Merge remote-tracking branch 'origin/stac/i2c_decoupling' into next

flight/CopterControl/Makefile

@@ -50,7 +50,7 @@ ENABLE_AUX_UART ?= NO
 
 USE_GPS ?= YES
 
-USE_I2C ?= NO
+USE_I2C ?= YES
 
 # Set to YES when using Code Sourcery toolchain
 CODE_SOURCERY ?= YES
@@ -65,7 +65,7 @@ endif
 FLASH_TOOL = OPENOCD
 
 # List of modules to include
-OPTMODULES = CameraStab ComUsbBridge
+OPTMODULES = CameraStab ComUsbBridge Altitude
 ifeq ($(USE_GPS), YES)
 OPTMODULES += GPS
 endif
@@ -181,6 +181,7 @@ SRC += $(OPUAVSYNTHDIR)/receiveractivity.c
 SRC += $(OPUAVSYNTHDIR)/taskinfo.c
 SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
 SRC += $(OPUAVSYNTHDIR)/ratedesired.c
+SRC += $(OPUAVSYNTHDIR)/baroaltitude.c
 
 endif
 
@@ -224,6 +225,7 @@ SRC += $(PIOSCOMMON)/pios_flash_w25x.c
 SRC += $(PIOSCOMMON)/pios_adxl345.c
 SRC += $(PIOSCOMMON)/pios_com.c
 SRC += $(PIOSCOMMON)/pios_i2c_esc.c
+SRC += $(PIOSCOMMON)/pios_bmp085.c
 SRC += $(PIOSCOMMON)/pios_iap.c
 SRC += $(PIOSCOMMON)/pios_bl_helper.c
 SRC += $(PIOSCOMMON)/pios_rcvr.c
@@ -410,6 +412,9 @@ ifeq ($(USE_I2C), YES)
 CDEFS += -DUSE_I2C
 endif
 
+# Declare all non-optional modules as built-in to force inclusion
+CDEFS += ${foreach MOD, ${MODULES}, -DMODULE_$(MOD)_BUILTIN }
+
 # Place project-specific -D and/or -U options for
 # Assembler with preprocessor here.
 #ADEFS = -DUSE_IRQ_ASM_WRAPPER

flight/CopterControl/System/inc/pios_config.h

@@ -77,6 +77,8 @@
 #define PIOS_INCLUDE_ADXL345
 #define PIOS_INCLUDE_FLASH
 
+#define PIOS_INCLUDE_BMP085
+
 /* A really shitty setting saving implementation */
 #define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS
 

flight/CopterControl/System/pios_board.c

@@ -903,12 +903,12 @@ const struct pios_pwm_cfg pios_pwm_cfg = {
  * I2C Adapters
  */
 
-void PIOS_I2C_main_adapter_ev_irq_handler(void);
+void PIOS_I2C_flexi_adapter_ev_irq_handler(void);
-void PIOS_I2C_main_adapter_er_irq_handler(void);
+void PIOS_I2C_flexi_adapter_er_irq_handler(void);
-void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_ev_irq_handler")));
+void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexi_adapter_ev_irq_handler")));
-void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_er_irq_handler")));
+void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexi_adapter_er_irq_handler")));
 
-static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
+static const struct pios_i2c_adapter_cfg pios_i2c_flexi_adapter_cfg = {
   .regs = I2C2,
   .init = {
     .I2C_Mode                = I2C_Mode_I2C,
@@ -955,17 +955,17 @@ static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
   },
 };
 
-uint32_t pios_i2c_main_adapter_id;
+uint32_t pios_i2c_flexi_adapter_id;
-void PIOS_I2C_main_adapter_ev_irq_handler(void)
+void PIOS_I2C_flexi_adapter_ev_irq_handler(void)
 {
   /* Call into the generic code to handle the IRQ for this specific device */
-  PIOS_I2C_EV_IRQ_Handler(pios_i2c_main_adapter_id);
+  PIOS_I2C_EV_IRQ_Handler(pios_i2c_flexi_adapter_id);
 }
 
