From dcccae7270b99171d77fcbd25d36564f78e6094c Mon Sep 17 00:00:00 2001 From: zedamota Date: Wed, 8 Jun 2011 18:17:14 +0100 Subject: [PATCH 001/241] Change throttle default max value to 0.95 on multis --- .../plugins/config/configairframewidget.cpp | 38 ++++++++++++++----- .../src/plugins/config/configairframewidget.h | 2 +- shared/uavobjectdefinition/mixersettings.xml | 2 +- 3 files changed, 30 insertions(+), 12 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp b/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp index f7b40e72f..e5684b3fd 100644 --- a/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp @@ -358,7 +358,7 @@ void ConfigAirframeWidget::resetFwMixer() { UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); UAVObjectField* field = obj->getField(QString("ThrottleCurve1")); - resetMixer(m_aircraft->fixedWingThrottle, field->getNumElements()); + resetMixer(m_aircraft->fixedWingThrottle, field->getNumElements(),1); } /** @@ -368,7 +368,7 @@ void ConfigAirframeWidget::resetMrMixer() { UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); UAVObjectField* field = obj->getField(QString("ThrottleCurve1")); - resetMixer(m_aircraft->multiThrottleCurve, field->getNumElements()); + resetMixer(m_aircraft->multiThrottleCurve, field->getNumElements(),0.95); } /** @@ -378,7 +378,7 @@ void ConfigAirframeWidget::resetCt1Mixer() { UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); UAVObjectField* field = obj->getField(QString("ThrottleCurve1")); - resetMixer(m_aircraft->customThrottle1Curve, field->getNumElements()); + resetMixer(m_aircraft->customThrottle1Curve, field->getNumElements(),1); } /** @@ -388,18 +388,18 @@ void ConfigAirframeWidget::resetCt2Mixer() { UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); UAVObjectField* field = obj->getField(QString("ThrottleCurve2")); - resetMixer(m_aircraft->customThrottle2Curve, field->getNumElements()); + resetMixer(m_aircraft->customThrottle2Curve, field->getNumElements(),1); } /** Resets a mixer curve */ -void ConfigAirframeWidget::resetMixer(MixerCurveWidget *mixer, int numElements) +void ConfigAirframeWidget::resetMixer(MixerCurveWidget *mixer, int numElements, double maxvalue) { QList curveValues; for (double i=0; iinitCurve(curveValues); @@ -469,19 +469,37 @@ void ConfigAirframeWidget::requestAircraftUpdate() QList curveValues; // If the 1st element of the curve is <= -10, then the curve // is a straight line (that's how the mixer works on the mainboard): + double temp=0; //used to check if default value(all 0s) is being returned if (field->getValue(0).toInt() <= -10) { for (double i=0; igetNumElements(); i++) { curveValues.append(i/(field->getNumElements()-1)); } } else { + double value; for (unsigned int i=0; i < field->getNumElements(); i++) { - curveValues.append(field->getValue(i).toDouble()); + value=field->getValue(i).toDouble(); + temp+=value; + curveValues.append(value); } } // Setup all Throttle1 curves for all types of airframes - m_aircraft->fixedWingThrottle->initCurve(curveValues); - m_aircraft->multiThrottleCurve->initCurve(curveValues); - + if(temp==0) + { curveValues.clear(); + for (double i=0; igetNumElements(); i++) { + curveValues.append(0.95*(i/(field->getNumElements()-1))); + } + m_aircraft->multiThrottleCurve->initCurve(curveValues); + curveValues.clear(); + for (double i=0; igetNumElements(); i++) { + curveValues.append(i/(field->getNumElements()-1)); + } + m_aircraft->fixedWingThrottle->initCurve(curveValues); + } + else + { + m_aircraft->multiThrottleCurve->initCurve(curveValues); + m_aircraft->fixedWingThrottle->initCurve(curveValues); + } // Load the Settings for fixed wing frames: if (frameType.startsWith("FixedWing")) { // Then retrieve how channels are setup diff --git a/ground/openpilotgcs/src/plugins/config/configairframewidget.h b/ground/openpilotgcs/src/plugins/config/configairframewidget.h index 37f6ef877..183b59494 100644 --- a/ground/openpilotgcs/src/plugins/config/configairframewidget.h +++ b/ground/openpilotgcs/src/plugins/config/configairframewidget.h @@ -59,7 +59,7 @@ private: void setupMotors(QList motorList); void resetField(UAVObjectField * field); - void resetMixer (MixerCurveWidget *mixer, int numElements); + void resetMixer (MixerCurveWidget *mixer, int numElements, double maxvalue); void resetActuators(); //void setMixerChannel(int channelNumber, bool channelIsMotor, QList vector); void setupQuadMotor(int channel, double roll, double pitch, double yaw); diff --git a/shared/uavobjectdefinition/mixersettings.xml b/shared/uavobjectdefinition/mixersettings.xml index efe48d090..c8cf455c0 100644 --- a/shared/uavobjectdefinition/mixersettings.xml +++ b/shared/uavobjectdefinition/mixersettings.xml @@ -5,7 +5,7 @@ - + From cac495cebb4f34df51ae5a5a41a690898004afd2 Mon Sep 17 00:00:00 2001 From: zedamota Date: Sat, 11 Jun 2011 19:39:24 +0100 Subject: [PATCH 002/241] Fix custom mixer throttle 1 curve. --- .../src/plugins/config/configairframewidget.cpp | 16 +++++++++++++++- 1 file changed, 15 insertions(+), 1 deletion(-) diff --git a/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp b/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp index e5684b3fd..d97cb2d77 100644 --- a/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp @@ -471,6 +471,7 @@ void ConfigAirframeWidget::requestAircraftUpdate() // is a straight line (that's how the mixer works on the mainboard): double temp=0; //used to check if default value(all 0s) is being returned if (field->getValue(0).toInt() <= -10) { + double temp=1; for (double i=0; igetNumElements(); i++) { curveValues.append(i/(field->getNumElements()-1)); } @@ -1757,13 +1758,26 @@ void ConfigAirframeWidget::updateCustomAirframeUI() QList curveValues; // If the 1st element of the curve is <= -10, then the curve // is a straight line (that's how the mixer works on the mainboard): + double temp=0; //used to check if default value(all 0s) is being returned if (field->getValue(0).toInt() <= -10) { + double temp=1; for (double i=0; igetNumElements(); i++) { curveValues.append(i/(field->getNumElements()-1)); } } else { + double value; for (unsigned int i=0; i < field->getNumElements(); i++) { - curveValues.append(field->getValue(i).toDouble()); + value=field->getValue(i).toDouble(); + temp+=value; + curveValues.append(value); + } + } + + // Setup all Throttle1 curves for all types of airframes + if(temp==0) + { curveValues.clear(); + for (double i=0; igetNumElements(); i++) { + curveValues.append(1*(i/(field->getNumElements()-1))); } } m_aircraft->customThrottle1Curve->initCurve(curveValues); From 689eb2c588df5d7f17cae1af55eaaa6eb7ce4858 Mon Sep 17 00:00:00 2001 From: zedamota Date: Sun, 12 Jun 2011 00:49:05 +0100 Subject: [PATCH 003/241] Minor Cleaning --- .../plugins/config/configairframewidget.cpp | 72 +++++++------------ .../src/plugins/config/configccpmwidget.cpp | 7 +- .../src/plugins/config/mixercurvewidget.cpp | 12 +++- .../src/plugins/config/mixercurvewidget.h | 1 + 4 files changed, 37 insertions(+), 55 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp b/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp index d97cb2d77..53296f3f5 100644 --- a/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp @@ -397,12 +397,8 @@ void ConfigAirframeWidget::resetCt2Mixer() */ void ConfigAirframeWidget::resetMixer(MixerCurveWidget *mixer, int numElements, double maxvalue) { - QList curveValues; - for (double i=0; iinitCurve(curveValues); + mixer->initLinearCurve((quint32)numElements,maxvalue); } /** @@ -469,38 +465,30 @@ void ConfigAirframeWidget::requestAircraftUpdate() QList curveValues; // If the 1st element of the curve is <= -10, then the curve // is a straight line (that's how the mixer works on the mainboard): - double temp=0; //used to check if default value(all 0s) is being returned if (field->getValue(0).toInt() <= -10) { - double temp=1; - for (double i=0; igetNumElements(); i++) { - curveValues.append(i/(field->getNumElements()-1)); - } - } else { + m_aircraft->multiThrottleCurve->initLinearCurve(field->getNumElements(),(double)1); + m_aircraft->fixedWingThrottle->initLinearCurve(field->getNumElements(),(double)1); + } + else { + double temp=0; double value; for (unsigned int i=0; i < field->getNumElements(); i++) { value=field->getValue(i).toDouble(); temp+=value; curveValues.append(value); } + if(temp==0) + { + m_aircraft->multiThrottleCurve->initLinearCurve(field->getNumElements(),0.95);; + m_aircraft->fixedWingThrottle->initLinearCurve(field->getNumElements(),(double)1); + } + else + { + m_aircraft->multiThrottleCurve->initCurve(curveValues); + m_aircraft->fixedWingThrottle->initCurve(curveValues); + } } // Setup all Throttle1 curves for all types of airframes - if(temp==0) - { curveValues.clear(); - for (double i=0; igetNumElements(); i++) { - curveValues.append(0.95*(i/(field->getNumElements()-1))); - } - m_aircraft->multiThrottleCurve->initCurve(curveValues); - curveValues.clear(); - for (double i=0; igetNumElements(); i++) { - curveValues.append(i/(field->getNumElements()-1)); - } - m_aircraft->fixedWingThrottle->initCurve(curveValues); - } - else - { - m_aircraft->multiThrottleCurve->initCurve(curveValues); - m_aircraft->fixedWingThrottle->initCurve(curveValues); - } // Load the Settings for fixed wing frames: if (frameType.startsWith("FixedWing")) { // Then retrieve how channels are setup @@ -1758,45 +1746,33 @@ void ConfigAirframeWidget::updateCustomAirframeUI() QList curveValues; // If the 1st element of the curve is <= -10, then the curve // is a straight line (that's how the mixer works on the mainboard): - double temp=0; //used to check if default value(all 0s) is being returned if (field->getValue(0).toInt() <= -10) { - double temp=1; - for (double i=0; igetNumElements(); i++) { - curveValues.append(i/(field->getNumElements()-1)); - } + m_aircraft->customThrottle1Curve->initLinearCurve(field->getNumElements(),(double)1); } else { + double temp=0; double value; for (unsigned int i=0; i < field->getNumElements(); i++) { value=field->getValue(i).toDouble(); temp+=value; curveValues.append(value); } + if(temp==0) + m_aircraft->customThrottle1Curve->initLinearCurve(field->getNumElements(),(double)1); + else + m_aircraft->customThrottle1Curve->initCurve(curveValues); } - - // Setup all Throttle1 curves for all types of airframes - if(temp==0) - { curveValues.clear(); - for (double i=0; igetNumElements(); i++) { - curveValues.append(1*(i/(field->getNumElements()-1))); - } - } - m_aircraft->customThrottle1Curve->initCurve(curveValues); - field = obj->getField(QString("ThrottleCurve2")); curveValues.clear();; // If the 1st element of the curve is <= -10, then the curve // is a straight line (that's how the mixer works on the mainboard): if (field->getValue(0).toInt() <= -10) { - for (double i=0; igetNumElements(); i++) { - curveValues.append(i/(field->getNumElements()-1)); - } + m_aircraft->customThrottle2Curve->initLinearCurve(field->getNumElements(),(double)1); } else { for (unsigned int i=0; i < field->getNumElements(); i++) { curveValues.append(field->getValue(i).toDouble()); } + m_aircraft->customThrottle2Curve->initCurve(curveValues); } - m_aircraft->customThrottle2Curve->initCurve(curveValues); - // Retrieve Feed Forward: field = obj->getField(QString("FeedForward")); m_aircraft->customFFSlider->setValue(field->getDouble()*100); diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index bd4239159..84564c14b 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -372,12 +372,7 @@ void ConfigccpmWidget::UpdateType() */ void ConfigccpmWidget::resetMixer(MixerCurveWidget *mixer, int numElements) { - QList curveValues; - for (double i=0; iinitCurve(curveValues); + mixer->initLinearCurve(numElements,(double)1); } void ConfigccpmWidget::UpdateCurveWidgets() diff --git a/ground/openpilotgcs/src/plugins/config/mixercurvewidget.cpp b/ground/openpilotgcs/src/plugins/config/mixercurvewidget.cpp index 2acf5babd..6e031d8d7 100644 --- a/ground/openpilotgcs/src/plugins/config/mixercurvewidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/mixercurvewidget.cpp @@ -147,7 +147,17 @@ QList MixerCurveWidget::getCurve() { return list; } - +/** + Sets a linear graph + */ +void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue) +{ + QList points; + for (double i=0; i points); QList getCurve(); + void initLinearCurve(quint32 numPoints, double maxValue); void setCurve(QList); void setMin(double value); void setMax(double value); From 597838ba0c99ae7cdacfb62294bfb763171229a7 Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Sat, 11 Jun 2011 22:08:36 -0400 Subject: [PATCH 004/241] Update CCPM config ui file for new options --- .../openpilotgcs/src/plugins/config/ccpm.ui | 6850 +++++++++-------- 1 file changed, 3710 insertions(+), 3140 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/ccpm.ui b/ground/openpilotgcs/src/plugins/config/ccpm.ui index 2522ab540..aa046aa13 100644 --- a/ground/openpilotgcs/src/plugins/config/ccpm.ui +++ b/ground/openpilotgcs/src/plugins/config/ccpm.ui @@ -1,3140 +1,3710 @@ - 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mixercurvewidget.h
- 1 -
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- - ccpmType - TabObject - ccpmEngineChannel - ccpmTailChannel - ccpmServoWChannel - ccpmServoXChannel - ccpmServoYChannel - ccpmServoZChannel - ccpmSingleServo - ccpmAngleW - ccpmAngleX - ccpmAngleY - ccpmAngleZ - ccpmCorrectionAngle - ccpmRevoSlider - ccpmREVOspinBox - ccpmCollectiveSlider - ccpmCollectivespinBox - SwashplateImage - SwashLvlStartButton - SwashLvlNextButton - SwashLvlStepInstruction - SwashLvlCancelButton - SwashLvlFinishButton - SwashLvlStepList - SwashLvlPositionSlider - SwashLvlPositionSpinBox - SwashLvlSwashplateImage - CurveType - NumCurvePoints - CurveValue1 - CurveValue2 - CurveValue3 - CurveToGenerate - ccpmGenerateCurve - CurveSettings - ccpmAdvancedSettingsTable - - - - - ccpmCollectiveSlider - sliderMoved(int) - ccpmCollectivespinBox - setValue(int) - - - 283 - 400 - - - 294 - 550 - - - - - ccpmCollectivespinBox - valueChanged(int) - ccpmCollectiveSlider - setValue(int) - - - 294 - 550 - - - 283 - 482 - - - - - ccpmREVOspinBox - valueChanged(int) - ccpmRevoSlider - setValue(int) - - - 241 - 550 - - - 230 - 484 - - - - - ccpmRevoSlider - sliderMoved(int) - ccpmREVOspinBox - setValue(int) - - - 230 - 313 - - - 241 - 550 - - - - - SwashLvlPositionSlider - sliderMoved(int) - SwashLvlPositionSpinBox - setValue(int) - - - 276 - 486 - - - 270 - 537 - - - - - SwashLvlPositionSpinBox - valueChanged(int) - SwashLvlPositionSlider - setValue(int) - - - 257 - 535 - - - 277 - 401 - - - - -
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+ + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + + + + + 1 + 1 + + + + + 100 + 100 + + + + + 10 + 10 + + + + + 100 + 100 + + + + Qt::LeftToRight + + + Throttle Curve + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter + + + false + + + + 0 + + + 0 + + + + + + 1 + 1 + + + + + 50 + 50 + + + + + 1000 + 1000 + + + + + 10 + 10 + + + + + 200 + 200 + + + + + + + + + + + + 1 + 1 + + + + + 100 + 100 + + + + + 10 + 10 + + + + + 100 + 100 + + + + Pitch Curve + + + + 0 + + + 0 + + + + + + 1 + 1 + + + + + 50 + 50 + + + + + 1000 + 1000 + + + + + 10 + 10 + + + + + 200 + 200 + + + + + + + + + + + + + Qt::Vertical + + + QSizePolicy::Preferred + + + + 20 + 0 + + + + + + + + + Advanced settings + + + + 3 + + + 3 + + + + + + 0 + 0 + + + + + 0 + 200 + + + + + 1000 + 300 + + + + Qt::ScrollBarAlwaysOff + + + Qt::ScrollBarAlwaysOff + + + true + + + true + + + QAbstractItemView::NoSelection + + + false + + + true + + + 75 + + + 20 + + + + Engine + + + + + Tail Rotor + + + + + Servo W + + + + + Servo X + + + + + Servo Y + + + + + Servo Z + + + + + Channel + + + + + Curve 1 + + + + + Curve 2 + + + + + Roll + + + + + Pitch + + + + + Yaw + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + - + + + AlignHCenter|AlignVCenter|AlignCenter + + + + + + + + Qt::Vertical + + + QSizePolicy::MinimumExpanding + + + + 20 + 40 + + + + + + + + + + + + + + + MixerCurveWidget + QWidget +
mixercurvewidget.h
+ 1 +
+
+ + ccpmType + TabObject + ccpmEngineChannel + ccpmTailChannel + ccpmServoWChannel + ccpmServoXChannel + ccpmServoYChannel + ccpmServoZChannel + ccpmSingleServo + ccpmAngleW + ccpmAngleX + ccpmAngleY + ccpmAngleZ + ccpmCorrectionAngle + ccpmRevoSlider + ccpmREVOspinBox + ccpmCollectiveSlider + ccpmCollectivespinBox + SwashplateImage + SwashLvlStartButton + SwashLvlNextButton + SwashLvlStepInstruction + SwashLvlCancelButton + SwashLvlFinishButton + SwashLvlStepList + SwashLvlPositionSlider + SwashLvlPositionSpinBox + SwashLvlSwashplateImage + CurveType + NumCurvePoints + CurveValue1 + CurveValue2 + CurveValue3 + CurveToGenerate + ccpmGenerateCurve + CurveSettings + ccpmAdvancedSettingsTable + + + + + ccpmCollectiveSlider + sliderMoved(int) + ccpmCollectivespinBox + setValue(int) + + + 283 + 400 + + + 294 + 550 + + + + + ccpmCollectivespinBox + valueChanged(int) + ccpmCollectiveSlider + setValue(int) + + + 294 + 550 + + + 283 + 482 + + + + + ccpmREVOspinBox + valueChanged(int) + ccpmRevoSlider + setValue(int) + + + 241 + 550 + + + 230 + 484 + + + + + ccpmRevoSlider + sliderMoved(int) + ccpmREVOspinBox + setValue(int) + + + 230 + 313 + + + 241 + 550 + + + + + SwashLvlPositionSlider + sliderMoved(int) + SwashLvlPositionSpinBox + setValue(int) + + + 276 + 486 + + + 270 + 537 + + + + + SwashLvlPositionSpinBox + valueChanged(int) + SwashLvlPositionSlider + setValue(int) + + + 257 + 535 + + + 277 + 401 + + + + +
From 716f87e79beb513a0e7a14553c84bae93cb40f24 Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Sat, 11 Jun 2011 22:13:55 -0400 Subject: [PATCH 005/241] Added linking between new controls on ui --- .../openpilotgcs/src/plugins/config/ccpm.ui | 166 ++++++++++++++++-- 1 file changed, 147 insertions(+), 19 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/ccpm.ui b/ground/openpilotgcs/src/plugins/config/ccpm.ui index aa046aa13..11a3cad8e 100644 --- a/ground/openpilotgcs/src/plugins/config/ccpm.ui +++ b/ground/openpilotgcs/src/plugins/config/ccpm.ui @@ -937,7 +937,7 @@ - true + false @@ -3617,12 +3617,12 @@ setValue(int) - 283 - 400 + 261 + 496 - 294 - 550 + 269 + 546 @@ -3633,12 +3633,12 @@ setValue(int) - 294 - 550 + 269 + 546 - 283 - 482 + 261 + 511 @@ -3649,12 +3649,12 @@ setValue(int) - 241 - 550 + 216 + 546 - 230 - 484 + 208 + 511 @@ -3665,12 +3665,12 @@ setValue(int) - 230 - 313 + 208 + 412 - 241 - 550 + 216 + 546 @@ -3697,8 +3697,8 @@ setValue(int) - 257 - 535 + 301 + 546 277 @@ -3706,5 +3706,133 @@ + + ccpmCollectivespinBox_5 + valueChanged(int) + ccpmCollectiveSlider_5 + setValue(int) + + + 296 + 534 + + + 306 + 480 + + + + + ccpmCollectiveSlider_5 + sliderMoved(int) + ccpmCollectivespinBox_5 + setValue(int) + + + 308 + 328 + + + 292 + 534 + + + + + ccpmCollectiveSlider_2 + sliderMoved(int) + ccpmCollectivespinBox_2 + setValue(int) + + + 358 + 306 + + + 355 + 538 + + + + + ccpmCollectivespinBox_2 + valueChanged(int) + ccpmCollectiveSlider_2 + setValue(int) + + + 341 + 538 + + + 351 + 376 + + + + + ccpmCollectiveSlider_6 + sliderMoved(int) + ccpmCollectivespinBox_6 + setValue(int) + + + 417 + 306 + + + 406 + 531 + + + + + ccpmCollectivespinBox_6 + valueChanged(int) + ccpmCollectiveSlider_6 + setValue(int) + + + 394 + 531 + + + 408 + 302 + + + + + ccpmCollectivespinBox_3 + valueChanged(int) + ccpmCollectiveSlider_3 + setValue(int) + + + 455 + 529 + + + 458 + 466 + + + + + ccpmCollectiveSlider_3 + sliderMoved(int) + ccpmCollectivespinBox_3 + setValue(int) + + + 461 + 388 + + + 474 + 533 + + + From f9bddb107dc79b314b45988809ba449d1be9e1b7 Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Sat, 11 Jun 2011 22:15:56 -0400 Subject: [PATCH 006/241] changed label on single servo to 1st servo --- ground/openpilotgcs/src/plugins/config/ccpm.ui | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ground/openpilotgcs/src/plugins/config/ccpm.ui b/ground/openpilotgcs/src/plugins/config/ccpm.ui index 11a3cad8e..efb65723f 100644 --- a/ground/openpilotgcs/src/plugins/config/ccpm.ui +++ b/ground/openpilotgcs/src/plugins/config/ccpm.ui @@ -417,7 +417,7 @@ - Single Servo + 1st Servo From 245459621192a0399bf75bab26fd1c8f74655a31 Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Sat, 11 Jun 2011 22:21:33 -0400 Subject: [PATCH 007/241] Modified names of new controls --- .../openpilotgcs/src/plugins/config/ccpm.ui | 32 +++++++++---------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/ccpm.ui b/ground/openpilotgcs/src/plugins/config/ccpm.ui index efb65723f..1f6de0056 100644 --- a/ground/openpilotgcs/src/plugins/config/ccpm.ui +++ b/ground/openpilotgcs/src/plugins/config/ccpm.ui @@ -1369,7 +1369,7 @@ - + false @@ -1428,7 +1428,7 @@ - + false @@ -1490,7 +1490,7 @@ - + false @@ -1546,7 +1546,7 @@ - + false @@ -1608,7 +1608,7 @@ - + false @@ -1664,7 +1664,7 @@ - + false @@ -1726,7 +1726,7 @@ - + false @@ -1782,7 +1782,7 @@ - + false @@ -3709,7 +3709,7 @@ ccpmCollectivespinBox_5 valueChanged(int) - ccpmCollectiveSlider_5 + ccpmCollectiveScale setValue(int) @@ -3723,7 +3723,7 @@ - ccpmCollectiveSlider_5 + ccpmCollectiveScale sliderMoved(int) ccpmCollectivespinBox_5 setValue(int) @@ -3739,7 +3739,7 @@ - ccpmCollectiveSlider_2 + ccpmCyclicScale sliderMoved(int) ccpmCollectivespinBox_2 setValue(int) @@ -3757,7 +3757,7 @@ ccpmCollectivespinBox_2 valueChanged(int) - ccpmCollectiveSlider_2 + ccpmCyclicScale setValue(int) @@ -3771,7 +3771,7 @@ - ccpmCollectiveSlider_6 + ccpmPitchScale sliderMoved(int) ccpmCollectivespinBox_6 setValue(int) @@ -3789,7 +3789,7 @@ ccpmCollectivespinBox_6 valueChanged(int) - ccpmCollectiveSlider_6 + ccpmPitchScale setValue(int) @@ -3805,7 +3805,7 @@ ccpmCollectivespinBox_3 valueChanged(int) - ccpmCollectiveSlider_3 + ccpmRollScale setValue(int) @@ -3819,7 +3819,7 @@ - ccpmCollectiveSlider_3 + ccpmRollScale sliderMoved(int) ccpmCollectivespinBox_3 setValue(int) From 86f5d630458a957f05bd1c3b8e67de995caa3a90 Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Sat, 11 Jun 2011 22:35:19 -0400 Subject: [PATCH 008/241] Changed names of new ui components --- .../openpilotgcs/src/plugins/config/ccpm.ui | 40 +++++++++---------- 1 file changed, 20 insertions(+), 20 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/ccpm.ui b/ground/openpilotgcs/src/plugins/config/ccpm.ui