts:
	flight/PiOS/inc/pios_l3gd20.h
	flight/PiOS/pios.h
	flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
This commit is contained in:
James Cotton 2012-01-23 22:07:27 -06:00
commit 5fd458426a
7 changed files with 187 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
flight/Bootloaders/CopterControl/main.c
View File

@ -75,6 +75,17 @@ int main() {
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_IAP_Init();
if (PIOS_IAP_CheckRequest() == TRUE) {

1
flight/CopterControl/Makefile
View File

@ -224,6 +224,7 @@ SRC += $(PIOSCOMMON)/pios_crc.c
SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c
SRC += $(PIOSCOMMON)/pios_flash_w25x.c
SRC += $(PIOSCOMMON)/pios_adxl345.c
SRC += $(PIOSSTM32F10X)/pios_l3gd20.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_i2c_esc.c
SRC += $(PIOSCOMMON)/pios_bmp085.c

1
flight/CopterControl/System/inc/pios_config.h
View File

@ -75,6 +75,7 @@
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_ADXL345
#define PIOS_INCLUDE_L3GD20
#define PIOS_INCLUDE_FLASH
#define PIOS_INCLUDE_BMP085

165
flight/CopterControl/System/pios_board.c
View File

@ -38,6 +38,107 @@
#include <pios_spi_priv.h>
/* Gyro interface */
void PIOS_SPI_gyro_irq_handler(void);
void DMA1_Channel2_IRQHandler() __attribute__ ((alias ("PIOS_SPI_gyro_irq_handler")));
void DMA1_Channel3_IRQHandler() __attribute__ ((alias ("PIOS_SPI_gyro_irq_handler")));
static const struct pios_spi_cfg pios_spi_gyro_cfg = {
.regs = SPI1,
.init = {
.SPI_Mode = SPI_Mode_Master,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
.SPI_DataSize = SPI_DataSize_8b,
.SPI_NSS = SPI_NSS_Soft,
.SPI_FirstBit = SPI_FirstBit_MSB,
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8, /* 10 Mhz */
},
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
.init = {
.NVIC_IRQChannel = DMA1_Channel2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA1_Channel2,
.init = {
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
.DMA_DIR = DMA_DIR_PeripheralSRC,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_M2M = DMA_M2M_Disable,
},
},
.tx = {
.channel = DMA1_Channel3,
.init = {
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
.DMA_DIR = DMA_DIR_PeripheralDST,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_M2M = DMA_M2M_Disable,
},
},
},
.ssel = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_4,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
.sclk = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_5,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
.miso = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.mosi = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
static uint32_t pios_spi_gyro_id;
void PIOS_SPI_gyro_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_gyro_id);
}
/* Flash/Accel Interface
*
* NOTE: Leave this declared as const data so that it ends up in the
@ -1034,6 +1135,39 @@ uint32_t pios_com_vcp_id;
uint32_t pios_com_gps_id;
uint32_t pios_com_bridge_id;
#include "pios_l3gd20.h"
static const struct pios_l3gd20_cfg pios_l3gd20_cfg = {
.drdy = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_3,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.eoc_exti = {
.pin_source = GPIO_PinSource3,
.port_source = GPIO_PortSourceGPIOA,
.init = {
.EXTI_Line = EXTI_Line3, // matches above GPIO pin
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Rising,
.EXTI_LineCmd = ENABLE,
},
},
.eoc_irq = {
.init = {
.NVIC_IRQChannel = EXTI3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.gyro_range = PIOS_L3GD20_SCALE_500_DEG,
};
#include <pios_board_info.h>
/**
* PIOS_Board_Init()
* initializes all the core subsystems on this specific hardware
@ -1538,10 +1672,39 @@ void PIOS_Board_Init(void) {
#else
PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif /* PIOS_DEBUG_ENABLE_DEBUG_PINS */
const struct pios_board_info * bdinfo = &pios_board_info_blob;
switch(bdinfo->board_rev) {
case 0x01:
// Revision 1 with invensense gyros, start the ADC
PIOS_ADC_Init();
break;
case 0x02:
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
if(0) {
PIOS_ADC_Init();
} else
{
// Revision 2 with L3GD20 gyros, start a SPI interface and connect to it
// Set up the SPI interface to the serial flash
if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
PIOS_Assert(0);
}
PIOS_L3GD20_Attach(pios_spi_gyro_id);
PIOS_L3GD20_Init(&pios_l3gd20_cfg);
}
break;
default:
PIOS_Assert(0);
}
PIOS_ADC_Init();
PIOS_GPIO_Init();
/* Make sure we have at least one telemetry link configured or else fail initialization */
PIOS_Assert(pios_com_telem_rf_id || pios_com_telem_usb_id);
}