-void PIOS_I2C_main_adapter_er_irq_handler(void)
+void PIOS_I2C_flexi_adapter_er_irq_handler(void)
 {
   /* Call into the generic code to handle the IRQ for this specific device */
-  PIOS_I2C_ER_IRQ_Handler(pios_i2c_main_adapter_id);
+  PIOS_I2C_ER_IRQ_Handler(pios_i2c_flexi_adapter_id);
 }
 
 #endif /* PIOS_INCLUDE_I2C */
@@ -1464,7 +1464,7 @@ void PIOS_Board_Init(void) {
 	case HWSETTINGS_CC_FLEXIPORT_I2C:
 #if defined(PIOS_INCLUDE_I2C)
 		{
-			if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) {
+			if (PIOS_I2C_Init(&pios_i2c_flexi_adapter_id, &pios_i2c_flexi_adapter_cfg)) {
 				PIOS_Assert(0);
 			}
 		}

flight/Modules/Altitude/altitude.c

@@ -37,6 +37,7 @@
  */
 
 #include "openpilot.h"
+#include "hwsettings.h"
 #include "altitude.h"
 #include "baroaltitude.h"	// object that will be updated by the module
 #if defined(PIOS_INCLUDE_HCSR04)
@@ -46,8 +47,7 @@
 // Private constants
 #define STACK_SIZE_BYTES 500
 #define TASK_PRIORITY (tskIDLE_PRIORITY+1)
-//#define UPDATE_PERIOD 100
+#define UPDATE_PERIOD 50
-#define UPDATE_PERIOD 25
 
 // Private types
 
@@ -60,6 +60,8 @@ static int32_t alt_ds_temp = 0;
 static int32_t alt_ds_pres = 0;
 static int alt_ds_count = 0;
 
+static bool altitudeEnabled;
+
         // Private functions
 static void altitudeTask(void *parameters);
 
@@ -70,6 +72,7 @@ static void altitudeTask(void *parameters);
 int32_t AltitudeStart()
 {
 
+	if (altitudeEnabled) {
 		BaroAltitudeInitialize();
 #if defined(PIOS_INCLUDE_HCSR04)
 		SonarAltitudeInitialze();
@@ -78,8 +81,9 @@ int32_t AltitudeStart()
 		// Start main task
 		xTaskCreate(altitudeTask, (signed char *)"Altitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
 		TaskMonitorAdd(TASKINFO_RUNNING_ALTITUDE, taskHandle);
-
 		return 0;
+	}
+	return -1;
 }
 
 /**
@@ -88,6 +92,18 @@ int32_t AltitudeStart()
  */
 int32_t AltitudeInitialize()
 {
+#ifdef MODULE_Altitude_BUILTIN
+	altitudeEnabled = 1;
+#else
+	HwSettingsInitialize();
+	uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
+	HwSettingsOptionalModulesGet(optionalModules);
+	if (optionalModules[HWSETTINGS_OPTIONALMODULES_ALTITUDE] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
+		altitudeEnabled = 1;
+	} else {
+		altitudeEnabled = 0;
+	}
+#endif
 
 	// init down-sampling data
 	alt_ds_temp = 0;
@@ -144,13 +160,21 @@ static void altitudeTask(void *parameters)
 #endif
 		// Update the temperature data
 		PIOS_BMP085_StartADC(TemperatureConv);
+#ifdef PIOS_BMP085_HAS_GPIOS
 		xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
+#else
+		vTaskDelay(5 / portTICK_RATE_MS);
+#endif
 		PIOS_BMP085_ReadADC();
 		alt_ds_temp += PIOS_BMP085_GetTemperature();
 
 		// Update the pressure data
 		PIOS_BMP085_StartADC(PressureConv);
+#ifdef PIOS_BMP085_HAS_GPIOS
 		xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
+#else
+		vTaskDelay(26 / portTICK_RATE_MS);
+#endif
 		PIOS_BMP085_ReadADC();
 		alt_ds_pres += PIOS_BMP085_GetPressure();
 

flight/Modules/CameraStab/camerastab.c

@@ -78,6 +78,10 @@ static float bound(float val, float limit);
 int32_t CameraStabInitialize(void)
 {
 	bool cameraStabEnabled;
+
+#ifdef MODULE_CameraStab_BUILTIN
+	cameraStabEnabled = true;
+#else
 	uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
 