index 1f6de0056..2048c95fb 100644 --- a/ground/openpilotgcs/src/plugins/config/ccpm.ui +++ b/ground/openpilotgcs/src/plugins/config/ccpm.ui @@ -843,14 +843,14 @@ 3 - + Collective Pass through - + Link Roll/Pitch @@ -860,7 +860,7 @@ - + Link Cyclic/Collective @@ -937,7 +937,7 @@ - false + true @@ -1371,7 +1371,7 @@ - false + true @@ -1474,7 +1474,7 @@ - + 100 @@ -1492,7 +1492,7 @@ - false + true @@ -1592,7 +1592,7 @@ - + 100 @@ -1610,7 +1610,7 @@ - false + true @@ -1710,7 +1710,7 @@ - + 100 @@ -1728,7 +1728,7 @@ - false + true @@ -1828,7 +1828,7 @@ - + 100 @@ -3707,7 +3707,7 @@ - ccpmCollectivespinBox_5 + ccpmCollectivesScaleBox valueChanged(int) ccpmCollectiveScale setValue(int) @@ -3725,7 +3725,7 @@ ccpmCollectiveScale sliderMoved(int) - ccpmCollectivespinBox_5 + ccpmCollectivesScaleBox setValue(int) @@ -3741,7 +3741,7 @@ ccpmCyclicScale sliderMoved(int) - ccpmCollectivespinBox_2 + ccpmCyclicScaleBox setValue(int) @@ -3755,7 +3755,7 @@ - ccpmCollectivespinBox_2 + ccpmCyclicScaleBox valueChanged(int) ccpmCyclicScale setValue(int) @@ -3773,7 +3773,7 @@ ccpmPitchScale sliderMoved(int) - ccpmCollectivespinBox_6 + ccpmPitchScaleBox setValue(int) @@ -3787,7 +3787,7 @@ - ccpmCollectivespinBox_6 + ccpmPitchScaleBox valueChanged(int) ccpmPitchScale setValue(int) @@ -3803,7 +3803,7 @@ - ccpmCollectivespinBox_3 + ccpmRollScaleBox valueChanged(int) ccpmRollScale setValue(int) @@ -3821,7 +3821,7 @@ ccpmRollScale sliderMoved(int) - ccpmCollectivespinBox_3 + ccpmRollScaleBox setValue(int) From 6ad60a79716621542df9313bc524d56a7fb05f9d Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Sun, 12 Jun 2011 00:17:32 -0400 Subject: [PATCH 009/241] Implemented UI code for new ccpm options checkboxes and sliders --- .../openpilotgcs/src/plugins/config/ccpm.ui | 21 ++++--- .../src/plugins/config/configccpmwidget.cpp | 57 ++++++++++++++++++- .../src/plugins/config/configccpmwidget.h | 2 + 3 files changed, 70 insertions(+), 10 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/ccpm.ui b/ground/openpilotgcs/src/plugins/config/ccpm.ui index 2048c95fb..4242e1ff8 100644 --- a/ground/openpilotgcs/src/plugins/config/ccpm.ui +++ b/ground/openpilotgcs/src/plugins/config/ccpm.ui @@ -843,7 +843,7 @@ 3 - + Collective Pass through @@ -870,12 +870,12 @@ - + QLayout::SetMinimumSize - + false @@ -900,12 +900,15 @@ Collective Ch + + true + - false + true @@ -1003,7 +1006,7 @@ - false + true @@ -1430,7 +1433,7 @@ - false + true @@ -1548,7 +1551,7 @@ - false + true @@ -1666,7 +1669,7 @@ - false + true @@ -1784,7 +1787,7 @@ - false + true diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index ea4078b52..b3c77bf73 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -185,6 +185,8 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) m_ccpm->ccpmServoYChannel->setCurrentIndex(8); m_ccpm->ccpmServoZChannel->addItems(channels); m_ccpm->ccpmServoZChannel->setCurrentIndex(8); + m_ccpm->ccpmCollectiveChannel->addItems(channels); + m_ccpm->ccpmCollectiveChannel->setCurrentIndex(8); QStringList Types; Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º" << "Custom - User Angles" << "Custom - Advanced Settings" ; @@ -196,6 +198,8 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) //disable changing number of points in curves until UAVObjects have more than 5 m_ccpm->NumCurvePoints->setEnabled(0); + + UpdateType(); @@ -237,7 +241,13 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) connect(m_ccpm->SwashLvlCancelButton, SIGNAL(clicked()), this, SLOT(SwashLvlCancelButtonPressed())); connect(m_ccpm->SwashLvlFinishButton, SIGNAL(clicked()), this, SLOT(SwashLvlFinishButtonPressed())); + connect(m_ccpm->ccpmCollectivePassthrough, SIGNAL(clicked()), this, SLOT(UpdatCCPMUIOptions())); + connect(m_ccpm->ccpmLinkCyclic, SIGNAL(clicked()), this, SLOT(UpdatCCPMUIOptions())); + connect(m_ccpm->ccpmLinkRoll, SIGNAL(clicked()), this, SLOT(UpdatCCPMUIOptions())); + + + // connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestccpmUpdate())); } @@ -253,7 +263,8 @@ void ConfigccpmWidget::UpdateType() QString TypeText; double AdjustmentAngle=0; - + UpdatCCPMUIOptions(); + TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; TypeText = m_ccpm->ccpmType->currentText(); SingleServoIndex = m_ccpm->ccpmSingleServo->currentIndex(); @@ -362,6 +373,9 @@ void ConfigccpmWidget::UpdateType() m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6); } + + + //update UI ccpmSwashplateUpdate(); @@ -827,6 +841,47 @@ void ConfigccpmWidget::UpdateMixer() /************************** * ccpm settings **************************/ +/* + Get the state of the UI check boxes and change the visibility of sliders + */ +void ConfigccpmWidget::UpdatCCPMUIOptions() +{ + int ccpmCollectivePassthroughState; + int ccpmLinkCyclicState; + int ccpmLinkRollState; + + //get the user options + ccpmCollectivePassthroughState=m_ccpm->ccpmCollectivePassthrough->isChecked(); + ccpmLinkCyclicState=m_ccpm->ccpmLinkCyclic->isChecked(); + ccpmLinkRollState=m_ccpm->ccpmLinkRoll->isChecked(); + + //set which sliders are user... + m_ccpm->ccpmRevoMixingBox->setVisible(0); + + m_ccpm->ccpmPitchMixingBox->setVisible(!ccpmCollectivePassthroughState&&ccpmLinkCyclicState); + m_ccpm->ccpmCollectiveScalingBox->setVisible(ccpmCollectivePassthroughState||!ccpmLinkCyclicState); + + m_ccpm->ccpmCollectiveChLabel->setVisible(ccpmCollectivePassthroughState); + m_ccpm->ccpmCollectiveChannel->setVisible(ccpmCollectivePassthroughState); + + + + m_ccpm->ccpmCyclicScalingBox->setVisible((ccpmCollectivePassthroughState||!ccpmLinkCyclicState)&&ccpmLinkRollState); + if (ccpmLinkCyclicState) + { + m_ccpm->ccpmPitchScalingBox->setVisible(0); + m_ccpm->ccpmRollScalingBox->setVisible(0); + m_ccpm->ccpmLinkRoll->setVisible(0); + + } + else + { + m_ccpm->ccpmPitchScalingBox->setVisible(!ccpmLinkRollState); + m_ccpm->ccpmRollScalingBox->setVisible(!ccpmLinkRollState); + m_ccpm->ccpmLinkRoll->setVisible(1); + } + +} /** Request the current value of the SystemSettings which holds the ccpm type */ diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h index 21b4e1b38..7eb95a5f1 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h @@ -103,6 +103,8 @@ private: void SwashLvlCancelButtonPressed(); void SwashLvlFinishButtonPressed(); + void UpdatCCPMUIOptions(); + void enableSwashplateLevellingControl(bool state); void setSwashplateLevel(int percent); void SwashLvlSpinBoxChanged(int value); From 2dab73a128dd0da49b780c91c5de78e1853e972a Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Sun, 12 Jun 2011 00:31:22 -0400 Subject: [PATCH 010/241] minor updates to UI code for visibility of controls --- ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index b3c77bf73..a1b652a2e 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -864,10 +864,10 @@ void ConfigccpmWidget::UpdatCCPMUIOptions() m_ccpm->ccpmCollectiveChLabel->setVisible(ccpmCollectivePassthroughState); m_ccpm->ccpmCollectiveChannel->setVisible(ccpmCollectivePassthroughState); - + m_ccpm->ccpmLinkCyclic->setVisible(!ccpmCollectivePassthroughState); m_ccpm->ccpmCyclicScalingBox->setVisible((ccpmCollectivePassthroughState||!ccpmLinkCyclicState)&&ccpmLinkRollState); - if (ccpmLinkCyclicState) + if (!ccpmCollectivePassthroughState&&ccpmLinkCyclicState) { m_ccpm->ccpmPitchScalingBox->setVisible(0); m_ccpm->ccpmRollScalingBox->setVisible(0); From 7598e898fa4f967204c2b98a997dd7d14ac5c9f4 Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Sun, 12 Jun 2011 20:23:00 -0700 Subject: [PATCH 011/241] OP-423 Step-1: split system stack and implement water mark for IRQstack: - use IRQStack for ISRs (at begening of SRAM) (let's call it the irq stack) - use end of heap for stack needed during initialization (let's call it the init stack). - the systemStats in GCS indicate the remaining bytes in the IRQ stack (this is realy usefull to monitor our (nested) IRQs. This is the base ground to provide as much memory as possible available at task creation time. Next step is to re-organize the initialization in order to move all the init out of the thread's stacks onto the init stack. This will provide as much memory as possible available at task creation time. Basically the stack during initialization will be destroyed once the scheduler starts and dynamic alloc are made (since the init stack is at the end of the heap). We will need to make sure we don't clobber the heap during initialization otherwise this will lead to stack corruption. --- .../CopterControl/System/inc/FreeRTOSConfig.h | 4 ++ flight/CopterControl/System/inc/pios_config.h | 2 + flight/Modules/System/systemmod.c | 58 ++++++++++++++++++- .../FreeRTOS/Source/portable/MemMang/heap_1.c | 2 +- .../link_STM32103CB_CC_Rev1_sections.ld | 32 ++++++++++ .../PiOS/STM32F10x/startup_stm32f10x_MD_CC.S | 36 +++++++++++- shared/uavobjectdefinition/systemstats.xml | 1 + 7 files changed, 132 insertions(+), 3 deletions(-) diff --git a/flight/CopterControl/System/inc/FreeRTOSConfig.h b/flight/CopterControl/System/inc/FreeRTOSConfig.h index b4677fd8d..97a0d668d 100644 --- a/flight/CopterControl/System/inc/FreeRTOSConfig.h +++ b/flight/CopterControl/System/inc/FreeRTOSConfig.h @@ -71,6 +71,10 @@ configKERNEL_INTERRUPT_PRIORITY setting. Here 15 corresponds to the lowest NVIC value of 255. */ #define configLIBRARY_KERNEL_INTERRUPT_PRIORITY 15 +#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) +#define CHECK_IRQ_STACK +#endif + /** * @} */ diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h index 98c900387..728541f7d 100644 --- a/flight/CopterControl/System/inc/pios_config.h +++ b/flight/CopterControl/System/inc/pios_config.h @@ -87,6 +87,8 @@ /* Alarm Thresholds */ #define HEAP_LIMIT_WARNING 350 #define HEAP_LIMIT_CRITICAL 250 +#define IRQSTACK_LIMIT_WARNING 150 +#define IRQSTACK_LIMIT_CRITICAL 80 #define CPULOAD_LIMIT_WARNING 80 #define CPULOAD_LIMIT_CRITICAL 95 diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c index c36160a1e..3d9e0b293 100644 --- a/flight/Modules/System/systemmod.c +++ b/flight/Modules/System/systemmod.c @@ -118,7 +118,7 @@ static void systemTask(void *parameters) ObjectPersistenceConnectCallback(&objectUpdatedCb); // Main system loop - while (1) { + while (1) { // Update the system statistics updateStats(); @@ -260,6 +260,48 @@ static void updateWDGstats() WatchdogStatusSet(&watchdogStatus); } +/** + * Called periodically to update the system stats + */ +static uint16_t GetFreeIrqStackSize(void) +{ + uint32_t i = 0x200; + +#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK) +extern uint32_t _irq_stack_top; +extern uint32_t _irq_stack_end; +uint32_t pattern = 0x0000A5A5; +uint32_t *ptr = &_irq_stack_end; + +#if 1 /* the ugly way accurate but takes more time, useful for debugging */ + uint32_t stack_size = (((uint32_t)&_irq_stack_top - (uint32_t)&_irq_stack_end) & ~3 ) / 4; + + for (i=0; i< stack_size; i++) + { + if (ptr[i] != pattern) + { + i=i*4; + break; + } + } +#else /* faster way but not accurate */ + if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_CRITICAL) != pattern) + { + i = IRQSTACK_LIMIT_CRITICAL - 1; + } + else if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_WARNING) != pattern) + { + i = IRQSTACK_LIMIT_WARNING - 1; + } + else + { + i = IRQSTACK_LIMIT_WARNING; + } +#endif +#endif + return i; +} + /** * Called periodically to update the system stats */ @@ -278,6 +320,9 @@ static void updateStats() stats.HeapRemaining = xPortGetFreeHeapSize(); #endif + // Get Irq stack status + stats.IRQStackRemaining = GetFreeIrqStackSize(); + // When idleCounterClear was not reset by the idle-task, it means the idle-task did not run if (idleCounterClear) { idleCounter = 0; @@ -320,6 +365,17 @@ static void updateSystemAlarms() AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY); } +#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK) + // Check IRQ stack + if (stats.IRQStackRemaining < IRQSTACK_LIMIT_CRITICAL) { + AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL); + } else if (stats.IRQStackRemaining < IRQSTACK_LIMIT_WARNING) { + AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_WARNING); + } else { + AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY); + } +#endif + // Check CPU load if (stats.CPULoad > CPULOAD_LIMIT_CRITICAL) { AlarmsSet(SYSTEMALARMS_ALARM_CPUOVERLOAD, SYSTEMALARMS_ALARM_CRITICAL); diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c index f063be198..a8128f314 100644 --- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c +++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c @@ -81,7 +81,7 @@ static union xRTOS_HEAP volatile unsigned long ulDummy; #endif unsigned char ucHeap[ configTOTAL_HEAP_SIZE ]; -} xHeap; +} xHeap __attribute__ ((section (".heap"))); static size_t xNextFreeByte = ( size_t ) 0; /*-----------------------------------------------------------*/ diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld index e1cb0bd0f..d9e08c336 100644 --- a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld +++ b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld @@ -1,3 +1,6 @@ +/* This is the size of the stack for early init and for all FreeRTOS IRQs */ +_irq_stack_size = 0x180; + /* Stub out these functions since we don't use them anyway */ PROVIDE ( vPortSVCHandler = 0 ) ; PROVIDE ( xPortPendSVHandler = 0 ) ; @@ -43,6 +46,23 @@ SECTIONS _etext = .; _sidata = .; + /* + * This stack is used both as the initial sp during early init as well as ultimately + * being used as the STM32's MSP (Main Stack Pointer) which is the same stack that + * is used for _all_ interrupt handlers. The end of this stack should be placed + * against the lowest address in RAM so that a stack overrun results in a hard fault + * at the first access beyond the end of the stack. + */ + .irq_stack : + { + . = ALIGN(4); + _irq_stack_end = . ; + . = . + _irq_stack_size ; + . = ALIGN(4); + _irq_stack_top = . - 4 ; + . = ALIGN(4); + } > SRAM + .data : AT (_etext) { _sdata = .; @@ -51,6 +71,8 @@ SECTIONS _edata = . ; } > SRAM + + /* .bss section which is used for uninitialized data */ .bss (NOLOAD) : { @@ -60,6 +82,16 @@ SECTIONS . = ALIGN(4); _ebss = . ; } > SRAM + + .heap (NOLOAD) : + { + _sheap = . ; + *(.heap) + . = ALIGN(4); + _eheap = . ; + _init_stack_top = . - 4 ; + . = ALIGN(4); + } > SRAM . = ALIGN(4); _end = . ; diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S b/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S index 21c7c7b29..11e865ff8 100644 --- a/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S +++ b/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S @@ -61,6 +61,40 @@ defined in linker script */ .type Reset_Handler, %function Reset_Handler: +/* + * From COrtex-M3 reference manual: + * - Handler IRQ always use SP_main + * - Process use SP_main or SP_process + * Here, we will use beginning of SRAM for IRQ (SP_main) + * and end of heap for initialization (SP_process). + * Once the schedule starts, all threads will use their own stack + * from heap and NOBOBY should use SP_process again. + */ + /* Do set/reset the stack pointers */ + LDR r0, =_irq_stack_top + MSR msp, r0 + LDR r0, =_init_stack_top + MSR psp, r0 +/* DO + * - stay in thread process mode + * - stay in privilege level + * - use process stack + */ + add r0, #2 + MSR control, r0 + ISB +/* Fill IRQ stack for watermark monitoring */ + ldr r2, =_irq_stack_end + b LoopFillIRQStack + +FillIRQStack: + movw r3, #0xA5A5 + str r3, [r2], #4 + +LoopFillIRQStack: + ldr r3, = _irq_stack_top + cmp r2, r3 + bcc FillIRQStack /* Copy the data segment initializers from flash to SRAM */ movs r1, #0 b LoopCopyDataInit @@ -119,7 +153,7 @@ Infinite_Loop: g_pfnVectors: - .word _estack + .word _irq_stack_top /*_irq_stack_top */ .word Reset_Handler .word NMI_Handler .word HardFault_Handler diff --git a/shared/uavobjectdefinition/systemstats.xml b/shared/uavobjectdefinition/systemstats.xml index a34541858..3e6bc1547 100644 --- a/shared/uavobjectdefinition/systemstats.xml +++ b/shared/uavobjectdefinition/systemstats.xml @@ -3,6 +3,7 @@ CPU and memory usage from OpenPilot computer. + From 7b3241cca99baa3a3907b02d42dd4415cacc5621 Mon Sep 17 00:00:00 2001 From: Pip Date: Mon, 13 Jun 2011 16:12:04 +0100 Subject: [PATCH 012/241] Fixed GCS export file selection problem - in windows. --- .../importexport/importexportgadgetwidget.cpp | 52 ++-- .../importexport/importexportgadgetwidget.h | 4 +- .../importexport/importexportgadgetwidget.ui | 238 +++++++----------- 3 files changed, 123 insertions(+), 171 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.cpp index 350e1a3ff..6e1d4d2c3 100644 --- a/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.cpp @@ -37,6 +37,7 @@ #include #include #include +#include #include #include #include @@ -47,10 +48,8 @@ ImportExportGadgetWidget::ImportExportGadgetWidget(QWidget *parent) : { setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding); ui->setupUi(this); - ui->configFile->setExpectedKind(Utils::PathChooser::File); - ui->configFile->setPromptDialogFilter(tr("XML file (*.xml)")); - ui->configFile->setPromptDialogTitle(tr("Choose configuration file")); + filename = ""; } ImportExportGadgetWidget::~ImportExportGadgetWidget() @@ -72,35 +71,21 @@ void ImportExportGadgetWidget::changeEvent(QEvent *e) void ImportExportGadgetWidget::on_exportButton_clicked() { - QString file = ui->configFile->path(); - if (file.isEmpty()) { - QMessageBox msgBox; - msgBox.setText(tr("Empty File name.")); - msgBox.setInformativeText(tr("Please choose an export file name.")); - msgBox.setStandardButtons(QMessageBox::Ok); - msgBox.exec(); - return; - } - // Add a "XML" extension to the file in case it does not exist: - if (!file.endsWith(".xml")) + QString file = filename; + QString filter = tr("GCS Settings file (*.xml)"); + file = QFileDialog::getSaveFileName(this, tr("Save GCS Settings too file .."), QFileInfo(file).absoluteFilePath(), filter).trimmed(); + if (file.isEmpty()) { + return; + } + + // Add a "XML" extension to the file in case it does not exist: + if (!file.toLower().endsWith(".xml")) file.append(".xml"); + filename = file; + qDebug() << "Export pressed! Write to file " << QFileInfo(file).absoluteFilePath(); - if ( QFileInfo(file).exists() ){ - QMessageBox msgBox; - msgBox.setText(tr("File already exists.")); - msgBox.setInformativeText(tr("Do you want to overwrite the existing file?")); - msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel); - msgBox.setDefaultButton(QMessageBox::Ok); - if ( msgBox.exec() == QMessageBox::Ok ){ - QFileInfo(file).absoluteDir().remove(QFileInfo(file).fileName()); - } - else{ - qDebug() << "Export canceled!"; - return; - } - } QMessageBox msgBox; QDir dir = QFileInfo(file).absoluteDir(); if (! dir.exists()) { @@ -163,8 +148,17 @@ void ImportExportGadgetWidget::writeError(const QString& msg) const void ImportExportGadgetWidget::on_importButton_clicked() { - QString file = ui->configFile->path(); + QString file = filename; + QString filter = tr("GCS Settings file (*.xml)"); + file = QFileDialog::getOpenFileName(this, tr("Load GCS Settings from file .."), QFileInfo(file).absoluteFilePath(), filter).trimmed(); + if (file.isEmpty()) { + return; + } + + filename = file; + qDebug() << "Import pressed! Read from file " << QFileInfo(file).absoluteFilePath(); + QMessageBox msgBox; if (! QFileInfo(file).isReadable()) { msgBox.setText(tr("Can't read file ") + QFileInfo(file).absoluteFilePath()); diff --git a/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.h b/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.h index ced46a059..bb6d46aa3 100644 --- a/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.h +++ b/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.h @@ -41,8 +41,10 @@ private: void importConfiguration(const QString& fileName); QList getConfigurables(); + QString filename; + private slots: - void on_resetButton_clicked(); + void on_resetButton_clicked(); void on_helpButton_clicked(); void on_importButton_clicked(); void on_exportButton_clicked(); diff --git a/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.ui b/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.ui index c29461d5c..d466d1dd2 100644 --- a/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.ui +++ b/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.ui @@ -7,162 +7,118 @@ 0 0 483 - 271 + 154 Form - - - + + + - - - - 0 - 0 - - - - Config File + + + Items + + + + + General (Workspace, Key-Bindings) + + + true + + + + + + + All Gadgets + + + true + + + + + + + Plugins + + + true + + + + - - - - 0 - 0 - - - - - - - - - - Items - - - - - - General (Workspace, Key-Bindings) - - - true - - - - - - - All Gadgets - - - true - - - - - - - Plugins - - - true - - - - - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - - 32 - 32 - - - - - - - - :/core/images/helpicon.svg:/core/images/helpicon.svg - - - - 32 - 32 - - - - true - - - - - - - Export the GCS settings selected in the checkboxes above. - - - Export - - - - - - - Import settings from the config file, only for the items checked above. - - - Import - - - - - - - Resets your GCS configuration to its default configuration. - - - Reset Config - - + + + + + + 32 + 32 + + + + + + + + :/core/images/helpicon.svg:/core/images/helpicon.svg + + + + 32 + 32 + + + + true + + + + + + + Export the GCS settings selected in the checkboxes above. + + + Export + + + + + + + Import settings from the config file, only for the items checked above. + + + Import + + + + + + + Resets your GCS configuration to its default configuration. + + + Reset Config + + + + - - - Utils::PathChooser - QWidget -
utils/pathchooser.h
- 1 -
-
From b4d65102b1ddf70125edd4defb797153d9b3e4f7 Mon Sep 17 00:00:00 2001 From: elafargue Date: Mon, 13 Jun 2011 18:59:53 +0200 Subject: [PATCH 013/241] Add "..." on import and export buttons --- .../src/plugins/importexport/importexportgadgetwidget.ui | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.ui b/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.ui index d466d1dd2..a4631aba0 100644 --- a/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.ui +++ b/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.ui @@ -7,7 +7,7 @@ 0 0 483 - 154 + 174
@@ -89,7 +89,7 @@ Export the GCS settings selected in the checkboxes above. - Export + Export...