6
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
View File

@ -83,9 +83,9 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
//------------------------
// PIOS_LED
//------------------------
#define PIOS_LED_LED1_GPIO_PORT GPIOA
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_6
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
#define PIOS_LED_LED1_GPIO_PORT GPIOB
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_3
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOB
#define PIOS_LED_NUM 1
#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT }
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN }

16
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -8,7 +8,6 @@
/* Begin PBXFileReference section */
65003B31121249CA00C183DD /* pios_wdg.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_wdg.c; sourceTree = "<group>"; };
650387E514B52B860045AFE4 /* pios_l3gd20.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_l3gd20.h; sourceTree = "<group>"; };
65078B09136FCEE600536549 /* flightstatus.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = flightstatus.xml; sourceTree = "<group>"; };
650D8E2112DFE16400D05CC9 /* actuator.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = actuator.c; sourceTree = "<group>"; };
650D8E2312DFE16400D05CC9 /* actuator.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = actuator.h; sourceTree = "<group>"; };
@ -61,9 +60,7 @@
6519133B1256C52B0039C0A3 /* ahrs_spi_comm.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_spi_comm.h; sourceTree = "<group>"; };
651CF9E6120B5D8300EEFD70 /* pios_usb_hid_istr.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_usb_hid_istr.c; sourceTree = "<group>"; };
651CF9E8120B5D8300EEFD70 /* pios_usb_hid_pwr.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_usb_hid_pwr.c; sourceTree = "<group>"; };
651CF9EF120B700D00EEFD70 /* pios_usb_hid_desc.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_usb_hid_desc.h; sourceTree = "<group>"; };
651CF9F0120B700D00EEFD70 /* pios_usb_hid_istr.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_usb_hid_istr.h; sourceTree = "<group>"; };
651CF9F1120B700D00EEFD70 /* pios_usb_hid_prop.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_usb_hid_prop.h; sourceTree = "<group>"; };
651CF9F2120B700D00EEFD70 /* pios_usb_hid_pwr.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_usb_hid_pwr.h; sourceTree = "<group>"; };
651CF9F3120B700D00EEFD70 /* usb_conf.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = usb_conf.h; sourceTree = "<group>"; };
65209A1812208B0600453371 /* baroaltitude.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = baroaltitude.xml; sourceTree = "<group>"; };
@ -2864,10 +2861,8 @@
65E6DF7A12E02E8E00058553 /* pios_board_posix.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board_posix.h; sourceTree = "<group>"; };
65E6DF7B12E02E8E00058553 /* pios_config.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_config.h; sourceTree = "<group>"; };
65E6DF7C12E02E8E00058553 /* pios_config_posix.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_config_posix.h; sourceTree = "<group>"; };
65E6DF7D12E02E8E00058553 /* taskmonitor.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = taskmonitor.h; sourceTree = "<group>"; };
65E6DF7E12E02E8E00058553 /* pios_board.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_board.c; sourceTree = "<group>"; };
65E6DF7F12E02E8E00058553 /* pios_board_posix.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_board_posix.c; sourceTree = "<group>"; };