 	HwSettingsInitialize();
@@ -87,6 +91,7 @@ int32_t CameraStabInitialize(void)
 		cameraStabEnabled = true;
 	else
 		cameraStabEnabled = false;
+#endif
 
 	if (cameraStabEnabled) {
 

flight/Modules/ComUsbBridge/ComUsbBridge.c

@@ -94,6 +94,9 @@ static int32_t comUsbBridgeInitialize(void)
 	usart_port = PIOS_COM_BRIDGE;
 	vcp_port = PIOS_COM_VCP;
 
+#ifdef MODULE_ComUsbBridge_BUILTIN
+	bridge_enabled = true;
+#else
 	HwSettingsInitialize();
 	uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
 
@@ -104,6 +107,7 @@ static int32_t comUsbBridgeInitialize(void)
 		bridge_enabled = true;
 	else
 		bridge_enabled = false;
+#endif
 
 	if (bridge_enabled) {
 		com2usb_buf = pvPortMalloc(BRIDGE_BUF_LEN);

flight/Modules/Fault/Fault.c

@@ -40,6 +40,9 @@ static uint8_t active_fault;
 
 static int32_t fault_initialize(void)
 {
+#ifdef MODULE_Fault_BUILTIN
+	module_enabled = true;
+#else
 	HwSettingsInitialize();
 	uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
 
@@ -50,6 +53,7 @@ static int32_t fault_initialize(void)
 	} else {
 		module_enabled = false;
 	}
+#endif
 
 	/* Do this outside the module_enabled test so that it
 	 * can be changed even when the module has been disabled.

flight/Modules/GPS/GPS.c

@@ -121,6 +121,9 @@ int32_t GPSInitialize(void)
 {
 	gpsPort = PIOS_COM_GPS;
 
+#ifdef MODULE_GPS_BUILTIN
+	gpsEnabled = true;
+#else
 	HwSettingsInitialize();
 	uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
 
@@ -130,6 +133,7 @@ int32_t GPSInitialize(void)
 		gpsEnabled = true;
 	else
 		gpsEnabled = false;
+#endif
 
 	if (gpsPort && gpsEnabled) {
 		GPSPositionInitialize();

flight/OpenPilot/Makefile

@@ -370,6 +370,9 @@ ifeq ($(ENABLE_AUX_UART), YES)
 CDEFS += -DPIOS_ENABLE_AUX_UART
 endif
 
+# Declare all non-optional modules as built-in to force inclusion
+CDEFS += ${foreach MOD, ${MODULES}, -DMODULE_$(MOD)_BUILTIN }
+
 # Place project-specific -D and/or -U options for
 # Assembler with preprocessor here.
 #ADEFS = -DUSE_IRQ_ASM_WRAPPER

flight/PiOS/Boards/STM32103CB_CC_Rev1.h

@@ -110,8 +110,15 @@ TIM4  |  RC In 1  |  Servo 3  |  Servo 2  |  Servo 1
 // See also pios_board.c
 //------------------------
 #define PIOS_I2C_MAX_DEVS			1
-extern uint32_t pios_i2c_main_adapter_id;
+extern uint32_t pios_i2c_flexi_adapter_id;
-#define PIOS_I2C_MAIN_ADAPTER			(pios_i2c_main_adapter_id)
+#define PIOS_I2C_MAIN_ADAPTER			(pios_i2c_flexi_adapter_id)
+#define PIOS_I2C_ESC_ADAPTER			(pios_i2c_flexi_adapter_id)
+#define PIOS_I2C_BMP085_ADAPTER			(pios_i2c_flexi_adapter_id)
+
+//------------------------
+// PIOS_BMP085
+//------------------------
+#define PIOS_BMP085_OVERSAMPLING                3
 