@@ -99,7 +99,7 @@ Import settings from the config file, only for the items checked above.
- Import + Import...
From 1f54e32ea942f3cacf7bbef71b8c12bbb91c599e Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Mon, 13 Jun 2011 17:10:14 -0700 Subject: [PATCH 014/241] OP-423 also add changes to OP. (I can not test it because I don't have a board so only compile test) --- flight/OpenPilot/System/inc/FreeRTOSConfig.h | 3 +++ flight/OpenPilot/System/inc/pios_config.h | 2 ++ .../FreeRTOS/Source/portable/MemMang/heap_2.c | 2 +- .../STM32F10x/link_STM3210E_OP_sections.ld | 10 ++++++++ .../PiOS/STM32F10x/startup_stm32f10x_HD_OP.S | 24 +++++++++++++++++++ 5 files changed, 40 insertions(+), 1 deletion(-) diff --git a/flight/OpenPilot/System/inc/FreeRTOSConfig.h b/flight/OpenPilot/System/inc/FreeRTOSConfig.h index 6336639a4..4c8760488 100644 --- a/flight/OpenPilot/System/inc/FreeRTOSConfig.h +++ b/flight/OpenPilot/System/inc/FreeRTOSConfig.h @@ -80,6 +80,9 @@ NVIC value of 255. */ #define portGET_RUN_TIME_COUNTER_VALUE() PIOS_RTC_Counter() #endif +#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) +#define CHECK_IRQ_STACK +#endif /** * @} diff --git a/flight/OpenPilot/System/inc/pios_config.h b/flight/OpenPilot/System/inc/pios_config.h index f3fe8671b..2d5a281ff 100644 --- a/flight/OpenPilot/System/inc/pios_config.h +++ b/flight/OpenPilot/System/inc/pios_config.h @@ -84,6 +84,8 @@ /* Alarm Thresholds */ #define HEAP_LIMIT_WARNING 4000 #define HEAP_LIMIT_CRITICAL 1000 +#define IRQSTACK_LIMIT_WARNING 150 +#define IRQSTACK_LIMIT_CRITICAL 80 #define CPULOAD_LIMIT_WARNING 80 #define CPULOAD_LIMIT_CRITICAL 95 diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c index 1d1c76a60..0f8097561 100644 --- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c +++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c @@ -81,7 +81,7 @@ static union xRTOS_HEAP volatile unsigned long ulDummy; #endif unsigned char ucHeap[ configTOTAL_HEAP_SIZE ]; -} xHeap; +} xHeap __attribute__ ((section (".heap"))); /* Define the linked list structure. This is used to link free blocks in order of their size. */ diff --git a/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld b/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld index 94aafbd78..12059ac1e 100644 --- a/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld +++ b/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld @@ -261,6 +261,16 @@ SECTIONS _ebss = . ; } >RAM + .heap (NOLOAD) : + { + _sheap = . ; + *(.heap) + . = ALIGN(4); + _eheap = . ; + _init_stack_top = . - 4 ; + . = ALIGN(4); + } > RAM + PROVIDE ( end = _ebss ); PROVIDE ( _end = _ebss ); diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S b/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S index a252adf76..7563e4c0d 100644 --- a/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S +++ b/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S @@ -71,6 +71,30 @@ Reset_Handler: /* restore original stack pointer */ LDR r0, =_irq_stack_top MSR msp, r0 + + LDR r0, =_init_stack_top + MSR psp, r0 +/* DO + * - stay in thread process mode + * - stay in privilege level + * - use process stack + */ + add r0, #2 + MSR control, r0 + ISB +/* Fill IRQ stack for watermark monitoring */ + ldr r2, =_irq_stack_end + b LoopFillIRQStack + +FillIRQStack: + movw r3, #0xA5A5 + str r3, [r2], #4 + +LoopFillIRQStack: + ldr r3, = _irq_stack_top + cmp r2, r3 + bcc FillIRQStack + /* Copy the data segment initializers from flash to SRAM */ movs r1, #0 b LoopCopyDataInit From 651c65ad842709960804300dd65ce92c3b554faa Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Mon, 13 Jun 2011 20:46:53 -0400 Subject: [PATCH 015/241] OP-532 Started with GUI configuration save to OP hardware --- .../src/plugins/config/configccpmwidget.cpp | 52 ++++++++++++------- .../src/plugins/config/configccpmwidget.h | 20 ++++++- 2 files changed, 51 insertions(+), 21 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index 2dd554a63..7eff8e623 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -46,6 +46,7 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) SwashLvlConfigurationInProgress=0; SwashLvlState=0; SwashLvlServoInterlock=0; + updatingFromHardware=FALSE; // Now connect the widget to the ManualControlCommand / Channel UAVObject //ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); @@ -241,9 +242,9 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) connect(m_ccpm->SwashLvlCancelButton, SIGNAL(clicked()), this, SLOT(SwashLvlCancelButtonPressed())); connect(m_ccpm->SwashLvlFinishButton, SIGNAL(clicked()), this, SLOT(SwashLvlFinishButtonPressed())); - connect(m_ccpm->ccpmCollectivePassthrough, SIGNAL(clicked()), this, SLOT(UpdatCCPMUIOptions())); - connect(m_ccpm->ccpmLinkCyclic, SIGNAL(clicked()), this, SLOT(UpdatCCPMUIOptions())); - connect(m_ccpm->ccpmLinkRoll, SIGNAL(clicked()), this, SLOT(UpdatCCPMUIOptions())); + connect(m_ccpm->ccpmCollectivePassthrough, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities())); + connect(m_ccpm->ccpmLinkCyclic, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities())); + connect(m_ccpm->ccpmLinkRoll, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities())); @@ -264,6 +265,7 @@ void ConfigccpmWidget::UpdateType() double AdjustmentAngle=0; UpdatCCPMUIOptions(); + SetUIComponentVisibilities(); TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; TypeText = m_ccpm->ccpmType->currentText(); @@ -846,28 +848,36 @@ void ConfigccpmWidget::UpdateMixer() */ void ConfigccpmWidget::UpdatCCPMUIOptions() { - int ccpmCollectivePassthroughState; - int ccpmLinkCyclicState; - int ccpmLinkRollState; - + if (updatingFromHardware) return; //get the user options - ccpmCollectivePassthroughState=m_ccpm->ccpmCollectivePassthrough->isChecked(); - ccpmLinkCyclicState=m_ccpm->ccpmLinkCyclic->isChecked(); - ccpmLinkRollState=m_ccpm->ccpmLinkRoll->isChecked(); + //swashplate config + ccpmGUISettings.SwasplateType = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; + ccpmGUISettings.FirstServoIndex = m_ccpm->ccpmSingleServo->currentIndex(); + //ccpm mixing options + ccpmGUISettings.ccpmCollectivePassthroughState = m_ccpm->ccpmCollectivePassthrough->isChecked(); + ccpmGUISettings.ccpmLinkCyclicState = m_ccpm->ccpmLinkCyclic->isChecked(); + ccpmGUISettings.ccpmLinkRollState = m_ccpm->ccpmLinkRoll->isChecked(); + + +} + +void ConfigccpmWidget::SetUIComponentVisibilities() +{ + UpdatCCPMUIOptions(); //set which sliders are user... m_ccpm->ccpmRevoMixingBox->setVisible(0); - m_ccpm->ccpmPitchMixingBox->setVisible(!ccpmCollectivePassthroughState&&ccpmLinkCyclicState); - m_ccpm->ccpmCollectiveScalingBox->setVisible(ccpmCollectivePassthroughState||!ccpmLinkCyclicState); + m_ccpm->ccpmPitchMixingBox->setVisible(!ccpmGUISettings.ccpmCollectivePassthroughState && ccpmGUISettings.ccpmLinkCyclicState); + m_ccpm->ccpmCollectiveScalingBox->setVisible(ccpmGUISettings.ccpmCollectivePassthroughState || !ccpmGUISettings.ccpmLinkCyclicState); - m_ccpm->ccpmCollectiveChLabel->setVisible(ccpmCollectivePassthroughState); - m_ccpm->ccpmCollectiveChannel->setVisible(ccpmCollectivePassthroughState); + m_ccpm->ccpmCollectiveChLabel->setVisible(ccpmGUISettings.ccpmCollectivePassthroughState); + m_ccpm->ccpmCollectiveChannel->setVisible(ccpmGUISettings.ccpmCollectivePassthroughState); - m_ccpm->ccpmLinkCyclic->setVisible(!ccpmCollectivePassthroughState); + m_ccpm->ccpmLinkCyclic->setVisible(!ccpmGUISettings.ccpmCollectivePassthroughState); - m_ccpm->ccpmCyclicScalingBox->setVisible((ccpmCollectivePassthroughState||!ccpmLinkCyclicState)&&ccpmLinkRollState); - if (!ccpmCollectivePassthroughState&&ccpmLinkCyclicState) + m_ccpm->ccpmCyclicScalingBox->setVisible((ccpmGUISettings.ccpmCollectivePassthroughState || !ccpmGUISettings.ccpmLinkCyclicState) && ccpmGUISettings.ccpmLinkRollState); + if (!ccpmGUISettings.ccpmCollectivePassthroughState && ccpmGUISettings.ccpmLinkCyclicState) { m_ccpm->ccpmPitchScalingBox->setVisible(0); m_ccpm->ccpmRollScalingBox->setVisible(0); @@ -876,8 +886,8 @@ void ConfigccpmWidget::UpdatCCPMUIOptions() } else { - m_ccpm->ccpmPitchScalingBox->setVisible(!ccpmLinkRollState); - m_ccpm->ccpmRollScalingBox->setVisible(!ccpmLinkRollState); + m_ccpm->ccpmPitchScalingBox->setVisible(!ccpmGUISettings.ccpmLinkRollState); + m_ccpm->ccpmRollScalingBox->setVisible(!ccpmGUISettings.ccpmLinkRollState); m_ccpm->ccpmLinkRoll->setVisible(1); } @@ -898,7 +908,8 @@ void ConfigccpmWidget::requestccpmUpdate() int isCCPM=0; if (SwashLvlConfigurationInProgress)return; - + updatingFromHardware=TRUE; + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); int i,j; @@ -1151,6 +1162,7 @@ void ConfigccpmWidget::requestccpmUpdate() + updatingFromHardware=FALSE; ccpmSwashplateUpdate(); diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h index 12390a0f2..a79c016e1 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h @@ -49,6 +49,20 @@ typedef struct { int Min[CCPM_MAX_SWASH_SERVOS]; } SwashplateServoSettingsStruct; +typedef struct { + uint SwasplateType:3; + uint FirstServoIndex:2; + uint CorrectionAngle:9; + uint ccpmCollectivePassthroughState:1; + uint ccpmLinkCyclicState:1; + uint ccpmLinkRollState:1; + uint CollectiveChannel:3; + uint padding:12; + uint padding2:32; +} __attribute__((packed)) ccpmGUISettingsStruct; + + + class ConfigccpmWidget: public ConfigTaskWidget { Q_OBJECT @@ -82,10 +96,13 @@ private: SwashplateServoSettingsStruct oldSwashLvlConfiguration; SwashplateServoSettingsStruct newSwashLvlConfiguration; - + ccpmGUISettingsStruct ccpmGUISettings; + int MixerChannelData[6]; int ShowDisclaimer(int messageID); virtual void enableControls(bool enable) { Q_UNUSED(enable)}; // Not used by this widget + + bool updatingFromHardware; private slots: void ccpmSwashplateUpdate(); @@ -105,6 +122,7 @@ private: void SwashLvlFinishButtonPressed(); void UpdatCCPMUIOptions(); + void SetUIComponentVisibilities(); void enableSwashplateLevellingControl(bool state); void setSwashplateLevel(int percent); From 31339e04141e2e99ff1bb85c12443fb03c5f9d3d Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Mon, 13 Jun 2011 21:39:47 -0400 Subject: [PATCH 016/241] OP-532 Modified system settings UAVObject to have GUI config data --- shared/uavobjectdefinition/systemsettings.xml | 21 ++++++++++--------- 1 file changed, 11 insertions(+), 10 deletions(-) diff --git a/shared/uavobjectdefinition/systemsettings.xml b/shared/uavobjectdefinition/systemsettings.xml index c8342a753..912eb6969 100644 --- a/shared/uavobjectdefinition/systemsettings.xml +++ b/shared/uavobjectdefinition/systemsettings.xml @@ -1,10 +1,11 @@ - - - Select airframe type. Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand - - - - - - - + + + Select airframe type. Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand + + + + + + + + From 23f9dc42cc4ed475221c8c1145a84be8252ee6a2 Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Mon, 13 Jun 2011 21:40:39 -0400 Subject: [PATCH 017/241] OP-532 Created union of struct to assist in type casting of GUI settings to UAVObject --- .../src/plugins/config/configccpmwidget.cpp | 28 +++++++++---------- .../src/plugins/config/configccpmwidget.h | 8 ++++-- 2 files changed, 20 insertions(+), 16 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index 7eff8e623..d9eb5c465 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -851,13 +851,13 @@ void ConfigccpmWidget::UpdatCCPMUIOptions() if (updatingFromHardware) return; //get the user options //swashplate config - ccpmGUISettings.SwasplateType = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; - ccpmGUISettings.FirstServoIndex = m_ccpm->ccpmSingleServo->currentIndex(); + GUIConfigData.heli.SwasplateType = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; + GUIConfigData.heli.FirstServoIndex = m_ccpm->ccpmSingleServo->currentIndex(); //ccpm mixing options - ccpmGUISettings.ccpmCollectivePassthroughState = m_ccpm->ccpmCollectivePassthrough->isChecked(); - ccpmGUISettings.ccpmLinkCyclicState = m_ccpm->ccpmLinkCyclic->isChecked(); - ccpmGUISettings.ccpmLinkRollState = m_ccpm->ccpmLinkRoll->isChecked(); + GUIConfigData.heli.ccpmCollectivePassthroughState = m_ccpm->ccpmCollectivePassthrough->isChecked(); + GUIConfigData.heli.ccpmLinkCyclicState = m_ccpm->ccpmLinkCyclic->isChecked(); + GUIConfigData.heli.ccpmLinkRollState = m_ccpm->ccpmLinkRoll->isChecked(); } @@ -868,16 +868,16 @@ void ConfigccpmWidget::SetUIComponentVisibilities() //set which sliders are user... m_ccpm->ccpmRevoMixingBox->setVisible(0); - m_ccpm->ccpmPitchMixingBox->setVisible(!ccpmGUISettings.ccpmCollectivePassthroughState && ccpmGUISettings.ccpmLinkCyclicState); - m_ccpm->ccpmCollectiveScalingBox->setVisible(ccpmGUISettings.ccpmCollectivePassthroughState || !ccpmGUISettings.ccpmLinkCyclicState); + m_ccpm->ccpmPitchMixingBox->setVisible(!GUIConfigData.heli.ccpmCollectivePassthroughState && GUIConfigData.heli.ccpmLinkCyclicState); + m_ccpm->ccpmCollectiveScalingBox->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState); - m_ccpm->ccpmCollectiveChLabel->setVisible(ccpmGUISettings.ccpmCollectivePassthroughState); - m_ccpm->ccpmCollectiveChannel->setVisible(ccpmGUISettings.ccpmCollectivePassthroughState); + m_ccpm->ccpmCollectiveChLabel->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState); + m_ccpm->ccpmCollectiveChannel->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState); - m_ccpm->ccpmLinkCyclic->setVisible(!ccpmGUISettings.ccpmCollectivePassthroughState); + m_ccpm->ccpmLinkCyclic->setVisible(!GUIConfigData.heli.ccpmCollectivePassthroughState); - m_ccpm->ccpmCyclicScalingBox->setVisible((ccpmGUISettings.ccpmCollectivePassthroughState || !ccpmGUISettings.ccpmLinkCyclicState) && ccpmGUISettings.ccpmLinkRollState); - if (!ccpmGUISettings.ccpmCollectivePassthroughState && ccpmGUISettings.ccpmLinkCyclicState) + m_ccpm->ccpmCyclicScalingBox->setVisible((GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState) && GUIConfigData.heli.ccpmLinkRollState); + if (!GUIConfigData.heli.ccpmCollectivePassthroughState && GUIConfigData.heli.ccpmLinkCyclicState) { m_ccpm->ccpmPitchScalingBox->setVisible(0); m_ccpm->ccpmRollScalingBox->setVisible(0); @@ -886,8 +886,8 @@ void ConfigccpmWidget::SetUIComponentVisibilities() } else { - m_ccpm->ccpmPitchScalingBox->setVisible(!ccpmGUISettings.ccpmLinkRollState); - m_ccpm->ccpmRollScalingBox->setVisible(!ccpmGUISettings.ccpmLinkRollState); + m_ccpm->ccpmPitchScalingBox->setVisible(!GUIConfigData.heli.ccpmLinkRollState); + m_ccpm->ccpmRollScalingBox->setVisible(!GUIConfigData.heli.ccpmLinkRollState); m_ccpm->ccpmLinkRoll->setVisible(1); } diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h index a79c016e1..8140f175d 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h @@ -61,7 +61,11 @@ typedef struct { uint padding2:32; } __attribute__((packed)) ccpmGUISettingsStruct; - +typedef union +{ + uint UAVObject; + ccpmGUISettingsStruct heli; +} GUIConfigDataUnion; class ConfigccpmWidget: public ConfigTaskWidget { @@ -96,7 +100,7 @@ private: SwashplateServoSettingsStruct oldSwashLvlConfiguration; SwashplateServoSettingsStruct newSwashLvlConfiguration; - ccpmGUISettingsStruct ccpmGUISettings; + GUIConfigDataUnion GUIConfigData; int MixerChannelData[6]; int ShowDisclaimer(int messageID); From 1c1881663f8922abc563957652d100f9d71bde3d Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Tue, 14 Jun 2011 00:10:28 -0400 Subject: [PATCH 018/241] OP-532 Save and recall the new GUI config data to UAVObject --- .../src/plugins/config/configccpmwidget.cpp | 24 ++++++++++++++++--- .../src/plugins/config/configccpmwidget.h | 8 ++++--- 2 files changed, 26 insertions(+), 6 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index d9eb5c465..fd182b031 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -264,7 +264,7 @@ void ConfigccpmWidget::UpdateType() QString TypeText; double AdjustmentAngle=0; - UpdatCCPMUIOptions(); + UpdatCCPMOptionsFromUI(); SetUIComponentVisibilities(); TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; @@ -846,7 +846,7 @@ void ConfigccpmWidget::UpdateMixer() /* Get the state of the UI check boxes and change the visibility of sliders */ -void ConfigccpmWidget::UpdatCCPMUIOptions() +void ConfigccpmWidget::UpdatCCPMOptionsFromUI() { if (updatingFromHardware) return; //get the user options @@ -861,10 +861,14 @@ void ConfigccpmWidget::UpdatCCPMUIOptions() } +void ConfigccpmWidget::UpdatCCPMUIFromOptions() +{ +} + void ConfigccpmWidget::SetUIComponentVisibilities() { - UpdatCCPMUIOptions(); + UpdatCCPMOptionsFromUI(); //set which sliders are user... m_ccpm->ccpmRevoMixingBox->setVisible(0); @@ -915,6 +919,13 @@ void ConfigccpmWidget::requestccpmUpdate() int i,j; UAVObjectField *field; UAVDataObject* obj; + + obj = dynamic_cast(getObjectManager()->getObject(QString("SystemSettings"))); + field = obj->getField(QString("GUIConfigData")); + GUIConfigData.UAVObject=field->getValue().toUInt(); + + + obj = dynamic_cast(objManager->getObject(QString("MixerSettings"))); Q_ASSERT(obj); @@ -1180,9 +1191,16 @@ void ConfigccpmWidget::sendccpmUpdate() if (SwashLvlConfigurationInProgress)return; ShowDisclaimer(1); + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); + obj = dynamic_cast(getObjectManager()->getObject(QString("SystemSettings"))); + field = obj->getField(QString("GUIConfigData")); + field->setValue(GUIConfigData.UAVObject); + obj->updated(); + + obj = dynamic_cast(objManager->getObject(QString("MixerSettings"))); Q_ASSERT(obj); diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h index 8140f175d..ca53695f5 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h @@ -59,12 +59,12 @@ typedef struct { uint CollectiveChannel:3; uint padding:12; uint padding2:32; -} __attribute__((packed)) ccpmGUISettingsStruct; +} __attribute__((packed)) heliGUISettingsStruct; typedef union { uint UAVObject; - ccpmGUISettingsStruct heli; + heliGUISettingsStruct heli; } GUIConfigDataUnion; class ConfigccpmWidget: public ConfigTaskWidget @@ -125,7 +125,9 @@ private: void SwashLvlCancelButtonPressed(); void SwashLvlFinishButtonPressed(); - void UpdatCCPMUIOptions(); + void UpdatCCPMOptionsFromUI(); + void UpdatCCPMUIFromOptions(); + void SetUIComponentVisibilities(); void enableSwashplateLevellingControl(bool state); From c95b1991665944bed634d9cfe7fccb21dbedb167 Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Mon, 13 Jun 2011 21:49:17 -0700 Subject: [PATCH 019/241] OP-423 do the arch specific stuff (in reset vector) to hide this from portable code: - switch back to MSP stack before starting the scheduler so that the sheduler can use the IRQ stack (when/if needed). - call the C portable function in heap1 to claim some stack back (the number to claim is taken from linker file). - start the scheduler from reset vector (I move this here from main because it make sense to not go back to C (so that I don't need to copy the rolled stack in case the sheduler returns). This make it more clean. - Also I have added the call to the mem manager if sheduler return. that way, we don't reset indefinitely if memory runs out. We will go to this handler and figure things out (right now, it's just looping but at least not rebooting. Probably trap NMI would be better (later improvement). The part missing for this part is the weak attribute for the function in heap1.c so that we don't have to update everything with empty stub. I think the weak atrribute for C function called in assembly is arch dependent so I am not sure if this is possible (will look into it, maybe somebody outthere nows). Right now, it's heap1 dependent and won't work with heap2. I will clean that up the next couple of days. I did some test and it looks good. this is without init code re-organization so we don't free as much as we will be it's good starts. This compile with sim_posix (since it does not affect portable code) so this is really clean. I only tested this with CC. I will port it for OP when I will work on heap2. --- flight/CopterControl/System/coptercontrol.c | 15 +++++++++------ .../FreeRTOS/Source/portable/MemMang/heap_1.c | 16 ++++++++++++---- .../link_STM32103CB_CC_Rev1_sections.ld | 12 ++++++++++-- flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S | 15 +++++++++++++++ 4 files changed, 46 insertions(+), 12 deletions(-) diff --git a/flight/CopterControl/System/coptercontrol.c b/flight/CopterControl/System/coptercontrol.c index 060fb3646..e55cf16f9 100644 --- a/flight/CopterControl/System/coptercontrol.c +++ b/flight/CopterControl/System/coptercontrol.c @@ -53,7 +53,7 @@ extern void PIOS_Board_Init(void); * * Initialize PiOS