65E6DF8012E02E8E00058553 /* taskmonitor.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = taskmonitor.c; sourceTree = "<group>"; };
65E6DF9112E0313E00058553 /* aes.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = aes.c; sourceTree = "<group>"; };
65E6E04412E0313F00058553 /* crc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = crc.c; sourceTree = "<group>"; };
65E6E04512E0313F00058553 /* gpio_in.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = gpio_in.c; sourceTree = "<group>"; };
@ -3067,6 +3062,8 @@
65F53D2E14984BB300A62D5D /* insgps_helper.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = insgps_helper.c; sourceTree = "<group>"; };
65F53D2F14984BB300A62D5D /* insgps13state.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = insgps13state.c; sourceTree = "<group>"; };
65F53D3014984BB300A62D5D /* insgps16state.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = insgps16state.c; sourceTree = "<group>"; };
65F5FB9914C9FAC500261DE0 /* pios_l3gd20.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_l3gd20.h; sourceTree = "<group>"; };
65F5FBAB14CA08FD00261DE0 /* pios_board_info.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board_info.h; sourceTree = "<group>"; };
65F93C3912EE09280047DB36 /* aes.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = aes.c; sourceTree = "<group>"; };
65F93C3B12EE09280047DB36 /* aes.lst */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = aes.lst; sourceTree = "<group>"; };
65F93C3C12EE09280047DB36 /* aes.o */ = {isa = PBXFileReference; lastKnownFileType = "compiled.mach-o.objfile"; path = aes.o; sourceTree = "<group>"; };
@ -8313,7 +8310,6 @@
65E6DF7512E02E8E00058553 /* inc */,
65E6DF7E12E02E8E00058553 /* pios_board.c */,
65E6DF7F12E02E8E00058553 /* pios_board_posix.c */,
65E6DF8012E02E8E00058553 /* taskmonitor.c */,
);
path = System;
sourceTree = "<group>";
@ -8328,7 +8324,6 @@
65E6DF7A12E02E8E00058553 /* pios_board_posix.h */,
65E6DF7B12E02E8E00058553 /* pios_config.h */,
65E6DF7C12E02E8E00058553 /* pios_config_posix.h */,
65E6DF7D12E02E8E00058553 /* taskmonitor.h */,
);
path = inc;
sourceTree = "<group>";
@ -8424,6 +8419,9 @@
children = (
65FA9B8514709E9F0019A260 /* pios_usb_hid_priv.h */,
65DEA78513F0FE6000095B06 /* stm32f2xx_conf.h */,
65F5FBAB14CA08FD00261DE0 /* pios_board_info.h */,
6528CCE212E40F6700CF5144 /* pios_adxl345.h */,
65E8C745139A6D1A00E1F979 /* pios_crc.h */,
65E8F03A11EFF25C00BBF654 /* pios_adc.h */,
6528CCE212E40F6700CF5144 /* pios_adxl345.h */,
65D1FBE713F53477006374A6 /* pios_bl_helper.h */,
@ -8450,7 +8448,7 @@
6526645A122DF972006F9A3C /* pios_i2c_priv.h */,
65FA9B8014709E9E0019A260 /* pios_initcall.h */,
65E8F04411EFF25C00BBF654 /* pios_irq.h */,
650387E514B52B860045AFE4 /* pios_l3gd20.h */,
65F5FB9914C9FAC500261DE0 /* pios_l3gd20.h */,
65E8F04511EFF25C00BBF654 /* pios_led.h */,
6534B55B1476D3A8003DF47C /* pios_ms5611.h */,
6534B5571474F78B003DF47C /* pios_mpu6000.h */,
@ -8481,9 +8479,7 @@
65E8F05211EFF25C00BBF654 /* pios_usart_priv.h */,
65E8F05311EFF25C00BBF654 /* pios_usb.h */,
65E8F05511EFF25C00BBF654 /* pios_usb_hid.h */,
651CF9EF120B700D00EEFD70 /* pios_usb_hid_desc.h */,
651CF9F0120B700D00EEFD70 /* pios_usb_hid_istr.h */,
651CF9F1120B700D00EEFD70 /* pios_usb_hid_prop.h */,
651CF9F2120B700D00EEFD70 /* pios_usb_hid_pwr.h */,
6526645B122DF972006F9A3C /* pios_wdg.h */,
651CF9F3120B700D00EEFD70 /* usb_conf.h */,

2
make/boards/coptercontrol/board-info.mk
View File

@ -1,5 +1,5 @@
BOARD_TYPE := 0x04
BOARD_REVISION := 0x01
BOARD_REVISION := 0x02
BOOTLOADER_VERSION := 0x02
HW_TYPE := 0x01