 //-------------------------
 // SPI

flight/PiOS/Boards/STM3210E_INS.h

@@ -100,12 +100,14 @@ TIM8  |           |           |           |
 #define PIOS_I2C_MAX_DEVS			3
 extern uint32_t pios_i2c_pres_mag_adapter_id;
 #define PIOS_I2C_MAIN_ADAPTER			(pios_i2c_pres_mag_adapter_id)
+#define PIOS_I2C_BMP085_ADAPTER			(pios_i2c_pres_mag_adapter_id)
 extern uint32_t pios_i2c_gyro_adapter_id;
 #define PIOS_I2C_GYRO_ADAPTER			(pios_i2c_gyro_adapter_id)
 
 //------------------------
 // PIOS_BMP085
 //------------------------
+#define PIOS_BMP085_HAS_GPIOS
 #define PIOS_BMP085_EOC_GPIO_PORT               GPIOC
 #define PIOS_BMP085_EOC_GPIO_PIN                GPIO_Pin_2
 #define PIOS_BMP085_EOC_PORT_SOURCE             GPIO_PortSourceGPIOC

flight/PiOS/Boards/STM3210E_OP.h

@@ -115,10 +115,13 @@ TIM8  | Servo 5   | Servo 6   | Servo 7   | Servo 8
 #define PIOS_I2C_MAX_DEVS			1
 extern uint32_t pios_i2c_main_adapter_id;
 #define PIOS_I2C_MAIN_ADAPTER			(pios_i2c_main_adapter_id)
+#define PIOS_I2C_ESC_ADAPTER			(pios_i2c_main_adapter_id)
+#define PIOS_I2C_BMP085_ADAPTER			(pios_i2c_main_adapter_id)
 
 //------------------------
 // PIOS_BMP085
 //------------------------
+#define PIOS_BMP085_HAS_GPIOS
 #define PIOS_BMP085_EOC_GPIO_PORT               GPIOC
 #define PIOS_BMP085_EOC_GPIO_PIN                GPIO_Pin_15
 #define PIOS_BMP085_EOC_PORT_SOURCE             GPIO_PortSourceGPIOC

flight/PiOS/Common/pios_bmp085.c

@@ -38,12 +38,17 @@
 
 /* Glocal Variables */
 ConversionTypeTypeDef CurrentRead;
+
+#ifdef PIOS_BMP085_HAS_GPIOS
+
 #if defined(PIOS_INCLUDE_FREERTOS)
 xSemaphoreHandle PIOS_BMP085_EOC;
 #else
 int32_t PIOS_BMP085_EOC;
 #endif
 
+#endif	/* PIOS_BMP085_HAS_GPIOS */
+
 /* Local Variables */
 static BMP085CalibDataTypeDef CalibData;
 
@@ -60,6 +65,9 @@ static volatile uint16_t Temperature;
 */
 void PIOS_BMP085_Init(void)
 {
+
+#ifdef PIOS_BMP085_HAS_GPIOS
+
 	GPIO_InitTypeDef GPIO_InitStructure;
 	EXTI_InitTypeDef EXTI_InitStructure;
 	NVIC_InitTypeDef NVIC_InitStructure;
@@ -101,6 +109,8 @@ void PIOS_BMP085_Init(void)
 	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
 	GPIO_Init(PIOS_BMP085_XCLR_GPIO_PORT, &GPIO_InitStructure);
 
+#endif	/* PIOS_BMP085_HAS_GPIOS */
+
 	/* Read all 22 bytes of calibration data in one transfer, this is a very optimized way of doing things */
 	uint8_t Data[BMP085_CALIB_LEN];
 	while (!PIOS_BMP085_Read(BMP085_CALIB_ADDR, Data, BMP085_CALIB_LEN))
@@ -235,7 +245,7 @@ bool PIOS_BMP085_Read(uint8_t address, uint8_t * buffer, uint8_t len)
 		 }
 	};
 
-	return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
+	return PIOS_I2C_Transfer(PIOS_I2C_BMP085_ADAPTER, txn_list, NELEMENTS(txn_list));
 }
 