* Create the "System" task (SystemModInitializein Modules/System/systemmod.c)
-* Start FreeRTOS Scheduler (vTaskStartScheduler)
+* Start FreeRTOS Scheduler (vTaskStartScheduler) (Now handled by caller) * If something goes wrong, blink LED1 and LED2 every 100ms * */ @@ -67,12 +67,15 @@ int main() /* Initialize the system thread */ SystemModInitialize(); - - /* Start the FreeRTOS scheduler */ - vTaskStartScheduler(); - /* If all is well we will never reach here as the scheduler will now be running. */ - /* If we do get here, it will most likely be because we ran out of heap space. */ +#if defined(ARCH_POSIX) || defined(ARCH_WIN32) + /* Start the FreeRTOS scheduler which never returns.*/ + /* only do this for posix and win32 since the caller will take care + * of starting the scheduler and increase the heap and swith back to + * MSP stack. (all arch specific is hidden from here and take care by reset handler) + */ + vTaskStartScheduler(); +#endif return 0; } diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c index a8128f314..638dc220a 100644 --- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c +++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c @@ -84,6 +84,8 @@ static union xRTOS_HEAP } xHeap __attribute__ ((section (".heap"))); static size_t xNextFreeByte = ( size_t ) 0; +static size_t currentTOTAL_HEAP_SISE = configTOTAL_HEAP_SIZE; + /*-----------------------------------------------------------*/ void *pvPortMalloc( size_t xWantedSize ) @@ -102,7 +104,7 @@ void *pvReturn = NULL; vTaskSuspendAll(); { /* Check there is enough room left for the allocation. */ - if( ( ( xNextFreeByte + xWantedSize ) < configTOTAL_HEAP_SIZE ) && + if( ( ( xNextFreeByte + xWantedSize ) < currentTOTAL_HEAP_SISE ) && ( ( xNextFreeByte + xWantedSize ) > xNextFreeByte ) )/* Check for overflow. */ { /* Return the next free byte then increment the index past this @@ -145,8 +147,14 @@ void vPortInitialiseBlocks( void ) size_t xPortGetFreeHeapSize( void ) { - return ( configTOTAL_HEAP_SIZE - xNextFreeByte ); + return ( currentTOTAL_HEAP_SISE - xNextFreeByte ); } +/*-----------------------------------------------------------*/ - - +void xPortIncreaseHeapSize( size_t bytes ) +{ + vTaskSuspendAll(); + currentTOTAL_HEAP_SISE = configTOTAL_HEAP_SIZE + bytes; + xTaskResumeAll(); +} +/*-----------------------------------------------------------*/ diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld index d9e08c336..48e9cc112 100644 --- a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld +++ b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld @@ -1,5 +1,7 @@ -/* This is the size of the stack for early init and for all FreeRTOS IRQs */ +/* This is the size of the stack for all FreeRTOS IRQs */ _irq_stack_size = 0x180; +/* This is the size of the stack for early init: life span is until scheduler starts */ +_init_stack_size = 0x80; /* Stub out these functions since we don't use them anyway */ PROVIDE ( vPortSVCHandler = 0 ) ; @@ -86,11 +88,17 @@ SECTIONS .heap (NOLOAD) : { _sheap = . ; + _sheap_pre_rtos = . ; *(.heap) . = ALIGN(4); _eheap = . ; + _eheap_pre_rtos = . ; + _init_stack_end = . ; + _sheap_post_rtos = . ; + . = . + _init_stack_size ; + . = ALIGN(4); + _eheap_post_rtos = . ; _init_stack_top = . - 4 ; - . = ALIGN(4); } > SRAM . = ALIGN(4); diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S b/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S index 11e865ff8..f35ca0699 100644 --- a/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S +++ b/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S @@ -33,6 +33,8 @@ .global g_pfnVectors .global Default_Handler +.global vTaskStartScheduler +.global xPortIncreaseHeapSize /* start address for the initialization values of the .data section. defined in linker script */ @@ -124,6 +126,19 @@ LoopFillZerobss: bcc FillZerobss /* Call the application's entry point.*/ bl main +/* Switches stack back momentarily to MSP */ + add r0, #0 + msr control, r0 +/* add heap_post_rtos to the heap (if the capability/function exist) */ + ldr r0, = _init_stack_size + bl xPortIncreaseHeapSize +/* Start the FreeRTOS scheduler which never returns.*/ + bl vTaskStartScheduler +/* If all is well we will never reach here as the scheduler will now be running. */ +/* If we do get here, it will most likely be because we ran out of heap space. */ +/* let the Memory manager handler figure it out (at least for now, it will make it more obvious */ + bl MemManage_Handler +/* will never return here for now until mem manager give up */ bx lr .size Reset_Handler, .-Reset_Handler From 748d49817f541bfbcd50c8508278f71e5dc8c464 Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Tue, 14 Jun 2011 00:53:42 -0400 Subject: [PATCH 020/241] OP-532 Save and Load UI elements to new GUIConfigData UABObject Field --- .../src/plugins/config/configccpmwidget.cpp | 32 ++++++++++++++++++- 1 file changed, 31 insertions(+), 1 deletion(-) diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index fd182b031..4a9c7f12c 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -845,6 +845,17 @@ void ConfigccpmWidget::UpdateMixer() **************************/ /* Get the state of the UI check boxes and change the visibility of sliders + typedef struct { + uint SwasplateType:3; + uint FirstServoIndex:2; + uint CorrectionAngle:9; + uint ccpmCollectivePassthroughState:1; + uint ccpmLinkCyclicState:1; + uint ccpmLinkRollState:1; + uint CollectiveChannel:3; + uint padding:12; + } __attribute__((packed)) heliGUISettingsStruct; + */ void ConfigccpmWidget::UpdatCCPMOptionsFromUI() { @@ -859,10 +870,29 @@ void ConfigccpmWidget::UpdatCCPMOptionsFromUI() GUIConfigData.heli.ccpmLinkCyclicState = m_ccpm->ccpmLinkCyclic->isChecked(); GUIConfigData.heli.ccpmLinkRollState = m_ccpm->ccpmLinkRoll->isChecked(); + //correction angle + GUIConfigData.heli.CorrectionAngle = m_ccpm->ccpmCorrectionAngle->value(); + //CollectiveChannel + GUIConfigData.heli.CollectiveChannel = m_ccpm->ccpmCollectiveChannel->currentIndex(); } void ConfigccpmWidget::UpdatCCPMUIFromOptions() { + //swashplate config + m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - (GUIConfigData.heli.SwasplateType +1)); + m_ccpm->ccpmSingleServo->setCurrentIndex(GUIConfigData.heli.FirstServoIndex); + + //ccpm mixing options + m_ccpm->ccpmCollectivePassthrough->setChecked(GUIConfigData.heli.ccpmCollectivePassthroughState); + m_ccpm->ccpmLinkCyclic->setChecked(GUIConfigData.heli.ccpmLinkCyclicState); + m_ccpm->ccpmLinkRoll->setChecked(GUIConfigData.heli.ccpmLinkRollState); + + //correction angle + m_ccpm->ccpmCorrectionAngle->setValue(GUIConfigData.heli.CorrectionAngle); + + //CollectiveChannel + m_ccpm->ccpmCollectiveChannel->setCurrentIndex(GUIConfigData.heli.CollectiveChannel); + } @@ -923,7 +953,7 @@ void ConfigccpmWidget::requestccpmUpdate() obj = dynamic_cast(getObjectManager()->getObject(QString("SystemSettings"))); field = obj->getField(QString("GUIConfigData")); GUIConfigData.UAVObject=field->getValue().toUInt(); - + UpdatCCPMUIFromOptions(); obj = dynamic_cast(objManager->getObject(QString("MixerSettings"))); From 3780de8d3e28b050cd353487f57287de2c8fc01d Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Tue, 14 Jun 2011 20:10:53 -0700 Subject: [PATCH 021/241] OP-423 port to OP (heap2) the previous changes done in CC (heap1) (see c95b1991665944bed634d9cfe7fccb21dbedb167) I managed to test CC with heap2 changes and the init stack claimed back to heap once scheduler starts. the changes of this commit are OP related (just cleanup on CC side): Arch specific stuff (in reset vector) to hide this from portable code: - switch back to MSP stack before starting the scheduler so that the sheduler can use the IRQ stack (when/if needed). - call the C portable function in heap2 to claim some stack back (the number to claim is taken from linker file). - start the scheduler from reset vector (I move this here from main because it make sense to not go back to C (so that I don't need to copy the rolled stack in case the sheduler returns). This make it more clean. - Also I have added the call to the mem manager if sheduler return. that way, we don't reset indefinitely if memory runs out. We will go to this handler and figure things out (right now, it's just looping but at least not rebooting. Probably trap NMI would be better (later improvement). --- flight/OpenPilot/System/openpilot.c | 11 ++++++-- .../FreeRTOS/Source/portable/MemMang/heap_2.c | 17 ++++++++++--- .../STM32F10x/link_STM3210E_OP_sections.ld | 10 +++++++- .../PiOS/STM32F10x/startup_stm32f10x_HD_OP.S | 25 ++++++++++++++----- .../PiOS/STM32F10x/startup_stm32f10x_MD_CC.S | 2 +- 5 files changed, 52 insertions(+), 13 deletions(-) diff --git a/flight/OpenPilot/System/openpilot.c b/flight/OpenPilot/System/openpilot.c index be50653f7..3f89f2df6 100644 --- a/flight/OpenPilot/System/openpilot.c +++ b/flight/OpenPilot/System/openpilot.c @@ -88,7 +88,14 @@ int main() /* Initialize the system thread */ SystemModInitialize(); - /* Start the FreeRTOS scheduler */ + /* only do this for posix and win32 since the caller will take care + * of starting the scheduler and increase the heap and swith back to + * MSP stack. (all arch specific is hidden from here and take care by reset handler) + * LED blinking in case of scheduler returning back should be handled in NMI or other + * appropriate handlers like mem manager. + */ +#if defined(ARCH_POSIX) || defined(ARCH_WIN32) + /* Start the FreeRTOS scheduler which never returns.*/ vTaskStartScheduler(); /* If all is well we will never reach here as the scheduler will now be running. */ @@ -100,7 +107,7 @@ int main() PIOS_LED_Toggle(LED2); PIOS_DELAY_WaitmS(100); } - +#endif return 0; } diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c index 0f8097561..aec6b41c6 100644 --- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c +++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c @@ -101,6 +101,7 @@ static xBlockLink xStart, xEnd; /* Keeps track of the number of free bytes remaining, but says nothing about fragmentation. */ static size_t xFreeBytesRemaining = configTOTAL_HEAP_SIZE; +static size_t currentTOTAL_HEAP_SISE = configTOTAL_HEAP_SIZE; /* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */ @@ -140,13 +141,13 @@ xBlockLink *pxFirstFreeBlock; \ xStart.xBlockSize = ( size_t ) 0; \ \ /* xEnd is used to mark the end of the list of free blocks. */ \ - xEnd.xBlockSize = configTOTAL_HEAP_SIZE; \ + xEnd.xBlockSize = currentTOTAL_HEAP_SISE; \ xEnd.pxNextFreeBlock = NULL; \ \ /* To start with there is a single free block that is sized to take up the \ entire heap space. */ \ pxFirstFreeBlock = ( void * ) xHeap.ucHeap; \ - pxFirstFreeBlock->xBlockSize = configTOTAL_HEAP_SIZE; \ + pxFirstFreeBlock->xBlockSize = currentTOTAL_HEAP_SISE; \ pxFirstFreeBlock->pxNextFreeBlock = &xEnd; \ } /*-----------------------------------------------------------*/ @@ -181,7 +182,7 @@ void *pvReturn = NULL; } } - if( ( xWantedSize > 0 ) && ( xWantedSize < configTOTAL_HEAP_SIZE ) ) + if( ( xWantedSize > 0 ) && ( xWantedSize < currentTOTAL_HEAP_SISE ) ) { /* Blocks are stored in byte order - traverse the list from the start (smallest) block until one of adequate size is found. */ @@ -276,3 +277,13 @@ void vPortInitialiseBlocks( void ) { /* This just exists to keep the linker quiet. */ } + +void xPortIncreaseHeapSize( size_t bytes ) +{ + vTaskSuspendAll(); + currentTOTAL_HEAP_SISE = configTOTAL_HEAP_SIZE + bytes; + xEnd.xBlockSize = currentTOTAL_HEAP_SISE; + xFreeBytesRemaining += bytes; + xTaskResumeAll(); +} +/*-----------------------------------------------------------*/ diff --git a/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld b/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld index 12059ac1e..e3919e295 100644 --- a/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld +++ b/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld @@ -1,5 +1,7 @@ /* This is the size of the stack for early init and for all FreeRTOS IRQs */ _irq_stack_size = 0x400; +/* This is the size of the stack for early init: life span is until scheduler starts */ +_init_stack_size = 0x400; /* Check valid alignment for VTOR */ ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table"); @@ -264,11 +266,17 @@ SECTIONS .heap (NOLOAD) : { _sheap = . ; + _sheap_pre_rtos = . ; *(.heap) . = ALIGN(4); _eheap = . ; + _eheap_pre_rtos = . ; + _init_stack_end = . ; + _sheap_post_rtos = . ; + . = . + _init_stack_size ; + . = ALIGN(4); + _eheap_post_rtos = . ; _init_stack_top = . - 4 ; - . = ALIGN(4); } > RAM PROVIDE ( end = _ebss ); diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S b/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S index 7563e4c0d..a734143d8 100644 --- a/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S +++ b/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S @@ -36,6 +36,8 @@ .global g_pfnVectors .global SystemInit_ExtMemCtl_Dummy .global Default_Handler +.global vTaskStartScheduler +.global xPortIncreaseHeapSize /* start address for the initialization values of the .data section. defined in linker script */ @@ -71,7 +73,6 @@ Reset_Handler: /* restore original stack pointer */ LDR r0, =_irq_stack_top MSR msp, r0 - LDR r0, =_init_stack_top MSR psp, r0 /* DO @@ -94,7 +95,6 @@ LoopFillIRQStack: ldr r3, = _irq_stack_top cmp r2, r3 bcc FillIRQStack - /* Copy the data segment initializers from flash to SRAM */ movs r1, #0 b LoopCopyDataInit @@ -124,7 +124,20 @@ LoopFillZerobss: bcc FillZerobss /* Call the application's entry point.*/ bl main - bx lr +/* Switches stack back momentarily to MSP */ + add r0, #0 + msr control, r0 +/* add heap_post_rtos to the heap (if the capability/function exist) */ + ldr r0, = _init_stack_size + bl xPortIncreaseHeapSize +/* Start the FreeRTOS scheduler which never returns.*/ + bl vTaskStartScheduler +/* If all is well we will never reach here as the scheduler will now be running. */ +/* If we do get here, it will most likely be because we ran out of heap space. */ +/* let the Memory manager handler figure it out (at least for now, it will make it more obvious */ + bl MemManage_Handler +/* will never return here for now until mem manager give up */ + bx lr .size Reset_Handler, .-Reset_Handler /** @@ -296,13 +309,13 @@ g_pfnVectors: .weak NMI_Handler .thumb_set NMI_Handler,Default_Handler - + .weak HardFault_Handler .thumb_set HardFault_Handler,Default_Handler - + .weak MemManage_Handler .thumb_set MemManage_Handler,Default_Handler - + .weak BusFault_Handler .thumb_set BusFault_Handler,Default_Handler diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S b/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S index f35ca0699..a935c64fc 100644 --- a/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S +++ b/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S @@ -168,7 +168,7 @@ Infinite_Loop: g_pfnVectors: - .word _irq_stack_top /*_irq_stack_top */ + .word _irq_stack_top .word Reset_Handler .word NMI_Handler .word HardFault_Handler From 22269b658df6b0b5ab5e5bc5a88ba47b4ec4038c Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Wed, 15 Jun 2011 00:39:13 -0400 Subject: [PATCH 022/241] OP-532 improved UI layout for new controls --- .../openpilotgcs/src/plugins/config/ccpm.ui | 1589 +++++++++-------- 1 file changed, 851 insertions(+), 738 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/ccpm.ui b/ground/openpilotgcs/src/plugins/config/ccpm.ui index 4242e1ff8..8f93a7787 100644 --- a/ground/openpilotgcs/src/plugins/config/ccpm.ui +++ b/ground/openpilotgcs/src/plugins/config/ccpm.ui @@ -82,14 +82,23 @@ Basic settings - + + 3 + + + 0 + + + 3 + + 3 3 - + @@ -98,6 +107,17 @@ 0
+ + + 190 + 16777215 + + + + + 11 + + Outputs @@ -114,7 +134,7 @@ - + 0 0 @@ -127,16 +147,21 @@ - 85 + 100 16777215 + + + 11 + + - + 0 0 @@ -149,10 +174,15 @@ - 85 + 100 16777215 + + + 11 + + @@ -211,11 +241,22 @@ - + 0 0 + + + 190 + 16777215 + + + + + 11 + + Swashplate Outputs @@ -263,7 +304,7 @@ true
- + 0 0 @@ -276,7 +317,7 @@ - 85 + 100 16777215 @@ -298,7 +339,7 @@
- 85 + 100 16777215 @@ -310,7 +351,7 @@ true - + 0 0 @@ -323,7 +364,7 @@ - 85 + 100 16777215 @@ -357,7 +398,7 @@ - + 0 0 @@ -370,7 +411,7 @@ - 85 + 100 16777215 @@ -437,7 +478,7 @@ - 85 + 100 16777215 @@ -513,6 +554,17 @@ 0 + + + 190 + 16777215 + + + + + 11 + + Swashplate Servo Angles @@ -687,7 +739,10 @@ - CorrectionAngle + Correction Angle + + + true @@ -829,6 +884,17 @@ 0 + + + 190 + 16777215 + + + + + 11 + + CCPM Options @@ -842,14 +908,14 @@ 3 - + Collective Pass through - + Link Roll/Pitch @@ -859,7 +925,7 @@ - + Link Cyclic/Collective @@ -869,10 +935,10 @@ - + - QLayout::SetMinimumSize + QLayout::SetNoConstraint @@ -897,6 +963,11 @@ 16777215 + + + 12 + + Collective Ch @@ -911,20 +982,20 @@ true - + 0 0 - 85 + 90 0 - 85 + 100 16777215 @@ -935,300 +1006,29 @@
+ + + + Qt::Vertical + + + + 20 + 40 + + + +
- - - - true + + + + 0 - - - 0 - 0 - + + 0 - - - 50 - 100 - - - - - 50 - 600 - - - - REVO - - - - 0 - - - 3 - - - - - false - - - - 7 - - - - 100% - - - Qt::AlignCenter - - - - - - - - - Qt::Horizontal - - - - 5 - 25 - - - - - - - - true - - - - 0 - 0 - - - - - 0 - 100 - - - - 100 - - - 5 - - - Qt::Vertical - - - - - - - Qt::Horizontal - - - - 5 - 25 - - - - - - - - - - false - - - - 7 - - - - 0% - - - Qt::AlignCenter - - - - - - - - - - - - - true - - - - 0 - 0 - - - - - 50 - 100 - - - - - 50 - 600 - - - - - 8 - - - - CCPM - - - Qt::AlignCenter - - - - 0 - - - 3 - - - - - true - - - - 7 - - - - Collective - - - true - - - Qt::AlignCenter - - - - - - - - - Qt::Horizontal - - - - 5 - 25 - - - - - - - - true - - - - 0 - 0 - - - - - 0 - 100 - - - - 100 - - - 5 - - - 50 - - - Qt::Vertical - - - - - - - Qt::Horizontal - - - - 5 - 25 - - - - - - - - - - true - - - - 7 - - - - Cyclic - - - Qt::AlignCenter - - - - - - - 100 - - - 5 - - - 50 - - - - - - - - @@ -1261,6 +1061,11 @@ 200 + + + 11 + + Swashplate Layout @@ -1371,318 +1176,298 @@ - - - - true - - - - 0 - 0 - - - - - 50 - 100 - - - - - 50 - 600 - - - - - 8 - - - - Cyclic - - - Qt::AlignCenter - - - false - - - - 0 - - - 3 - - - - - - - Qt::Horizontal - - - - 5 - 25 - - - - - - - - true - - - - 0 - 0 - - - - - 0 - 100 - - - - 100 - - - 5 - - - 50 - - - Qt::Vertical - - - - - - - Qt::Horizontal - - - - 5 - 25 - - - - - - - - - - 100 - - - 5 - - - 50 - - - - - - - - - - true - - - - 0 - 0 - - - - - 50 - 100 - - - - - 50 - 600 - - - - - 8 - - - - Roll - - - Qt::AlignCenter - - - - 0 - - - 3 - - - - - - - Qt::Horizontal - - - - 5 - 25 - - - - - - - - true - - - - 0 - 0 - - - - - 0 - 100 - - - - 100 - - - 5 - - - 50 - - - Qt::Vertical - - - - - - - Qt::Horizontal - - - - 5 - 25 - - - - - - - - - - 100 - - - 5 - - - 50 - - - - - - - - - true + + + QLayout::SetNoConstraint - - - 0 - 0 - + + 3 - - - 50 - 100 - + + 3 - - - 50 - 600 - - - - - 8 - - - - Collective - - - Qt::AlignCenter - - - - 0 - - - 3 - - - + + + + true + + + + 0 + 0 + + + + + 50 + 100 + + + + + 50 + 600 + + + + + 8 + + + + REVO + + + + 0 + + + 3 + - - - Qt::Horizontal + + + false - - - 5 - 25 - + + + 7 + - + + 100% + + + Qt::AlignCenter + + - + + + + + Qt::Horizontal + + + + 5 + 25 + + + + + + + + true + + + + 0 + 0 + + + + + 0 + 100 + + + + 100 + + + 5 + + + Qt::Vertical + + + + + + + Qt::Horizontal + + + + 5 + 25 + + + + + + + + + + false + + + + 7 + + + + 0% + + + Qt::AlignCenter + + + + + + + + + + + + + true + + + + 0 + 0 + + + + + 50 + 100 + + + + + 50 + 600 + + + + + 8 + + + + CCPM + + + Qt::AlignCenter + + + + 0 + + + 3 + + + true - - - 0 - 0 - + + + 7 + - - - 0 - 100 - + + Collective + + true + + + Qt::AlignCenter + + + + + + + + + Qt::Horizontal + + + + 5 + 25 + + + + + + + + true + + + + 0 + 0 + + + + + 0 + 100 + + + + 100 + + + 5 + + + 50 + + + Qt::Vertical + + + + + + + Qt::Horizontal + + + + 5 + 25 + + + + + + + + + + true + + + + 7 + + + + Cyclic + + + Qt::AlignCenter + + + + + 100 @@ -1692,115 +1477,115 @@ 50 - - Qt::Vertical - - - - - Qt::Horizontal - - - - 5 - 25 - - - - - - - - - 100 + + + + + + true + + + + 0 + 0 + + + + + 50 + 100 + + + + + 50 + 600 + + + + + 8 + + + + Collective + + + Qt::AlignCenter + + + + 0 - - 5 + + 3 - - 50 - - - - -
