Merge branch 'cc3d' into revolution3

Conflicts:
	flight/PiOS/inc/pios_l3gd20.h
	flight/PiOS/pios.h
	flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj

flight/Bootloaders/CopterControl/main.c

@@ -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) {

flight/CopterControl/Makefile

@@ -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

flight/CopterControl/System/inc/pios_config.h

@@ -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

flight/CopterControl/System/pios_board.c

@@ -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);
 }

flight/PiOS/Boards/STM32103CB_CC_Rev1.h

@@ -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_PORT			GPIOB
-#define PIOS_LED_LED1_GPIO_PIN			GPIO_Pin_6
+#define PIOS_LED_LED1_GPIO_PIN			GPIO_Pin_3
-#define PIOS_LED_LED1_GPIO_CLK			RCC_APB2Periph_GPIOA
+#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 }

flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj

@@ -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 */,

make/boards/coptercontrol/board-info.mk

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