 /**
@@ -264,7 +274,7 @@ bool PIOS_BMP085_Write(uint8_t address, uint8_t buffer)
 		,
 	};
 
-	return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
+	return PIOS_I2C_Transfer(PIOS_I2C_BMP085_ADAPTER, txn_list, NELEMENTS(txn_list));
 }
 
 /**

flight/PiOS/Common/pios_i2c_esc.c

@@ -93,7 +93,7 @@ bool PIOS_I2C_ESC_SetSpeed(uint8_t speed[4])
 		} 
 	};
 	
-	return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));	
+	return PIOS_I2C_Transfer(PIOS_I2C_ESC_ADAPTER, txn_list, NELEMENTS(txn_list));	
 }
 
 bool PIOS_SetMKSpeed(uint8_t motornum, uint8_t speed) {
@@ -115,7 +115,7 @@ bool PIOS_SetMKSpeed(uint8_t motornum, uint8_t speed) {
 		} 
 	};
 	
-	return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
+	return PIOS_I2C_Transfer(PIOS_I2C_ESC_ADAPTER, txn_list, NELEMENTS(txn_list));
 }
 
 bool PIOS_SetAstec4Address(uint8_t new_address) {
@@ -134,7 +134,7 @@ bool PIOS_SetAstec4Address(uint8_t new_address) {
 		} 
 	};
 	
-	return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));		
+	return PIOS_I2C_Transfer(PIOS_I2C_ESC_ADAPTER, txn_list, NELEMENTS(txn_list));		
 }
 
 bool PIOS_SetAstec4Speed(uint8_t motornum, uint8_t speed) {
@@ -161,7 +161,7 @@ bool PIOS_SetAstec4Speed(uint8_t motornum, uint8_t speed) {
 		} 
 	};
 	
-	return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));	
+	return PIOS_I2C_Transfer(PIOS_I2C_ESC_ADAPTER, txn_list, NELEMENTS(txn_list));	
 }
 
 #endif

flight/PiOS/STM32F10x/pios_exti.c

@@ -44,7 +44,7 @@ void EXTI15_10_IRQHandler(void)
 	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 #endif
 
-#if defined(PIOS_INCLUDE_BMP085)
+#if defined(PIOS_INCLUDE_BMP085) && defined(PIOS_BMP085_HAS_GPIOS)
 	if (EXTI_GetITStatus(PIOS_BMP085_EOC_EXTI_LINE) != RESET) {
 		/* Read the ADC Value */
 #if defined(PIOS_INCLUDE_FREERTOS)

flight/PiOS/STM32F10x/pios_i2c.c

@@ -891,6 +891,10 @@ int32_t PIOS_I2C_Init(uint32_t * i2c_id, const struct pios_i2c_adapter_cfg * cfg
 		break;
 	}
 
+	if (i2c_adapter->cfg->remap) {
+		GPIO_PinRemapConfig(i2c_adapter->cfg->remap, ENABLE);
+	}
+
 	/* Initialize the state machine */
 	i2c_adapter_fsm_init(i2c_adapter);
 

flight/PiOS/inc/pios_i2c_priv.h

@@ -37,6 +37,7 @@ struct pios_i2c_adapter_cfg {
 	uint32_t transfer_timeout_ms;
 	struct stm32_gpio scl;
 	struct stm32_gpio sda;
+	uint32_t remap;
 	struct stm32_irq event;
 	struct stm32_irq error;
 };

shared/uavobjectdefinition/hwsettings.xml

@@ -16,7 +16,7 @@
 		<field name="USB_HIDPort" units="function" type="enum" elements="1" options="USBTelemetry,Disabled" defaultvalue="USBTelemetry"/>
 		<field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,Disabled" defaultvalue="Disabled"/>
 
-		<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault" options="Disabled,Enabled" defaultvalue="Disabled"/>
+		<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude" options="Disabled,Enabled" defaultvalue="Disabled"/>
 		<field name="DSMxBind" units=""  type="uint8"  elements="1" defaultvalue="0"/>
 
 		<access gcs="readwrite" flight="readwrite"/>