-
- - - - true - - - - 0 - 0 - - - - - 50 - 100 - - - - - 50 - 600 - - - - - 8 - - - - Pitch - - - Qt::AlignCenter - - - - 0 - - - 3 - - - - - - Qt::Horizontal - - - - 5 - 25 - - - + + + + + Qt::Horizontal + + + + 5 + 25 + + + + + + + + true + + + + 0 + 0 + + + + + 0 + 100 + + + + 100 + + + 5 + + + 50 + + + Qt::Vertical + + + + + + + Qt::Horizontal + + + + 5 + 25 + + + + + - - - true - - - - 0 - 0 - - - - - 0 - 100 - - + 100 @@ -1810,41 +1595,369 @@ 50 - - Qt::Vertical + + + + + + + + + true + + + + 0 + 0 + + + + + 50 + 100 + + + + + 50 + 600 + + + + + 8 + + + + Cyclic + + + Qt::AlignCenter + + + false + + + + 0 + + + 3 + + + + + + + Qt::Horizontal + + + + 5 + 25 + + + + + + + + true + + + + 0 + 0 + + + + + 0 + 100 + + + + 100 + + + 5 + + + 50 + + + Qt::Vertical + + + + + + + Qt::Horizontal + + + + 5 + 25 + + + + + + + + + + 100 + + + 5 + + + 50 + + + + + + + true + + + + 0 + 0 + + + + + 50 + 100 + + + + + 50 + 600 + + + + + 8 + + + + Pitch + + + Qt::AlignCenter + + + + 0 + + + 3 + - - - Qt::Horizontal + + + + + Qt::Horizontal + + + + 5 + 25 + + + + + + + + true + + + + 0 + 0 + + + + + 0 + 100 + + + + 100 + + + 5 + + + 50 + + + Qt::Vertical + + + + + + + Qt::Horizontal + + + + 5 + 25 + + + + + + + + + + 100 - - - 5 - 25 - + + 5 - + + 50 + + - - - - - 100 + + + + + + true + + + + 0 + 0 + + + + + 50 + 100 + + + + + 50 + 600 + + + + + 8 + + + + Roll + + + Qt::AlignCenter + + + + 0 - - 5 + + 3 - - 50 - - - - - + + + + + + Qt::Horizontal + + + + 5 + 25 + + + + + + + + true + + + + 0 + 0 + + + + + 0 + 100 + + + + 100 + + + 5 + + + 50 + + + Qt::Vertical + + + + + + + Qt::Horizontal + + + + 5 + 25 + + + + + + + + + + 100 + + + 5 + + + 50 + + + + + + + From ab4e15e9aa353c68af974cc15867d0a112f59755 Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Tue, 14 Jun 2011 22:13:30 -0700 Subject: [PATCH 023/241] OP-423 also claim (at run-time) the remaining un-used bytes (between heap and end of RAM) that are for data growth (needed at compile time). CAREFULL: the heap section need to be the last section in RAM to avoid overwritting data... Tested with GCC 4.5.2 this gives 1K of free bytes usable in heap right away (including the 200 bytes saved just by using the new gcc). This does not include any code re-org yet! --- flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld | 5 +++++ flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S | 7 +++++++ 2 files changed, 12 insertions(+) diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld index 48e9cc112..99657c2d0 100644 --- a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld +++ b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld @@ -101,6 +101,11 @@ SECTIONS _init_stack_top = . - 4 ; } > SRAM + +/* keep the heap section at the end of the SRAM */ +/* this will allow to claim the remaining bytes not used +/* at run time! (done by the reset vector). + . = ALIGN(4); _end = . ; diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S b/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S index a935c64fc..f565cf6b8 100644 --- a/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S +++ b/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S @@ -49,6 +49,7 @@ defined in linker script */ .word _ebss .equ BootRAM, 0xF108F85F +.equ _eram, 0x20005000 /** * @brief This is the code that gets called when the processor first * starts execution following a reset event. Only the absolutely @@ -130,7 +131,13 @@ LoopFillZerobss: add r0, #0 msr control, r0 /* add heap_post_rtos to the heap (if the capability/function exist) */ +/* Also claim the unused memory (between end of heap to end of memory */ +/* CAREFULL: the heap section must be the last section in RAM in order this to work */ ldr r0, = _init_stack_size + ldr r1, = _eheap_post_rtos + ldr r2, = _eram + subs r2, r2, r1 + adds r0, r0, r2 bl xPortIncreaseHeapSize /* Start the FreeRTOS scheduler which never returns.*/ bl vTaskStartScheduler From d8201ec45bd1dba1d4110ddde84a6060ebbdb858 Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Mon, 13 Jun 2011 03:04:49 +0300 Subject: [PATCH 024/241] sbus: provide a stub based on Spektrum driver (for CC only) --- flight/CopterControl/Makefile | 5 + flight/CopterControl/System/inc/pios_config.h | 2 + flight/CopterControl/System/pios_board.c | 103 ++++++++ flight/Modules/ManualControl/manualcontrol.c | 2 + flight/OpenPilot/Makefile | 5 + flight/OpenPilot/System/inc/pios_config.h | 2 + flight/OpenPilot/System/openpilot.c | 3 + flight/OpenPilot/System/pios_board.c | 4 + flight/PiOS/Boards/STM32103CB_CC_Rev1.h | 6 + flight/PiOS/Boards/STM3210E_OP.h | 6 + flight/PiOS/Common/pios_hcsr04.c | 4 +- flight/PiOS/STM32F10x/pios_rtc.c | 2 +- flight/PiOS/STM32F10x/pios_sbus.c | 227 ++++++++++++++++++ flight/PiOS/STM32F10x/pios_spektrum.c | 4 +- flight/PiOS/inc/pios_sbus.h | 46 ++++ flight/PiOS/inc/pios_sbus_priv.h | 57 +++++ flight/PiOS/pios.h | 1 + 17 files changed, 474 insertions(+), 5 deletions(-) create mode 100644 flight/PiOS/STM32F10x/pios_sbus.c create mode 100644 flight/PiOS/inc/pios_sbus.h create mode 100644 flight/PiOS/inc/pios_sbus_priv.h diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index 21fa59f97..96d3aefc4 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -46,6 +46,7 @@ ENABLE_DEBUG_PINS ?= NO ENABLE_AUX_UART ?= NO USE_SPEKTRUM ?= NO +USE_SBUS ?= NO USE_I2C ?= NO @@ -184,6 +185,7 @@ SRC += $(PIOSSTM32F10X)/pios_spi.c SRC += $(PIOSSTM32F10X)/pios_ppm.c SRC += $(PIOSSTM32F10X)/pios_pwm.c SRC += $(PIOSSTM32F10X)/pios_spektrum.c +SRC += $(PIOSSTM32F10X)/pios_sbus.c SRC += $(PIOSSTM32F10X)/pios_debug.c SRC += $(PIOSSTM32F10X)/pios_gpio.c SRC += $(PIOSSTM32F10X)/pios_exti.c @@ -381,6 +383,9 @@ endif ifeq ($(USE_SPEKTRUM), YES) CDEFS += -DUSE_SPEKTRUM endif +ifeq ($(USE_SBUS), YES) +CDEFS += -DUSE_SBUS +endif ifeq ($(USE_I2C), YES) CDEFS += -DUSE_I2C diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h index 98c900387..ab9251b12 100644 --- a/flight/CopterControl/System/inc/pios_config.h +++ b/flight/CopterControl/System/inc/pios_config.h @@ -47,6 +47,8 @@ #if defined(USE_SPEKTRUM) #define PIOS_INCLUDE_SPEKTRUM +#elif defined(USE_SBUS) +#define PIOS_INCLUDE_SBUS #else #define PIOS_INCLUDE_GPS //#define PIOS_INCLUDE_PPM diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index 53dd5b505..ab84ba5c2 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -383,6 +383,95 @@ void PIOS_SUPV_irq_handler() { } #endif /* PIOS_INCLUDE_SPEKTRUM */ +#if defined(PIOS_INCLUDE_SBUS) +/* + * SBUS USART + */ +void PIOS_USART_sbus_irq_handler(void); +void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_sbus_irq_handler"))); +const struct pios_usart_cfg pios_usart_sbus_cfg = { + .regs = USART3, + .init = { + #if defined (PIOS_COM_SBUS_BAUDRATE) + .USART_BaudRate = PIOS_COM_SBUS_BAUDRATE, + #else + .USART_BaudRate = 115200, + #endif + .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, + }, + .irq = { + .handler = PIOS_USART_sbus_irq_handler, + .init = { + .NVIC_IRQChannel = USART3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_IPU, + }, + }, + .tx = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_IN_FLOATING, + }, + }, +}; + +static uint32_t pios_usart_sbus_id; +void PIOS_USART_sbus_irq_handler(void) +{ + SBUS_IRQHandler(pios_usart_sbus_id); +} + +#include +void RTC_IRQHandler(); +void RTC_IRQHandler() __attribute__ ((alias ("PIOS_SUPV_irq_handler"))); +const struct pios_sbus_cfg pios_sbus_cfg = { + .pios_usart_sbus_cfg = &pios_usart_sbus_cfg, + .gpio_init = { //used for bind feature + .GPIO_Mode = GPIO_Mode_Out_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + .remap = 0, + .irq = { + .handler = RTC_IRQHandler, + .init = { + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .port = GPIOB, + .pin = GPIO_Pin_11, +}; + +void PIOS_SUPV_irq_handler() { + if (RTC_GetITStatus(RTC_IT_SEC)) + { + /* Call the right handler */ + PIOS_SBUS_irq_handler(pios_usart_sbus_id); + + /* Wait until last write operation on RTC registers has finished */ + RTC_WaitForLastTask(); + /* Clear the RTC Second interrupt */ + RTC_ClearITPendingBit(RTC_IT_SEC); + } +} +#endif /* PIOS_INCLUDE_SBUS */ + static uint32_t pios_usart_telem_rf_id; void PIOS_USART_telem_irq_handler(void) { @@ -659,6 +748,7 @@ uint32_t pios_com_telem_rf_id; uint32_t pios_com_telem_usb_id; uint32_t pios_com_gps_id; uint32_t pios_com_spektrum_id; +uint32_t pios_com_sbus_id; /** * PIOS_Board_Init() @@ -691,6 +781,19 @@ void PIOS_Board_Init(void) { PIOS_DEBUG_Assert(0); } #endif + +#if defined(PIOS_INCLUDE_SBUS) + /* SBUS init must come before comms */ + PIOS_SBUS_Init(); + + if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_cfg)) { + PIOS_DEBUG_Assert(0); + } + if (PIOS_COM_Init(&pios_com_sbus_id, &pios_usart_com_driver, pios_usart_sbus_id)) { + PIOS_DEBUG_Assert(0); + } +#endif + /* Initialize UAVObject libraries */ EventDispatcherInitialize(); UAVObjInitialize(); diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c index 63543c67a..098c7a491 100644 --- a/flight/Modules/ManualControl/manualcontrol.c +++ b/flight/Modules/ManualControl/manualcontrol.c @@ -213,6 +213,8 @@ static void manualControlTask(void *parameters) cmd.Channel[n] = PIOS_PPM_Get(n); #elif defined(PIOS_INCLUDE_SPEKTRUM) cmd.Channel[n] = PIOS_SPEKTRUM_Get(n); +#elif defined(PIOS_INCLUDE_SBUS) + cmd.Channel[n] = PIOS_SBUS_Get(n); #endif scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]); } diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile index a316f4cc3..68ad6f561 100644 --- a/flight/OpenPilot/Makefile +++ b/flight/OpenPilot/Makefile @@ -44,6 +44,7 @@ ENABLE_DEBUG_PINS ?= NO ENABLE_AUX_UART ?= NO USE_SPEKTRUM ?= NO +USE_SBUS ?= NO # Set to YES when using Code Sourcery toolchain @@ -170,6 +171,7 @@ SRC += $(PIOSSTM32F10X)/pios_spi.c SRC += $(PIOSSTM32F10X)/pios_ppm.c SRC += $(PIOSSTM32F10X)/pios_pwm.c SRC += $(PIOSSTM32F10X)/pios_spektrum.c +SRC += $(PIOSSTM32F10X)/pios_sbus.c SRC += $(PIOSSTM32F10X)/pios_debug.c SRC += $(PIOSSTM32F10X)/pios_gpio.c SRC += $(PIOSSTM32F10X)/pios_exti.c @@ -366,6 +368,9 @@ endif ifeq ($(USE_SPEKTRUM), YES) CDEFS += -DUSE_SPEKTRUM endif +ifeq ($(USE_SBUS), YES) +CDEFS += -DUSE_SBUS +endif # Place project-specific -D and/or -U options for diff --git a/flight/OpenPilot/System/inc/pios_config.h b/flight/OpenPilot/System/inc/pios_config.h index f3fe8671b..939ee73b6 100644 --- a/flight/OpenPilot/System/inc/pios_config.h +++ b/flight/OpenPilot/System/inc/pios_config.h @@ -44,6 +44,8 @@ #if defined(USE_SPEKTRUM) #define PIOS_INCLUDE_SPEKTRUM +#elif defined(USE_SBUS) +#define PIOS_INCLUDE_SBUS #else //#define PIOS_INCLUDE_PPM #define PIOS_INCLUDE_PWM diff --git a/flight/OpenPilot/System/openpilot.c b/flight/OpenPilot/System/openpilot.c index be50653f7..04ee39696 100644 --- a/flight/OpenPilot/System/openpilot.c +++ b/flight/OpenPilot/System/openpilot.c @@ -153,6 +153,9 @@ static void TaskTesting(void *pvParameters) #if defined(PIOS_INCLUDE_SPEKTRUM) PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u\r", PIOS_SPEKTRUM_Get(0), PIOS_SPEKTRUM_Get(1), PIOS_SPEKTRUM_Get(2), PIOS_SPEKTRUM_Get(3), PIOS_SPEKTRUM_Get(4), PIOS_SPEKTRUM_Get(5), PIOS_SPEKTRUM_Get(6), PIOS_SPEKTRUM_Get(7)); #endif +#if defined(PIOS_INCLUDE_SBUS) + PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u\r", PIOS_SBUS_Get(0), PIOS_SBUS_Get(1), PIOS_SBUS_Get(2), PIOS_SBUS_Get(3), PIOS_SBUS_Get(4), PIOS_SBUS_Get(5), PIOS_SBUS_Get(6), PIOS_SBUS_Get(7)); +#endif #if defined(PIOS_INCLUDE_PWM) PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u uS\r", PIOS_PWM_Get(0), PIOS_PWM_Get(1), PIOS_PWM_Get(2), PIOS_PWM_Get(3), PIOS_PWM_Get(4), PIOS_PWM_Get(5), PIOS_PWM_Get(6), PIOS_PWM_Get(7)); #endif diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c index 14be197e8..52a059777 100644 --- a/flight/OpenPilot/System/pios_board.c +++ b/flight/OpenPilot/System/pios_board.c @@ -539,6 +539,10 @@ void PIOS_SUPV_irq_handler() { } #endif /* PIOS_COM_SPEKTRUM */ +#if defined(PIOS_INCLUDE_SBUS) +#error PIOS_INCLUDE_SBUS not implemented +#endif /* PIOS_INCLUDE_SBUS */ + static uint32_t pios_usart_telem_rf_id; void PIOS_USART_telem_irq_handler(void) { diff --git a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h index 16e58b5c2..e80cb960c 100644 --- a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h +++ b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h @@ -161,6 +161,12 @@ extern uint32_t pios_com_spektrum_id; #define PIOS_COM_SPEKTRUM (pios_com_spektrum_id) #endif +#ifdef PIOS_INCLUDE_SBUS +#define PIOS_COM_SBUS_BAUDRATE 115200 +extern uint32_t pios_com_sbus_id; +#define PIOS_COM_SBUS (pios_com_sbus_id) +#endif + //------------------------- // ADC // PIOS_ADC_PinGet(0) = Gyro Z diff --git a/flight/PiOS/Boards/STM3210E_OP.h b/flight/PiOS/Boards/STM3210E_OP.h index c042184ea..e82858fb1 100644 --- a/flight/PiOS/Boards/STM3210E_OP.h +++ b/flight/PiOS/Boards/STM3210E_OP.h @@ -173,6 +173,12 @@ extern uint32_t pios_com_spektrum_id; #define PIOS_COM_SPEKTRUM (pios_com_spektrum_id) #endif +#ifdef PIOS_INCLUDE_SBUS +#define PIOS_COM_SBUS_BAUDRATE 100000 +extern uint32_t pios_com_sbus_id; +#define PIOS_COM_SBUS (pios_com_sbus_id) +#endif + //------------------------- // Delay Timer //------------------------- diff --git a/flight/PiOS/Common/pios_hcsr04.c b/flight/PiOS/Common/pios_hcsr04.c index aa6dece83..6db1bc401 100644 --- a/flight/PiOS/Common/pios_hcsr04.c +++ b/flight/PiOS/Common/pios_hcsr04.c @@ -32,8 +32,8 @@ #include "pios.h" #if defined(PIOS_INCLUDE_HCSR04) -#if !defined(PIOS_INCLUDE_SPEKTRUM) -#error Only supported with spektrum interface! +#if !(defined(PIOS_INCLUDE_SPEKTRUM) || defined(PIOS_INCLUDE_SBUS)) +#error Only supported with Spektrum or S.Bus interface! #endif /* Local Variables */ diff --git a/flight/PiOS/STM32F10x/pios_rtc.c b/flight/PiOS/STM32F10x/pios_rtc.c index 98d3160c1..2a0d55915 100644 --- a/flight/PiOS/STM32F10x/pios_rtc.c +++ b/flight/PiOS/STM32F10x/pios_rtc.c @@ -49,7 +49,7 @@ void PIOS_RTC_Init() RTC_WaitForSynchro(); RTC_WaitForLastTask(); -#if defined(PIOS_INCLUDE_SPEKTRUM) +#if defined(PIOS_INCLUDE_SPEKTRUM) || defined(PIOS_INCLUDE_SBUS) /* Enable the RTC Second interrupt */ RTC_ITConfig( RTC_IT_SEC, ENABLE ); /* Wait until last write operation on RTC registers has finished */ diff --git a/flight/PiOS/STM32F10x/pios_sbus.c b/flight/PiOS/STM32F10x/pios_sbus.c new file mode 100644 index 000000000..5862c527a --- /dev/null +++ b/flight/PiOS/STM32F10x/pios_sbus.c @@ -0,0 +1,227 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_SBUS Futaba S.Bus receiver functions + * @brief Code to read Futaba S.Bus input + * @{ + * + * @file pios_sbus.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011. + * @brief USART commands. Inits USARTs, controls USARTs & Interrupt handlers. (STM32 dependent) + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +/* Project Includes */ +#include "pios.h" +#include "pios_sbus_priv.h" + +#if defined(PIOS_INCLUDE_SBUS) +#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_SPEKTRUM) +#error "Both SBUS and either of PWM or SPEKTRUM inputs defined, choose only one" +#endif +#if defined(PIOS_COM_AUX) +#error "AUX com cannot be used with SBUS" +#endif + +/** + * @Note Framesyncing: + * The code resets the watchdog timer whenever a single byte is received, so what watchdog code + * is never called if regularly getting bytes. + * RTC timer is running @625Hz, supervisor timer has divider 5 so frame sync comes every 1/125Hz=8ms. + * Good for both 11ms and 22ms framecycles + */ + +/* Global Variables */ + +/* Local Variables */ +static uint16_t CaptureValue[12],CaptureValueTemp[12]; +static uint8_t prev_byte = 0xFF, sync = 0, bytecount = 0, datalength=0, frame_error=0, byte_array[20] = { 0 }; +uint8_t sync_of = 0; +uint16_t supv_timer=0; + +/** +* Bind and Initialise S.Bus receiver +*/ +void PIOS_SBUS_Init(void) +{ + /* Init RTC supervisor timer interrupt */ + NVIC_InitTypeDef NVIC_InitStructure; + NVIC_InitStructure.NVIC_IRQChannel = RTC_IRQn; + NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID; + NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; + NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; + NVIC_Init(&NVIC_InitStructure); + /* Init RTC clock */ + PIOS_RTC_Init(); +} + +/** +* Get the value of an input channel +* \param[in] Channel Number of the channel desired +* \output -1 Channel not available +* \output >0 Channel value +*/ +int16_t PIOS_SBUS_Get(int8_t Channel) +{ + /* Return error if channel not available */ + if (Channel >= 12) { + return -1; + } + return CaptureValue[Channel]; +} + +/** +* Decodes a byte +* \param[in] b byte which should be sbus decoded +* \return 0 if no error +* \return -1 if USART not available +* \return -2 if buffer full (retry) +* \note Applications shouldn't call these functions directly +*/ +int32_t PIOS_SBUS_Decode(uint8_t b) +{ + static uint16_t channel = 0; /*, sync_word = 0;*/ + uint8_t channeln = 0, frame = 0; + uint16_t data = 0; + byte_array[bytecount] = b; + bytecount++; + if (sync == 0) { + //sync_word = (prev_byte << 8) + b; +#if 0 + /* maybe create object to show this data */ + if(bytecount==1) + { + /* record losscounter into channel8 */ + CaptureValueTemp[7]=b; + /* instant write */ + CaptureValue[7]=b; + } +#endif + /* Known sync bytes, 0x01, 0x02, 0x12 */ + if (bytecount == 2) { + if (b == 0x01) { + datalength=0; // 10bit + //frames=1; + sync = 1; + bytecount = 2; + } + else if(b == 0x02) { + datalength=0; // 10bit + //frames=2; + sync = 1; + bytecount = 2; + } + else if(b == 0x12) { + datalength=1; // 11bit + //frames=2; + sync = 1; + bytecount = 2; + } + else + { + bytecount = 0; + } + } + } else { + if ((bytecount % 2) == 0) { + channel = (prev_byte << 8) + b; + frame = channel >> 15; + channeln = (channel >> (10+datalength)) & 0x0F; + data = channel & (0x03FF+(0x0400*datalength)); + if(channeln==0 && data<10) // discard frame if throttle misbehaves + { + frame_error=1; + } + if (channeln < 12 && !frame_error) + CaptureValueTemp[channeln] = data; + } + } + if (bytecount == 16) { + //PIOS_COM_SendBufferNonBlocking(PIOS_COM_TELEM_RF,byte_array,16); //00 2c 58 84 b0 dc ff + bytecount = 0; + sync = 0; + sync_of = 0; + if (!frame_error) + { + for(int i=0;i<12;i++) + { + CaptureValue[i] = CaptureValueTemp[i]; + } + } + frame_error=0; + } + prev_byte = b; + return 0; +} + +/* Interrupt handler for USART */ +void SBUS_IRQHandler(uint32_t usart_id) { + /* by always reading DR after SR make sure to clear any error interrupts */ + volatile uint16_t sr = pios_sbus_cfg.pios_usart_sbus_cfg->regs->SR; + volatile uint8_t b = pios_sbus_cfg.pios_usart_sbus_cfg->regs->DR; + + /* check if RXNE flag is set */ + if (sr & USART_SR_RXNE) { + if (PIOS_SBUS_Decode(b) < 0) { + /* Here we could add some error handling */ + } + } + + if (sr & USART_SR_TXE) { // check if TXE flag is set + /* Disable TXE interrupt (TXEIE=0) */ + USART_ITConfig(pios_sbus_cfg.pios_usart_sbus_cfg->regs, USART_IT_TXE, DISABLE); + } + /* byte arrived so clear "watchdog" timer */ + supv_timer=0; +} + +/** + *@brief This function is called between frames and when a sbus word hasnt been decoded for too long + *@brief clears the channel values + */ +void PIOS_SBUS_irq_handler() { + /* 125hz */ + supv_timer++; + if(supv_timer > 5) { + /* sync between frames */ + sync = 0; + bytecount = 0; + prev_byte = 0xFF; + frame_error = 0; + sync_of++; + /* watchdog activated after 100ms silence */ + if (sync_of > 12) { + /* signal lost */ + sync_of = 0; + for (int i = 0; i < 12; i++) { + CaptureValue[i] = 0; + CaptureValueTemp[i] = 0; + } + } + supv_timer = 0; + } +} + +#endif + +/** + * @} + * @} + */ diff --git a/flight/PiOS/STM32F10x/pios_spektrum.c b/flight/PiOS/STM32F10x/pios_spektrum.c index 0eabe36a2..8b00a32a3 100644 --- a/flight/PiOS/STM32F10x/pios_spektrum.c +++ b/flight/PiOS/STM32F10x/pios_spektrum.c @@ -34,8 +34,8 @@ #include "pios_spektrum_priv.h" #if defined(PIOS_INCLUDE_SPEKTRUM) -#if defined(PIOS_INCLUDE_PWM) -#error "Both PWM and SPEKTRUM input defined, choose only one" +#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_SBUS) +#error "Both SPEKTRUM and either of PWM or SBUS inputs defined, choose only one" #endif #if defined(PIOS_COM_AUX) #error "AUX com cannot be used with SPEKTRUM" diff --git a/flight/PiOS/inc/pios_sbus.h b/flight/PiOS/inc/pios_sbus.h new file mode 100644 index 000000000..eeb3d2bdd --- /dev/null +++ b/flight/PiOS/inc/pios_sbus.h @@ -0,0 +1,46 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_SBUS Futaba S.Bus receiver functions + * @{ + * + * @file pios_sbus.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011. + * @brief Futaba S.Bus functions header. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_SBUS_H +#define PIOS_SBUS_H + +/* Global Types */ + +/* Public Functions */ +extern void PIOS_SBUS_Init(void); +extern int32_t PIOS_SBUS_Decode(uint8_t b); +extern int16_t PIOS_SBUS_Get(int8_t Channel); +extern void SBUS_IRQHandler(uint32_t usart_id); + +#endif /* PIOS_SBUS_H */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS/inc/pios_sbus_priv.h b/flight/PiOS/inc/pios_sbus_priv.h new file mode 100644 index 000000000..0dfd16b8a --- /dev/null +++ b/flight/PiOS/inc/pios_sbus_priv.h @@ -0,0 +1,57 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_SBUS S.Bus Functions + * @brief PIOS interface to read and write from Futaba S.Bus port + * @{ + * + * @file pios_sbus_priv.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011. + * @brief Futaba S.Bus Private structures. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_SBUS_PRIV_H +#define PIOS_SBUS_PRIV_H + +#include +#include +#include + +struct pios_sbus_cfg { + const struct pios_usart_cfg *pios_usart_sbus_cfg; + GPIO_InitTypeDef gpio_init; + uint32_t remap; /* GPIO_Remap_* */ + struct stm32_irq irq; + GPIO_TypeDef *port; + uint16_t pin; +}; + +extern void PIOS_SBUS_irq_handler(); + +extern uint8_t pios_sbus_num_channels; +extern const struct pios_sbus_cfg pios_sbus_cfg; + +#endif /* PIOS_SBUS_PRIV_H */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS/pios.h b/flight/PiOS/pios.h index ff7cd1af5..39802a2a9 100644 --- a/flight/PiOS/pios.h +++ b/flight/PiOS/pios.h @@ -79,6 +79,7 @@ #include #include #include +#include #include #include #include From 50e819192b58c73a447b1c934d747d4383117d44 Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Wed, 15 Jun 2011 22:37:44 +0300 Subject: [PATCH 025/241] usart: make CC USART ports compile-time configurable TODO: This should be dynamic in the future. But for now define any compatile combination of: USE_I2C (shared with USART3) USE_TELEMETRY USE_GPS USE_SPEKTRUM USE_SBUS (USART1 only, it needs an invertor) and optionally define PIOS_PORT_* to USART port numbers Defaults are: #define PIOS_PORT_TELEMETRY 1 #define PIOS_PORT_GPS 3 #define PIOS_PORT_SPEKTRUM 3 #define PIOS_PORT_SBUS 1 #define USE_TELEMETRY #define USE_GPS Telemetry, GPS and PWM input are enabled by default. --- flight/CopterControl/System/inc/pios_config.h | 141 +++++++++++++++++- flight/CopterControl/System/pios_board.c | 64 ++++---- 2 files changed, 166 insertions(+), 39 deletions(-) diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h index ab9251b12..2b3a8eb7a 100644 --- a/flight/CopterControl/System/inc/pios_config.h +++ b/flight/CopterControl/System/inc/pios_config.h @@ -30,11 +30,9 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ - #ifndef PIOS_CONFIG_H #define PIOS_CONFIG_H - /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_ADC #define PIOS_INCLUDE_DELAY @@ -45,17 +43,146 @@ #define PIOS_INCLUDE_IRQ #define PIOS_INCLUDE_LED -#if defined(USE_SPEKTRUM) -#define PIOS_INCLUDE_SPEKTRUM -#elif defined(USE_SBUS) -#define PIOS_INCLUDE_SBUS +/* + * Serial port configuration. + * TODO: This should be dynamic in the future. + * But for now define any compatile combination of: + * USE_I2C (shared with USART3) + * USE_TELEMETRY + * USE_GPS + * USE_SPEKTRUM + * USE_SBUS (USART1 only, it needs an invertor) + * and optionally define PIOS_PORT_* to USART port numbers + */ + +/* Current defaults */ +#define USE_TELEMETRY +#define USE_GPS + +/* Serial telemetry: USART1 or USART3 */ +#if !defined(PIOS_PORT_TELEMETRY) +#define PIOS_PORT_TELEMETRY 1 +#endif + +/* GPS receiver: USART1 or USART3 */ +#if !defined(PIOS_PORT_GPS) +#define PIOS_PORT_GPS 3 +#endif + +/* Spektrum satellite receiver: USART1 or USART3 */ +#if !defined(PIOS_PORT_SPEKTRUM) +#define PIOS_PORT_SPEKTRUM 3 +#endif + +/* Futaba S.Bus receiver: USART1 only (needs invertor) */ +#if !defined(PIOS_PORT_SBUS) +#define PIOS_PORT_SBUS 1 +#endif + +/* + * Define USART ports and check for conflicts. + * Make sure it does not conflict with each other and with I2C. + */ +#define USART_GPIO(port) (((port) == 1) ? GPIOA : GPIOB) +#define USART_RXIO(port) (((port) == 1) ? GPIO_Pin_10 : GPIO_Pin_11) +#define USART_TXIO(port) (((port) == 1) ? GPIO_Pin_9 : GPIO_Pin_10) + +#if defined(USE_TELEMETRY) +#if defined(USE_I2C) && (PIOS_PORT_TELEMETRY == 3) +#error defined(USE_I2C) && (PIOS_PORT_TELEMETRY == 3) +#endif +#if (PIOS_PORT_TELEMETRY == 1) +#define PIOS_USART_TELEMETRY USART1 +#define PIOS_IRQH_TELEMETRY USART1_IRQHandler +#define PIOS_IRQC_TELEMETRY USART1_IRQn #else +#define PIOS_USART_TELEMETRY USART3 +#define PIOS_IRQH_TELEMETRY USART3_IRQHandler +#define PIOS_IRQC_TELEMETRY USART3_IRQn +#endif +#define PIOS_GPIO_TELEMETRY USART_GPIO(PIOS_PORT_TELEMETRY) +#define PIOS_RXIO_TELEMETRY USART_RXIO(PIOS_PORT_TELEMETRY) +#define PIOS_TXIO_TELEMETRY USART_TXIO(PIOS_PORT_TELEMETRY) +#endif + +#if defined(USE_GPS) +#if defined(USE_I2C) && (PIOS_PORT_GPS == 3) +#error defined(USE_I2C) && (PIOS_PORT_GPS == 3) +#endif +#if defined(USE_TELEMETRY) && (PIOS_PORT_TELEMETRY == PIOS_PORT_GPS) +#error defined(USE_TELEMETRY) && (PIOS_PORT_TELEMETRY == PIOS_PORT_GPS) +#endif +#if (PIOS_PORT_GPS == 1) +#define PIOS_USART_GPS USART1 +#define PIOS_IRQH_GPS USART1_IRQHandler +#define PIOS_IRQC_GPS USART1_IRQn +#else +#define PIOS_USART_GPS USART3 +#define PIOS_IRQH_GPS USART3_IRQHandler +#define PIOS_IRQC_GPS USART3_IRQn +#endif +#define PIOS_GPIO_GPS USART_GPIO(PIOS_PORT_GPS) +#define PIOS_RXIO_GPS USART_RXIO(PIOS_PORT_GPS) +#define PIOS_TXIO_GPS USART_TXIO(PIOS_PORT_GPS) #define PIOS_INCLUDE_GPS +#endif + +#if defined(USE_SPEKTRUM) +#if defined(USE_I2C) && (PIOS_PORT_SPEKTRUM == 3) +#error defined(USE_I2C) && (PIOS_PORT_SPEKTRUM == 3) +#endif +#if defined(USE_TELEMETRY) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_TELEMETRY) +#error defined(USE_TELEMETRY) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_TELEMETRY) +#endif +#if defined(USE_GPS) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_GPS) +#error defined(USE_GPS) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_GPS) +#endif +#if defined(USE_SBUS) +#error defined(USE_SPEKTRUM) && defined(USE_SBUS) +#endif +#if (PIOS_PORT_SPEKTRUM == 1) +#define PIOS_USART_SPEKTRUM USART1 +#define PIOS_IRQH_SPEKTRUM USART1_IRQHandler +#define PIOS_IRQC_SPEKTRUM USART1_IRQn +#else +#define PIOS_USART_SPEKTRUM USART3 +#define PIOS_IRQH_SPEKTRUM USART3_IRQHandler +#define PIOS_IRQC_SPEKTRUM USART3_IRQn +#endif +#define PIOS_GPIO_SPEKTRUM USART_GPIO(PIOS_PORT_SPEKTRUM) +#define PIOS_RXIO_SPEKTRUM USART_RXIO(PIOS_PORT_SPEKTRUM) +#define PIOS_TXIO_SPEKTRUM USART_TXIO(PIOS_PORT_SPEKTRUM) +#define PIOS_INCLUDE_SPEKTRUM +#endif + +#if defined(USE_SBUS) +#if (PIOS_PORT_SBUS != 1) +#error (PIOS_PORT_SBUS != 1) +#endif +#if defined(USE_TELEMETRY) && (PIOS_PORT_SBUS == PIOS_PORT_TELEMETRY) +#error defined(USE_TELEMETRY) && (PIOS_PORT_SBUS == PIOS_PORT_TELEMETRY) +#endif +#if defined(USE_GPS) && (PIOS_PORT_SBUS == PIOS_PORT_GPS) +#error defined(USE_GPS) && (PIOS_PORT_SBUS == PIOS_PORT_GPS) +#endif +#if defined(USE_SPEKTRUM) +#error defined(USE_SPEKTRUM) && defined(USE_SBUS) +#endif +#define PIOS_USART_SBUS USART1 +#define PIOS_IRQH_SBUS USART1_IRQHandler +#define PIOS_IRQC_SBUS USART1_IRQn +#define PIOS_GPIO_SBUS USART_GPIO(PIOS_PORT_SBUS) +#define PIOS_RXIO_SBUS USART_RXIO(PIOS_PORT_SBUS) +#define PIOS_TXIO_SBUS USART_TXIO(PIOS_PORT_SBUS) +#define PIOS_INCLUDE_SBUS +#endif + +/* Receiver interfaces - only one allowed */ +#if !defined(USE_SPEKTRUM) && !defined(USE_SBUS) //#define PIOS_INCLUDE_PPM #define PIOS_INCLUDE_PWM #endif - #define PIOS_INCLUDE_SERVO #define PIOS_INCLUDE_SPI #define PIOS_INCLUDE_SYS diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index ab84ba5c2..b5aabc8b1 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -204,9 +204,9 @@ void PIOS_ADC_handler() { * Telemetry USART */ void PIOS_USART_telem_irq_handler(void); -void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler"))); +void PIOS_IRQH_TELEMETRY() __attribute__ ((alias ("PIOS_USART_telem_irq_handler"))); const struct pios_usart_cfg pios_usart_telem_cfg = { - .regs = USART1, + .regs = PIOS_USART_TELEMETRY, .init = { #if defined (PIOS_COM_TELEM_BAUDRATE) .USART_BaudRate = PIOS_COM_TELEM_BAUDRATE, @@ -222,24 +222,24 @@ const struct pios_usart_cfg pios_usart_telem_cfg = { .irq = { .handler = PIOS_USART_telem_irq_handler, .init = { - .NVIC_IRQChannel = USART1_IRQn, + .NVIC_IRQChannel = PIOS_IRQC_TELEMETRY, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { - .gpio = GPIOA, + .gpio = PIOS_GPIO_TELEMETRY, .init = { - .GPIO_Pin = GPIO_Pin_10, + .GPIO_Pin = PIOS_RXIO_TELEMETRY, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_IPU, }, }, .tx = { - .gpio = GPIOA, + .gpio = PIOS_GPIO_TELEMETRY, .init = { - .GPIO_Pin = GPIO_Pin_9, + .GPIO_Pin = PIOS_TXIO_TELEMETRY, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, @@ -251,9 +251,9 @@ const struct pios_usart_cfg pios_usart_telem_cfg = { * GPS USART */ void PIOS_USART_gps_irq_handler(void); -void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_gps_irq_handler"))); +void PIOS_IRQH_GPS() __attribute__ ((alias ("PIOS_USART_gps_irq_handler"))); const struct pios_usart_cfg pios_usart_gps_cfg = { - .regs = USART3, + .regs = PIOS_USART_GPS, .init = { #if defined (PIOS_COM_GPS_BAUDRATE) .USART_BaudRate = PIOS_COM_GPS_BAUDRATE, @@ -269,24 +269,24 @@ const struct pios_usart_cfg pios_usart_gps_cfg = { .irq = { .handler = PIOS_USART_gps_irq_handler, .init = { - .NVIC_IRQChannel = USART3_IRQn, + .NVIC_IRQChannel = PIOS_IRQC_GPS, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { - .gpio = GPIOB, + .gpio = PIOS_GPIO_GPS, .init = { - .GPIO_Pin = GPIO_Pin_11, + .GPIO_Pin = PIOS_RXIO_GPS, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_IPU, }, }, .tx = { - .gpio = GPIOB, + .gpio = PIOS_GPIO_GPS, .init = { - .GPIO_Pin = GPIO_Pin_10, + .GPIO_Pin = PIOS_TXIO_GPS, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, @@ -299,9 +299,9 @@ const struct pios_usart_cfg pios_usart_gps_cfg = { * SPEKTRUM USART */ void PIOS_USART_spektrum_irq_handler(void); -void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_spektrum_irq_handler"))); +void PIOS_IRQH_SPEKTRUM() __attribute__ ((alias ("PIOS_USART_spektrum_irq_handler"))); const struct pios_usart_cfg pios_usart_spektrum_cfg = { - .regs = USART3, + .regs = PIOS_USART_SPEKTRUM, .init = { #if defined (PIOS_COM_SPEKTRUM_BAUDRATE) .USART_BaudRate = PIOS_COM_SPEKTRUM_BAUDRATE, @@ -317,24 +317,24 @@ const struct pios_usart_cfg pios_usart_spektrum_cfg = { .irq = { .handler = PIOS_USART_spektrum_irq_handler, .init = { - .NVIC_IRQChannel = USART3_IRQn, + .NVIC_IRQChannel = PIOS_IRQC_SPEKTRUM, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { - .gpio = GPIOB, + .gpio = PIOS_GPIO_SPEKTRUM, .init = { - .GPIO_Pin = GPIO_Pin_11, + .GPIO_Pin = PIOS_RXIO_SPEKTRUM, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_IPU, }, }, .tx = { - .gpio = GPIOB, + .gpio = PIOS_GPIO_SPEKTRUM, .init = { - .GPIO_Pin = GPIO_Pin_10, + .GPIO_Pin = PIOS_TXIO_SPEKTRUM, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_IN_FLOATING, }, @@ -365,8 +365,8 @@ const struct pios_spektrum_cfg pios_spektrum_cfg = { .NVIC_IRQChannelCmd = ENABLE, }, }, - .port = GPIOB, - .pin = GPIO_Pin_11, + .port = PIOS_GPIO_SPEKTRUM, + .pin = PIOS_RXIO_SPEKTRUM, }; void PIOS_SUPV_irq_handler() { @@ -388,9 +388,9 @@ void PIOS_SUPV_irq_handler() { * SBUS USART */ void PIOS_USART_sbus_irq_handler(void); -void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_sbus_irq_handler"))); +void PIOS_IRQH_SBUS() __attribute__ ((alias ("PIOS_USART_sbus_irq_handler"))); const struct pios_usart_cfg pios_usart_sbus_cfg = { - .regs = USART3, + .regs = PIOS_USART_SBUS, .init = { #if defined (PIOS_COM_SBUS_BAUDRATE) .USART_BaudRate = PIOS_COM_SBUS_BAUDRATE, @@ -406,24 +406,24 @@ const struct pios_usart_cfg pios_usart_sbus_cfg = { .irq = { .handler = PIOS_USART_sbus_irq_handler, .init = { - .NVIC_IRQChannel = USART3_IRQn, + .NVIC_IRQChannel = PIOS_IRQC_SBUS, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { - .gpio = GPIOB, + .gpio = PIOS_GPIO_SBUS, .init = { - .GPIO_Pin = GPIO_Pin_11, + .GPIO_Pin = PIOS_RXIO_SBUS, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_IPU, }, }, .tx = { - .gpio = GPIOB, + .gpio = PIOS_GPIO_SBUS, .init = { - .GPIO_Pin = GPIO_Pin_10, + .GPIO_Pin = PIOS_TXIO_SBUS, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_IN_FLOATING, }, @@ -454,8 +454,8 @@ const struct pios_sbus_cfg pios_sbus_cfg = { .NVIC_IRQChannelCmd = ENABLE, }, }, - .port = GPIOB, - .pin = GPIO_Pin_11, + .port = PIOS_GPIO_SBUS, + .pin = PIOS_RXIO_SBUS, }; void PIOS_SUPV_irq_handler() { From 0801495ce18020ed0f83b996e6edcd9a735d5139 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Tue, 7 Jun 2011 22:42:59 -0400 Subject: [PATCH 026/241] build: fix spacing on label for clean targets Whitespace only, no functional changes. --- Makefile | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/Makefile b/Makefile index 6b0601ebb..ae295d34d 100644 --- a/Makefile +++ b/Makefile @@ -277,7 +277,7 @@ openpilotgcs: uavobjects_gcs .PHONY: openpilotgcs_clean openpilotgcs_clean: - $(V0) @echo " CLEAN $@" + $(V0) @echo " CLEAN $@" $(V1) [ ! -d "$(BUILD_DIR)/ground/openpilotgcs" ] || $(RM) -r "$(BUILD_DIR)/ground/openpilotgcs" .PHONY: uavobjgenerator @@ -307,7 +307,7 @@ uavobjects_test: $(UAVOBJ_OUT_DIR) uavobjgenerator $(V1) $(UAVOBJGENERATOR) -v -none $(UAVOBJ_XML_DIR) $(ROOT_DIR) uavobjects_clean: - $(V0) @echo " CLEAN $@" + $(V0) @echo " CLEAN $@" $(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)" ############################## @@ -335,7 +335,7 @@ fw_$(1)_%: uavobjects_flight .PHONY: $(1)_clean $(1)_clean: fw_$(1)_clean fw_$(1)_clean: - $(V0) @echo " CLEAN $$@" + $(V0) @echo " CLEAN $$@" $(V1) $(RM) -fr $(BUILD_DIR)/fw_$(1) endef @@ -357,7 +357,7 @@ bl_$(1)_%: .PHONY: bl_$(1)_clean bl_$(1)_clean: - $(V0) @echo " CLEAN $$@" + $(V0) @echo " CLEAN $$@" $(V1) $(RM) -fr $(BUILD_DIR)/bl_$(1) endef @@ -377,7 +377,7 @@ bu_$(1)_%: bl_$(1)_bino .PHONY: bu_$(1)_clean bu_$(1)_clean: - $(V0) @echo " CLEAN $$@" + $(V0) @echo " CLEAN $$@" $(V1) $(RM) -fr $(BUILD_DIR)/bu_$(1) endef From 6313a78dc90639a9fd039f77de35bb26daa573a8 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Tue, 7 Jun 2011 22:47:07 -0400 Subject: [PATCH 027/241] build: make lists of boards with fw, bl and bu Provide unique lists of boards for each type of build (fw, bl, bu) so we can refer to them in the help text. --- Makefile | 23 +++++++++++++++-------- 1 file changed, 15 insertions(+), 8 deletions(-) diff --git a/Makefile b/Makefile index ae295d34d..e4ea0cdfe 100644 --- a/Makefile +++ b/Makefile @@ -92,19 +92,19 @@ help: @echo " - Build firmware for " @echo " supported boards are ($(ALL_BOARDS))" @echo " fw_ - Build firmware for " - @echo " supported boards are ($(FW_TARGETS))" + @echo " supported boards are ($(FW_BOARDS))" @echo " fw__clean - Remove firmware for " @echo " fw__program - Use OpenOCD + JTAG to write firmware to " @echo @echo " [Bootloader]" @echo " bl_ - Build bootloader for " - @echo " supported boards are ($(BL_TARGETS))" + @echo " supported boards are ($(BL_BOARDS))" @echo " bl__clean - Remove bootloader for " @echo " bl__program - Use OpenOCD + JTAG to write bootloader to " @echo @echo " [Bootloader Updater]" @echo " bu_ - Build bootloader updater for " - @echo " supported boards are ($(BU_TARGETS))" + @echo " supported boards are ($(BU_BOARDS))" @echo " bu__clean - Remove bootloader updater for " @echo @echo " [Simulation]" @@ -403,14 +403,20 @@ pipxtreme_friendly := PipXtreme ins_friendly := INS ahrs_friendly := AHRS -FW_TARGETS := $(addprefix fw_, $(ALL_BOARDS)) -BL_TARGETS := $(addprefix bl_, $(ALL_BOARDS)) -BU_TARGETS := $(addprefix bu_, $(ALL_BOARDS)) +# Start out assuming that we'll build fw, bl and bu for all boards +FW_BOARDS := $(ALL_BOARDS) +BL_BOARDS := $(ALL_BOARDS) +BU_BOARDS := $(ALL_BOARDS) # FIXME: The INS build doesn't have a bootloader or bootloader # updater yet so we need to filter them out to prevent errors. -BL_TARGETS := $(filter-out bl_ins, $(BL_TARGETS)) -BU_TARGETS := $(filter-out bu_ins, $(BU_TARGETS)) +BL_BOARDS := $(filter-out ins, $(ALL_BOARDS)) +BU_BOARDS := $(filter-out ins, $(ALL_BOARDS)) + +# Generate the targets for whatever boards are left in each list +FW_TARGETS := $(addprefix fw_, $(FW_BOARDS)) +BL_TARGETS := $(addprefix bl_, $(BL_BOARDS)) +BU_TARGETS := $(addprefix bu_, $(BU_BOARDS)) .PHONY: all_fw all_fw_clean all_fw: $(addsuffix _opfw, $(FW_TARGETS)) @@ -428,6 +434,7 @@ all_bu_clean: $(addsuffix _clean, $(BU_TARGETS)) all_flight: all_fw all_bl all_bu all_flight_clean: all_fw_clean all_bl_clean all_bu_clean +# Expand the groups of targets for each board $(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board)))) # Expand the bootloader updater rules From 81dbd3f4c024223ba7f66baff668ca0a908d05aa Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Tue, 7 Jun 2011 22:48:46 -0400 Subject: [PATCH 028/241] build: add install rule for stm32flash utility This tool can be used as a last resort for installing a bootloader to a completely bricked board that is unresponsive to even the rescue functionality in the GCS uploader gadget. --- Makefile | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/Makefile b/Makefile index e4ea0cdfe..a14cc19de 100644 --- a/Makefile +++ b/Makefile @@ -71,6 +71,7 @@ help: @echo " qt_sdk_install - Install the QT v4.6.2 tools" @echo " arm_sdk_install - Install the Code Sourcery ARM gcc toolchain" @echo " openocd_install - Install the OpenOCD JTAG daemon" + @echo " stm32flash_install - Install the stm32flash tool for unbricking boards" @echo @echo " [Big Hammer]" @echo " all - Generate UAVObjects, build openpilot firmware and gcs" @@ -226,6 +227,25 @@ openocd_install: openocd_clean openocd_clean: $(V1) [ ! -d "$(OPENOCD_DIR)" ] || $(RM) -r "$(OPENOCD_DIR)" +STM32FLASH_DIR := $(TOOLS_DIR)/stm32flash + +.PHONY: stm32flash_install +stm32flash_install: STM32FLASH_URL := http://stm32flash.googlecode.com/svn/trunk +stm32flash_install: STM32FLASH_REV := 52 +stm32flash_install: stm32flash_clean + # download the source + $(V0) @echo " DOWNLOAD $(STM32FLASH_URL) @ r$(STM32FLASH_REV)" + $(V1) svn export -q -r "$(STM32FLASH_REV)" "$(STM32FLASH_URL)" "$(STM32FLASH_DIR)" + + # build + $(V0) @echo " BUILD $(STM32FLASH_DIR)" + $(V1) $(MAKE) --silent -C $(STM32FLASH_DIR) all + +.PHONY: stm32flash_clean +stm32flash_clean: + $(V0) @echo " CLEAN $(STM32FLASH_DIR)" + $(V1) [ ! -d "$(STM32FLASH_DIR)" ] || $(RM) -r "$(STM32FLASH_DIR)" + ############################## # # Set up paths to tools From 8c4c73496bd8213e0cf010f16ddddc85ec1abd4f Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Tue, 7 Jun 2011 22:53:08 -0400 Subject: [PATCH 029/241] build: add unbrick targets Added new unbrick_ targets for each board. These targets use the stm32flash utility to install a bootloader on to the board. This is a tool of last resort and should not be used for normal firmware upgrades. Usage: make unbrick_ UNBRICK_TTY=/dev/ttyUSB0 Where: is one of coptercontrol, pipxtreme, openpilot, ins, ahrs UNBRICK_TTY is set to the serial device connected to the board. --- Makefile | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/Makefile b/Makefile index a14cc19de..60c918cd4 100644 --- a/Makefile +++ b/Makefile @@ -108,6 +108,10 @@ help: @echo " supported boards are ($(BU_BOARDS))" @echo " bu__clean - Remove bootloader updater for " @echo + @echo " [Unbrick a board]" + @echo " unbrick_ - Use the STM32's built in boot ROM to write a bootloader to " + @echo " supported boards are ($(BL_BOARDS))" + @echo @echo " [Simulation]" @echo " sim_posix - Build OpenPilot simulation firmware for" @echo " a POSIX compatible system (Linux, Mac OS X, ...)" @@ -375,6 +379,20 @@ bl_$(1)_%: REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \ $$* +.PHONY: unbrick_$(1) +unbrick_$(1): bl_$(1)_hex +$(if $(filter-out undefined,$(origin UNBRICK_TTY)), + $(V0) @echo " UNBRICK $(1) via $$(UNBRICK_TTY)" + $(V1) $(STM32FLASH_DIR)/stm32flash \ + -w $(BUILD_DIR)/bl_$(1)/bl_$(1).hex \ + -g 0x0 \ + $$(UNBRICK_TTY) +, + $(V0) @echo + $(V0) @echo "ERROR: You must specify UNBRICK_TTY= to use for unbricking." + $(V0) @echo " eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0" +) + .PHONY: bl_$(1)_clean bl_$(1)_clean: $(V0) @echo " CLEAN $$@" From e8cdf22427392a84eadd44becebcef9632dda656 Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Wed, 15 Jun 2011 18:54:35 -0700 Subject: [PATCH 030/241] OP-423 Port to OP: Claim (at run-time) the remaining un-used bytes (between heap and end of RAM) that are for data growth (needed at compile time). CAREFULL: the heap section need to be the last section in RAM to avoid overwritting data... also move address into linker (CC and OP) --- flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld | 2 ++ flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld | 6 ++++++ flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S | 6 ++++++ flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S | 2 +- 4 files changed, 15 insertions(+), 1 deletion(-) diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld index 99657c2d0..9f8c9fd0e 100644 --- a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld +++ b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld @@ -11,6 +11,8 @@ PROVIDE ( xPortSysTickHandler = 0 ) ; PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO)); _estack = 0x20004FF0; +/* there is probably a way to get that from the MEMORY section */ +_eram = 0x20005000; /* Section Definitions */ SECTIONS diff --git a/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld b/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld index e3919e295..e2e1a6f44 100644 --- a/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld +++ b/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld @@ -2,6 +2,8 @@ _irq_stack_size = 0x400; /* This is the size of the stack for early init: life span is until scheduler starts */ _init_stack_size = 0x400; +/* there is probably a way to get that from the MEMORY section */ +_eram = 0x20010000; /* Check valid alignment for VTOR */ ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table"); @@ -279,6 +281,10 @@ SECTIONS _init_stack_top = . - 4 ; } > RAM + /* keep the heap section at the end of the SRAM */ + /* this will allow to claim the remaining bytes not used + /* at run time! (done by the reset vector). + PROVIDE ( end = _ebss ); PROVIDE ( _end = _ebss ); diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S b/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S index a734143d8..7e9964cb9 100644 --- a/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S +++ b/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S @@ -128,7 +128,13 @@ LoopFillZerobss: add r0, #0 msr control, r0 /* add heap_post_rtos to the heap (if the capability/function exist) */ +/* Also claim the unused memory (between end of heap to end of memory */ +/* CAREFULL: the heap section must be the last section in RAM in order this to work */ ldr r0, = _init_stack_size + ldr r1, = _eheap_post_rtos + ldr r2, = _eram + subs r2, r2, r1 + adds r0, r0, r2 bl xPortIncreaseHeapSize /* Start the FreeRTOS scheduler which never returns.*/ bl vTaskStartScheduler diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S b/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S index f565cf6b8..72cf5280f 100644 --- a/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S +++ b/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S @@ -49,7 +49,7 @@ defined in linker script */ .word _ebss .equ BootRAM, 0xF108F85F -.equ _eram, 0x20005000 + /** * @brief This is the code that gets called when the processor first * starts execution following a reset event. Only the absolutely From 5c5a07b101510930e9761202b6241cb03dbbbc8c Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Thu, 16 Jun 2011 00:09:27 -0400 Subject: [PATCH 031/241] OP-532 Updated GUI config data definition, UI, and implemented three sliders in mixer generation code --- .../openpilotgcs/src/plugins/config/ccpm.ui | 8 +- .../src/plugins/config/configccpmwidget.cpp | 128 ++++++++++++++---- .../src/plugins/config/configccpmwidget.h | 20 +-- shared/uavobjectdefinition/systemsettings.xml | 2 +- 4 files changed, 119 insertions(+), 39 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/ccpm.ui b/ground/openpilotgcs/src/plugins/config/ccpm.ui index 8f93a7787..32eae8a20 100644 --- a/ground/openpilotgcs/src/plugins/config/ccpm.ui +++ b/ground/openpilotgcs/src/plugins/config/ccpm.ui @@ -75,7 +75,7 @@ - 0 + 3 @@ -1585,7 +1585,7 @@ - + 100 @@ -3823,7 +3823,7 @@ - ccpmCollectivesScaleBox + ccpmCollectiveScaleBox valueChanged(int) ccpmCollectiveScale setValue(int) @@ -3841,7 +3841,7 @@ ccpmCollectiveScale sliderMoved(int) - ccpmCollectivesScaleBox + ccpmCollectiveScaleBox setValue(int) diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index 4a9c7f12c..52ebce11e 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -739,17 +739,42 @@ void ConfigccpmWidget::ccpmSwashplateUpdate() void ConfigccpmWidget::UpdateMixer() { - int i,j,Type,ThisEnable[6]; - float CollectiveConstant,CorrectionAngle,ThisAngle[6]; + bool useCCPM; + bool useCyclic; + int i,j,ThisEnable[6]; + float CollectiveConstant,PitchConstant,RollConstant,ThisAngle[6]; //QTableWidgetItem *newItem;// = new QTableWidgetItem(); QString Channel; - Type = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; - CollectiveConstant=m_ccpm->ccpmCollectiveSlider->value()/100.0; - CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value(); + //Type = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; + //CollectiveConstant=m_ccpm->ccpmCollectiveSlider->value()/100.0; + //CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value(); + UpdatCCPMOptionsFromUI(); + + useCCPM = !(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState); + useCyclic = GUIConfigData.heli.ccpmLinkRollState; + CollectiveConstant = (float)GUIConfigData.heli.SliderValue0 / 100.00; - if (Type>0) + if (useCCPM) + {//cyclic = 1 - collective + PitchConstant = 1-CollectiveConstant; + RollConstant = PitchConstant; + } + else + { + PitchConstant = (float)GUIConfigData.heli.SliderValue1 / 100.00;; + if (useCyclic) + { + RollConstant = PitchConstant; + } + else + { + RollConstant = (float)GUIConfigData.heli.SliderValue2 / 100.00;; + } + } + + if (GUIConfigData.heli.SwasplateType>0) {//not advanced settings //get the channel data from the ui MixerChannelData[0] = m_ccpm->ccpmEngineChannel->currentIndex(); @@ -813,8 +838,8 @@ void ConfigccpmWidget::UpdateMixer() {//Swashplate m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1 m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg((int)(127.0*CollectiveConstant)));//ThrottleCurve2 - m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg((int)(127.0*(1-CollectiveConstant)*sin((180+CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Roll - m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg((int)(127.0*(1-CollectiveConstant)*cos((CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch + m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg((int)(127.0*(RollConstant)*sin((180+GUIConfigData.heli.CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Roll + m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg((int)(127.0*(PitchConstant)*cos((GUIConfigData.heli.CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw } @@ -859,6 +884,9 @@ void ConfigccpmWidget::UpdateMixer() */ void ConfigccpmWidget::UpdatCCPMOptionsFromUI() { + bool useCCPM; + bool useCyclic; + if (updatingFromHardware) return; //get the user options //swashplate config @@ -869,12 +897,36 @@ void ConfigccpmWidget::UpdatCCPMOptionsFromUI() GUIConfigData.heli.ccpmCollectivePassthroughState = m_ccpm->ccpmCollectivePassthrough->isChecked(); GUIConfigData.heli.ccpmLinkCyclicState = m_ccpm->ccpmLinkCyclic->isChecked(); GUIConfigData.heli.ccpmLinkRollState = m_ccpm->ccpmLinkRoll->isChecked(); + useCCPM = !(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState); + useCyclic = GUIConfigData.heli.ccpmLinkRollState; //correction angle GUIConfigData.heli.CorrectionAngle = m_ccpm->ccpmCorrectionAngle->value(); //CollectiveChannel GUIConfigData.heli.CollectiveChannel = m_ccpm->ccpmCollectiveChannel->currentIndex(); + + //update sliders + if (useCCPM) + { + GUIConfigData.heli.SliderValue0 = m_ccpm->ccpmCollectiveSlider->value(); + } + else + { + GUIConfigData.heli.SliderValue0 = m_ccpm->ccpmCollectiveScale->value(); + } + if (useCyclic) + { + GUIConfigData.heli.SliderValue1 = m_ccpm->ccpmCyclicScale->value(); + } + else + { + GUIConfigData.heli.SliderValue1 = m_ccpm->ccpmPitchScale->value(); + } + GUIConfigData.heli.SliderValue2 = m_ccpm->ccpmRollScale->value(); + //GUIConfigData.heli.RevoSlider = m_ccpm->ccpmREVOScale->value(); + + } void ConfigccpmWidget::UpdatCCPMUIFromOptions() { @@ -893,6 +945,18 @@ void ConfigccpmWidget::UpdatCCPMUIFromOptions() //CollectiveChannel m_ccpm->ccpmCollectiveChannel->setCurrentIndex(GUIConfigData.heli.CollectiveChannel); + //update sliders + m_ccpm->ccpmCollectiveScale->setValue(GUIConfigData.heli.SliderValue0); + m_ccpm->ccpmCollectiveScaleBox->setValue(GUIConfigData.heli.SliderValue0); + m_ccpm->ccpmCyclicScale->setValue(GUIConfigData.heli.SliderValue1); + m_ccpm->ccpmCyclicScaleBox->setValue(GUIConfigData.heli.SliderValue1); + m_ccpm->ccpmPitchScale->setValue(GUIConfigData.heli.SliderValue1); + m_ccpm->ccpmPitchScaleBox->setValue(GUIConfigData.heli.SliderValue1); + m_ccpm->ccpmRollScale->setValue(GUIConfigData.heli.SliderValue2); + m_ccpm->ccpmRollScaleBox->setValue(GUIConfigData.heli.SliderValue2); + m_ccpm->ccpmCollectiveSlider->setValue(GUIConfigData.heli.SliderValue0); + m_ccpm->ccpmCollectivespinBox->setValue(GUIConfigData.heli.SliderValue0); + //m_ccpm->ccpmREVOScale->setValue(GUIConfigData.heli.RevoSlider); } @@ -952,7 +1016,8 @@ void ConfigccpmWidget::requestccpmUpdate() obj = dynamic_cast(getObjectManager()->getObject(QString("SystemSettings"))); field = obj->getField(QString("GUIConfigData")); - GUIConfigData.UAVObject=field->getValue().toUInt(); + GUIConfigData.UAVObject[0]=field->getValue(0).toUInt(); + GUIConfigData.UAVObject[1]=field->getValue(1).toUInt(); UpdatCCPMUIFromOptions(); @@ -1040,6 +1105,7 @@ void ConfigccpmWidget::requestccpmUpdate() //just call it user angles for now.... + /* m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("Custom - User Angles")); if (NumServos>1) @@ -1070,9 +1136,11 @@ void ConfigccpmWidget::requestccpmUpdate() {//must be a custom config... "Custom - Advanced Settings" m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("Custom - Advanced Settings")); } - + HeadRotation=0; - //calculate the angles + + HeadRotation=m_ccpm->ccpmSingleServo->currentIndex(); + //calculate the angles for(j=0;jccpmSingleServo->setCurrentIndex(HeadRotation); + //m_ccpm->ccpmSingleServo->setCurrentIndex(HeadRotation); //calculate the un rotated angles for(j=0;jccpmAngleW->setValue(ServoAngles[SortAngles[0]]); - m_ccpm->ccpmAngleX->setValue(ServoAngles[SortAngles[1]]); - m_ccpm->ccpmAngleY->setValue(ServoAngles[SortAngles[2]]); - m_ccpm->ccpmAngleZ->setValue(ServoAngles[SortAngles[3]]); + //m_ccpm->ccpmAngleW->setValue(ServoAngles[SortAngles[0]]); + //m_ccpm->ccpmAngleX->setValue(ServoAngles[SortAngles[1]]); + //m_ccpm->ccpmAngleY->setValue(ServoAngles[SortAngles[2]]); + //m_ccpm->ccpmAngleZ->setValue(ServoAngles[SortAngles[3]]); - m_ccpm->ccpmServoWChannel->setCurrentIndex(ServoChannels[SortAngles[0]]); - m_ccpm->ccpmServoXChannel->setCurrentIndex(ServoChannels[SortAngles[1]]); - m_ccpm->ccpmServoYChannel->setCurrentIndex(ServoChannels[SortAngles[2]]); - m_ccpm->ccpmServoZChannel->setCurrentIndex(ServoChannels[SortAngles[3]]); + //m_ccpm->ccpmServoWChannel->setCurrentIndex(ServoChannels[SortAngles[0]]); + //m_ccpm->ccpmServoXChannel->setCurrentIndex(ServoChannels[SortAngles[1]]); + //m_ccpm->ccpmServoYChannel->setCurrentIndex(ServoChannels[SortAngles[2]]); + //m_ccpm->ccpmServoZChannel->setCurrentIndex(ServoChannels[SortAngles[3]]); + m_ccpm->ccpmServoWChannel->setCurrentIndex(ServoChannels[0]); + m_ccpm->ccpmServoXChannel->setCurrentIndex(ServoChannels[1]); + m_ccpm->ccpmServoYChannel->setCurrentIndex(ServoChannels[2]); + m_ccpm->ccpmServoZChannel->setCurrentIndex(ServoChannels[3]); //Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º" << "Custom - User Angles" << "Custom - Advanced Settings" ; @@ -1182,7 +1254,7 @@ void ConfigccpmWidget::requestccpmUpdate() { } - +*/ @@ -1204,7 +1276,7 @@ void ConfigccpmWidget::requestccpmUpdate() updatingFromHardware=FALSE; - + UpdatCCPMUIFromOptions(); ccpmSwashplateUpdate(); } @@ -1220,15 +1292,19 @@ void ConfigccpmWidget::sendccpmUpdate() UAVDataObject* obj; if (SwashLvlConfigurationInProgress)return; - ShowDisclaimer(1); + //ShowDisclaimer(1); + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); + UpdatCCPMOptionsFromUI(); obj = dynamic_cast(getObjectManager()->getObject(QString("SystemSettings"))); field = obj->getField(QString("GUIConfigData")); - field->setValue(GUIConfigData.UAVObject); + field->setValue(GUIConfigData.UAVObject[0],0); + field->setValue(GUIConfigData.UAVObject[1],1); obj->updated(); + obj = dynamic_cast(objManager->getObject(QString("MixerSettings"))); @@ -1297,7 +1373,9 @@ void ConfigccpmWidget::sendccpmUpdate() } obj->updated(); - + + + } diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h index ca53695f5..ca7b7f0c8 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h @@ -56,14 +56,16 @@ typedef struct { uint ccpmCollectivePassthroughState:1; uint ccpmLinkCyclicState:1; uint ccpmLinkRollState:1; - uint CollectiveChannel:3; - uint padding:12; - uint padding2:32; + uint CollectiveChannel:3;//20bits + uint SliderValue0:7; + uint SliderValue1:7; + uint SliderValue2:7;//41bits + uint padding:23; } __attribute__((packed)) heliGUISettingsStruct; -typedef union +typedef union { - uint UAVObject; + uint UAVObject[2]; heliGUISettingsStruct heli; } GUIConfigDataUnion; @@ -100,12 +102,12 @@ private: SwashplateServoSettingsStruct oldSwashLvlConfiguration; SwashplateServoSettingsStruct newSwashLvlConfiguration; - GUIConfigDataUnion GUIConfigData; - + GUIConfigDataUnion GUIConfigData; + int MixerChannelData[6]; int ShowDisclaimer(int messageID); virtual void enableControls(bool enable) { Q_UNUSED(enable)}; // Not used by this widget - + bool updatingFromHardware; private slots: @@ -127,7 +129,7 @@ private: void UpdatCCPMOptionsFromUI(); void UpdatCCPMUIFromOptions(); - + void SetUIComponentVisibilities(); void enableSwashplateLevellingControl(bool state); diff --git a/shared/uavobjectdefinition/systemsettings.xml b/shared/uavobjectdefinition/systemsettings.xml index 912eb6969..22c0e8fd4 100644 --- a/shared/uavobjectdefinition/systemsettings.xml +++ b/shared/uavobjectdefinition/systemsettings.xml @@ -2,7 +2,7 @@ Select airframe type. Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand - + From 08822807b31b15f0d4ee4d292c74bb702ce673ca Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Thu, 16 Jun 2011 00:33:07 -0400 Subject: [PATCH 032/241] OP-532 Now saving channels to GUI config data structure --- ground/openpilotgcs/src/plugins/config/ccpm.ui | 2 +- .../src/plugins/config/configccpmwidget.cpp | 13 +++++++++++++ .../src/plugins/config/configccpmwidget.h | 10 +++++++--- 3 files changed, 21 insertions(+), 4 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/ccpm.ui b/ground/openpilotgcs/src/plugins/config/ccpm.ui index 32eae8a20..8d0c3fb41 100644 --- a/ground/openpilotgcs/src/plugins/config/ccpm.ui +++ b/ground/openpilotgcs/src/plugins/config/ccpm.ui @@ -75,7 +75,7 @@ - 3 + 0 diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index 52ebce11e..9288d228d 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -734,6 +734,7 @@ void ConfigccpmWidget::ccpmSwashplateRedraw() void ConfigccpmWidget::ccpmSwashplateUpdate() { ccpmSwashplateRedraw(); + SetUIComponentVisibilities(); UpdateMixer(); } @@ -926,6 +927,11 @@ void ConfigccpmWidget::UpdatCCPMOptionsFromUI() GUIConfigData.heli.SliderValue2 = m_ccpm->ccpmRollScale->value(); //GUIConfigData.heli.RevoSlider = m_ccpm->ccpmREVOScale->value(); + //servo assignments + GUIConfigData.heli.ServoIndexW = m_ccpm->ccpmServoWChannel->currentIndex(); + GUIConfigData.heli.ServoIndexX = m_ccpm->ccpmServoXChannel->currentIndex(); + GUIConfigData.heli.ServoIndexY = m_ccpm->ccpmServoYChannel->currentIndex(); + GUIConfigData.heli.ServoIndexZ = m_ccpm->ccpmServoZChannel->currentIndex(); } void ConfigccpmWidget::UpdatCCPMUIFromOptions() @@ -957,6 +963,13 @@ void ConfigccpmWidget::UpdatCCPMUIFromOptions() m_ccpm->ccpmCollectiveSlider->setValue(GUIConfigData.heli.SliderValue0); m_ccpm->ccpmCollectivespinBox->setValue(GUIConfigData.heli.SliderValue0); //m_ccpm->ccpmREVOScale->setValue(GUIConfigData.heli.RevoSlider); + + //servo assignments + m_ccpm->ccpmServoWChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexW); + m_ccpm->ccpmServoXChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexX); + m_ccpm->ccpmServoYChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexY); + m_ccpm->ccpmServoZChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexZ); + } diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h index ca7b7f0c8..ad7ce8d01 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h @@ -60,13 +60,17 @@ typedef struct { uint SliderValue0:7; uint SliderValue1:7; uint SliderValue2:7;//41bits - uint padding:23; + uint ServoIndexW:4; + uint ServoIndexX:4; + uint ServoIndexY:4; + uint ServoIndexZ:4;//57bits + uint padding:7; } __attribute__((packed)) heliGUISettingsStruct; typedef union { - uint UAVObject[2]; - heliGUISettingsStruct heli; + uint UAVObject[2];//32bits * 2 + heliGUISettingsStruct heli;//64bits } GUIConfigDataUnion; class ConfigccpmWidget: public ConfigTaskWidget From aeda61d252269a2009d34323821b82bd9f850ffb Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Thu, 16 Jun 2011 15:06:01 +0300 Subject: [PATCH 033/241] usart: serial telemetry can be disabled to free USART It was tested being merged with OP-472_CorvusCorax_CopterControl-Guidance_v3 branch, Spektrum on USART3 and GPS on USART1 and seems to work. Currently defaults mimic original behavior, that is, if USE_SPEKTRUM is not defined - define USE_PWM and USE_GPS. Thsi should be refactored later to make it configurable from the Makefile. Also it was not ported to the OP MB: it currently does not support the S.Bus hardware and still has original behavior with the patch. But this is one more step to dynamic configuration of ports. --- flight/CopterControl/System/inc/pios_config.h | 5 ++++- flight/CopterControl/System/pios_board.c | 6 ++++++ flight/PiOS/Common/pios_com.c | 6 ++++-- 3 files changed, 14 insertions(+), 3 deletions(-) diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h index 2b3a8eb7a..fddef9c72 100644 --- a/flight/CopterControl/System/inc/pios_config.h +++ b/flight/CopterControl/System/inc/pios_config.h @@ -55,9 +55,11 @@ * and optionally define PIOS_PORT_* to USART port numbers */ -/* Current defaults */ +/* Current defaults - mimic original behavior */ #define USE_TELEMETRY +#if !defined(USE_SPEKTRUM) #define USE_GPS +#endif /* Serial telemetry: USART1 or USART3 */ #if !defined(PIOS_PORT_TELEMETRY) @@ -103,6 +105,7 @@ #define PIOS_GPIO_TELEMETRY USART_GPIO(PIOS_PORT_TELEMETRY) #define PIOS_RXIO_TELEMETRY USART_RXIO(PIOS_PORT_TELEMETRY) #define PIOS_TXIO_TELEMETRY USART_TXIO(PIOS_PORT_TELEMETRY) +#define PIOS_INCLUDE_TELEMETRY_RF #endif #if defined(USE_GPS) diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index b5aabc8b1..142bb2ba3 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -200,6 +200,7 @@ void PIOS_ADC_handler() { #include "pios_usart_priv.h" +#if defined(PIOS_INCLUDE_TELEMETRY_RF) /* * Telemetry USART */ @@ -245,6 +246,7 @@ const struct pios_usart_cfg pios_usart_telem_cfg = { }, }, }; +#endif /* PIOS_INCLUDE_TELEMETRY_RF */ #if defined(PIOS_INCLUDE_GPS) /* @@ -472,11 +474,13 @@ void PIOS_SUPV_irq_handler() { } #endif /* PIOS_INCLUDE_SBUS */ +#if defined(PIOS_INCLUDE_TELEMETRY_RF) static uint32_t pios_usart_telem_rf_id; void PIOS_USART_telem_irq_handler(void) { PIOS_USART_IRQ_Handler(pios_usart_telem_rf_id); } +#endif /* PIOS_INCLUDE_TELEMETRY_RF */ #if defined(PIOS_INCLUDE_GPS) static uint32_t pios_usart_gps_id; @@ -807,12 +811,14 @@ void PIOS_Board_Init(void) { /* Initialize the PiOS library */ #if defined(PIOS_INCLUDE_COM) +#if defined(PIOS_INCLUDE_TELEMETRY_RF) if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) { PIOS_DEBUG_Assert(0); } if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) { PIOS_DEBUG_Assert(0); } +#endif /* PIOS_INCLUDE_TELEMETRY_RF */ #if defined(PIOS_INCLUDE_GPS) if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) { PIOS_DEBUG_Assert(0); diff --git a/flight/PiOS/Common/pios_com.c b/flight/PiOS/Common/pios_com.c index 0d2c21d30..4bd00c22b 100644 --- a/flight/PiOS/Common/pios_com.c +++ b/flight/PiOS/Common/pios_com.c @@ -38,7 +38,7 @@ static bool PIOS_COM_validate(struct pios_com_dev * com_dev) { - return (com_dev->magic == PIOS_COM_DEV_MAGIC); + return (com_dev && (com_dev->magic == PIOS_COM_DEV_MAGIC)); } #if defined(PIOS_INCLUDE_FREERTOS) && 0 @@ -298,7 +298,9 @@ int32_t PIOS_COM_ReceiveBufferUsed(uint32_t com_id) if (!PIOS_COM_validate(com_dev)) { /* Undefined COM port for this board (see pios_board.c) */ - PIOS_DEBUG_Assert(0); + /* This is commented out so com_id=NULL can be used to disable telemetry */ + //PIOS_DEBUG_Assert(0); + return 0; } if (!com_dev->driver->rx_avail) { From 90f70629402d119797a371cf3072448a5c9b0962 Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Thu, 16 Jun 2011 22:52:41 -0400 Subject: [PATCH 034/241] OP-532 Implementation of Collective pass-through mapping --- .../src/plugins/config/configccpmwidget.cpp | 26 +++++++++++++++++-- 1 file changed, 24 insertions(+), 2 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index 9288d228d..a14e6957c 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -25,6 +25,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ #include "configccpmwidget.h" +#include "mixersettings.h" #include #include @@ -1385,10 +1386,31 @@ void ConfigccpmWidget::sendccpmUpdate() field->setValue(m_ccpm->CurveSettings->item(i, 1)->text().toDouble(),i); } + + field = obj->getField(QString("Curve2Source")); + + //mapping of collective input to curve 2... + //MixerSettings.Curve2Source = Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5 + //check if we are using throttle or directly from a channel... + if (GUIConfigData.heli.ccpmCollectivePassthroughState) + {// input channel + field->setValue("Accessory0"); obj->updated(); - - + obj = dynamic_cast(objManager->getObject(QString("ManualControlSettings"))); + Q_ASSERT(obj); + field = obj->getField(QString("Accessory0")); + field->setValue(tr( "Channel%1" ).arg(GUIConfigData.heli.CollectiveChannel+1)); + + } + else + {// throttle + + field->setValue("Throttle"); + } + + obj->updated(); + } From 6578eba0a00eea0616080983500be11819908ecb Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Fri, 17 Jun 2011 01:01:55 -0400 Subject: [PATCH 035/241] Op-532 prevented settings being retreived from hardware during an update to hardware --- ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp | 6 +++++- ground/openpilotgcs/src/plugins/config/configccpmwidget.h | 1 + 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index a14e6957c..b02510c78 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -48,6 +48,7 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) SwashLvlState=0; SwashLvlServoInterlock=0; updatingFromHardware=FALSE; + updatingToHardware=FALSE; // Now connect the widget to the ManualControlCommand / Channel UAVObject //ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); @@ -1020,6 +1021,7 @@ void ConfigccpmWidget::requestccpmUpdate() int isCCPM=0; if (SwashLvlConfigurationInProgress)return; + if (updatingToHardware)return; updatingFromHardware=TRUE; ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); @@ -1306,6 +1308,7 @@ void ConfigccpmWidget::sendccpmUpdate() UAVDataObject* obj; if (SwashLvlConfigurationInProgress)return; + updatingToHardware=TRUE; //ShowDisclaimer(1); @@ -1386,6 +1389,7 @@ void ConfigccpmWidget::sendccpmUpdate() field->setValue(m_ccpm->CurveSettings->item(i, 1)->text().toDouble(),i); } + obj->updated(); field = obj->getField(QString("Curve2Source")); @@ -1410,7 +1414,7 @@ void ConfigccpmWidget::sendccpmUpdate() } obj->updated(); - + updatingToHardware=FALSE; } diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h index ad7ce8d01..853081024 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h @@ -113,6 +113,7 @@ private: virtual void enableControls(bool enable) { Q_UNUSED(enable)}; // Not used by this widget bool updatingFromHardware; + bool updatingToHardware; private slots: void ccpmSwashplateUpdate(); From 65cf467ca4c440350cb60eafe49990648b3eb88c Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Thu, 16 Jun 2011 22:13:19 -0700 Subject: [PATCH 036/241] OP-423: move the module initialize funtion into a specific section for OP and CC. - create linker section for those Initialize() - later this list will incorporate parameters as well. (this probably will be more a OP feature to swap/remove/delete module on the fly. - this is not done at compile time anymore by Makefile. - this will allow us to have control on the module start at run-time (not implemented but build the ground for it). - this simplify the startup (Part of code re-org). - this change does not affect sim_posix and win32 (since they don't need that) - ensure it's compiling for PiOS.posix - port to PiOS.win32 but not tested (not compiled) - tested on CC - compile on OP. - this free ~200 bytes. - current avalable bytes (is we keep the same remaining bytes on the stack than before) is easily passed the 1.2Ko mark on CC with new gcc (4.5.2) - this does not include init-reorg for each module (I still think more can be freed) --- flight/CopterControl/Makefile | 19 +----- flight/CopterControl/System/coptercontrol.c | 52 ++++++++-------- flight/Modules/AHRSComms/ahrs_comms.c | 1 + flight/Modules/Actuator/actuator.c | 1 + flight/Modules/Altitude/altitude.c | 2 + flight/Modules/Attitude/attitude.c | 1 + flight/Modules/Battery/battery.c | 1 + flight/Modules/FirmwareIAP/firmwareiap.c | 2 +- flight/Modules/FlightPlan/flightplan.c | 2 + flight/Modules/GPS/GPS.c | 2 +- flight/Modules/Guidance/guidance.c | 1 + flight/Modules/Guidance/inc/guidance.h | 2 +- flight/Modules/ManualControl/manualcontrol.c | 1 + flight/Modules/Stabilization/stabilization.c | 1 + flight/Modules/System/systemmod.c | 4 +- flight/Modules/Telemetry/telemetry.c | 3 + flight/OpenPilot/Makefile | 14 +---- flight/OpenPilot/System/openpilot.c | 62 +++++++++++-------- flight/PiOS.posix/inc/pios_initcall.h | 1 + flight/PiOS.win32/inc/pios_initcall.h | 1 + .../link_STM32103CB_CC_Rev1_sections.ld | 10 +++ .../STM32F10x/link_STM3210E_OP_sections.ld | 10 +++ flight/PiOS/inc/pios_initcall.h | 6 ++ 23 files changed, 113 insertions(+), 86 deletions(-) diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index 21fa59f97..f6a920a62 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -113,12 +113,9 @@ OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight # List C source files here. (C dependencies are automatically generated.) # use file-extension c for "c-only"-files -MODNAMES = $(notdir ${MODULES}) - ifndef TESTAPP ## MODULES SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}} -SRC += ${OUTDIR}/InitMods.c ## OPENPILOT CORE: SRC += ${OPMODULEDIR}/System/systemmod.c SRC += $(OPSYSTEM)/coptercontrol.c @@ -486,7 +483,7 @@ LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE))) DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE))) # Default target. -all: gencode build +all: build ifeq ($(LOADFORMAT),ihex) build: elf hex lss sym @@ -502,18 +499,6 @@ endif endif endif -# Generate intermediate code for objects -gencode: ${OUTDIR}/InitMods.c - -# Generate code for module initialization -${OUTDIR}/InitMods.c: Makefile - @echo $(MSG_MODINIT) $(call toprel, $@) - @echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c - @echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c - @echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c - @echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c - @echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c - # Generate code for PyMite #$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py) # @echo $(MSG_PYMITEINIT) $(call toprel, $@) @@ -620,4 +605,4 @@ else endif # Listing of phony targets. -.PHONY : all build clean clean_list gencode install +.PHONY : all build clean clean_list install diff --git a/flight/CopterControl/System/coptercontrol.c b/flight/CopterControl/System/coptercontrol.c index e55cf16f9..bfba951b9 100644 --- a/flight/CopterControl/System/coptercontrol.c +++ b/flight/CopterControl/System/coptercontrol.c @@ -48,6 +48,9 @@ extern void InitModules(void); /* Prototype of PIOS_Board_Init() function */ extern void PIOS_Board_Init(void); +/* Init module section */ +extern initcall_t __module_initcall_start[], __module_initcall_end[]; + /** * OpenPilot Main function: * @@ -65,8 +68,30 @@ int main() /* Brings up System using CMSIS functions, enables the LEDs. */ PIOS_SYS_Init(); - /* Initialize the system thread */ - SystemModInitialize(); + /* Architecture dependant Hardware and + * core subsystem initialisation + * (see pios_board.c for your arch) + * */ + PIOS_Board_Init(); + +#ifdef ERASE_FLASH + PIOS_Flash_W25X_EraseChip(); + while(TRUE){}; +#endif + + /* Initialize modules */ + /* TODO: add id so we can parse this list later and replace module on the fly */ + /* property flag will be add to give information like: + * - importance of the module (can be dropped or required for flight + * - parameter to enable feature at run-time (based on user setup on GCS) + * All this will be handled by bootloader. this section will add a function pointer + * and a pointer to a 32 bit in RAM with all the flags. + * Limited on CC this could be mapped on RAM for OP so we can grow the list at run-time. + */ + initcall_t *fn; + int32_t ret; + for (fn = __module_initcall_start; fn < __module_initcall_end; fn++) + ret = (*fn)(); #if defined(ARCH_POSIX) || defined(ARCH_WIN32) /* Start the FreeRTOS scheduler which never returns.*/ @@ -80,29 +105,6 @@ int main() return 0; } -/** - * Initialize the hardware, libraries and modules (called by the System thread in systemmod.c) - */ -void OpenPilotInit() -{ - - /* Architecture dependant Hardware and - * core subsystem initialisation - * (see pios_board.c for your arch) - * */ - - PIOS_Board_Init(); - -#ifdef ERASE_FLASH - PIOS_Flash_W25X_EraseChip(); - while(TRUE){}; -#endif - - /* Initialize modules */ - InitModules(); -} - - /** * @} * @} diff --git a/flight/Modules/AHRSComms/ahrs_comms.c b/flight/Modules/AHRSComms/ahrs_comms.c index 76abb1a40..ee19dd38c 100644 --- a/flight/Modules/AHRSComms/ahrs_comms.c +++ b/flight/Modules/AHRSComms/ahrs_comms.c @@ -69,6 +69,7 @@ static void ahrscommsTask(void *parameters); * Initialise the module, called on startup * \returns 0 on success or -1 if initialisation failed */ +module_initcall(AHRSCommsInitialize, 0); int32_t AHRSCommsInitialize(void) { // Start main task diff --git a/flight/Modules/Actuator/actuator.c b/flight/Modules/Actuator/actuator.c index 05ad47e7a..d58e31f67 100644 --- a/flight/Modules/Actuator/actuator.c +++ b/flight/Modules/Actuator/actuator.c @@ -90,6 +90,7 @@ typedef struct { * @brief Module initialization * @return 0 */ +module_initcall(ActuatorInitialize, 0); int32_t ActuatorInitialize() { // Create object queue diff --git a/flight/Modules/Altitude/altitude.c b/flight/Modules/Altitude/altitude.c index 705eb061d..a23d1723f 100644 --- a/flight/Modules/Altitude/altitude.c +++ b/flight/Modules/Altitude/altitude.c @@ -37,6 +37,7 @@ */ #include "openpilot.h" +#include "altitude.h" #include "baroaltitude.h" // object that will be updated by the module #if defined(PIOS_INCLUDE_HCSR04) #include "sonaraltitude.h" // object that will be updated by the module @@ -66,6 +67,7 @@ static void altitudeTask(void *parameters); * Initialise the module, called on startup * \returns 0 on success or -1 if initialisation failed */ +module_initcall(AltitudeInitialize, 0); int32_t AltitudeInitialize() { // Start main task diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c index d05ae1152..5f12d001e 100644 --- a/flight/Modules/Attitude/attitude.c +++ b/flight/Modules/Attitude/attitude.c @@ -94,6 +94,7 @@ static bool zero_during_arming = false; * Initialise the module, called on startup * \returns 0 on success or -1 if initialisation failed */ +module_initcall(AttitudeInitialize, 0); int32_t AttitudeInitialize(void) { // Initialize quaternion diff --git a/flight/Modules/Battery/battery.c b/flight/Modules/Battery/battery.c index eabb5f91c..3da96080d 100644 --- a/flight/Modules/Battery/battery.c +++ b/flight/Modules/Battery/battery.c @@ -75,6 +75,7 @@ static void onTimer(UAVObjEvent* ev); * Initialise the module, called on startup * \returns 0 on success or -1 if initialisation failed */ +module_initcall(BatteryInitialize, 0); int32_t BatteryInitialize(void) { static UAVObjEvent ev; diff --git a/flight/Modules/FirmwareIAP/firmwareiap.c b/flight/Modules/FirmwareIAP/firmwareiap.c index 395ed960f..c069163f4 100644 --- a/flight/Modules/FirmwareIAP/firmwareiap.c +++ b/flight/Modules/FirmwareIAP/firmwareiap.c @@ -88,7 +88,7 @@ static void resetTask(UAVObjEvent *); * \note * */ - +module_initcall(FirmwareIAPInitialize, 0); int32_t FirmwareIAPInitialize() { const struct pios_board_info * bdinfo = &pios_board_info_blob; diff --git a/flight/Modules/FlightPlan/flightplan.c b/flight/Modules/FlightPlan/flightplan.c index a76966507..8666c1f98 100644 --- a/flight/Modules/FlightPlan/flightplan.c +++ b/flight/Modules/FlightPlan/flightplan.c @@ -31,6 +31,7 @@ #include "openpilot.h" #include "pm.h" +#include "flightplan.h" #include "flightplanstatus.h" #include "flightplancontrol.h" #include "flightplansettings.h" @@ -56,6 +57,7 @@ extern unsigned char usrlib_img[]; /** * Module initialization */ +module_initcall(FlightPlanInitialize, 0); int32_t FlightPlanInitialize() { taskHandle = NULL; diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c index 7d5ce8e5b..ccd1a31bd 100644 --- a/flight/Modules/GPS/GPS.c +++ b/flight/Modules/GPS/GPS.c @@ -108,7 +108,7 @@ static uint32_t numParsingErrors; * \return -1 if initialisation failed * \return 0 on success */ - +module_initcall(GPSInitialize, 0); int32_t GPSInitialize(void) { signed portBASE_TYPE xReturn; diff --git a/flight/Modules/Guidance/guidance.c b/flight/Modules/Guidance/guidance.c index b978b8306..3849e75e1 100644 --- a/flight/Modules/Guidance/guidance.c +++ b/flight/Modules/Guidance/guidance.c @@ -82,6 +82,7 @@ static void updateVtolDesiredAttitude(); * Initialise the module, called on startup * \returns 0 on success or -1 if initialisation failed */ +module_initcall(GuidanceInitialize, 0); int32_t GuidanceInitialize() { // Create object queue diff --git a/flight/Modules/Guidance/inc/guidance.h b/flight/Modules/Guidance/inc/guidance.h index 8e877edca..86ef46b2d 100644 --- a/flight/Modules/Guidance/inc/guidance.h +++ b/flight/Modules/Guidance/inc/guidance.h @@ -27,5 +27,5 @@ #define EXAMPLEMODPERIODIC_H int32_t ExampleModPeriodicInitialize(); - +int32_t GuidanceInitialize(void); #endif // EXAMPLEMODPERIODIC_H diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c index 63543c67a..d05a72f06 100644 --- a/flight/Modules/ManualControl/manualcontrol.c +++ b/flight/Modules/ManualControl/manualcontrol.c @@ -143,6 +143,7 @@ static bool validInputRange(int16_t min, int16_t max, uint16_t value); /** * Module initialization */ +module_initcall(ManualControlInitialize, 0); int32_t ManualControlInitialize() { /* Check the assumptions about uavobject enum's are correct */ diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c index 702020966..573f4ed74 100644 --- a/flight/Modules/Stabilization/stabilization.c +++ b/flight/Modules/Stabilization/stabilization.c @@ -89,6 +89,7 @@ static void SettingsUpdatedCb(UAVObjEvent * ev); /** * Module initialization */ +module_initcall(StabilizationInitialize, 0); int32_t StabilizationInitialize() { // Initialize variables diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c index 3d9e0b293..9bb6653cb 100644 --- a/flight/Modules/System/systemmod.c +++ b/flight/Modules/System/systemmod.c @@ -87,6 +87,7 @@ static void systemTask(void *parameters); * Initialise the module, called on startup. * \returns 0 on success or -1 if initialisation failed */ +module_initcall(SystemModInitialize, 0); int32_t SystemModInitialize(void) { // Initialize vars @@ -103,9 +104,6 @@ static void systemTask(void *parameters) { portTickType lastSysTime; - // System initialization - OpenPilotInit(); - // Register task TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle); diff --git a/flight/Modules/Telemetry/telemetry.c b/flight/Modules/Telemetry/telemetry.c index 07c7dc4dc..be44ca5b6 100644 --- a/flight/Modules/Telemetry/telemetry.c +++ b/flight/Modules/Telemetry/telemetry.c @@ -31,6 +31,7 @@ */ #include "openpilot.h" +#include "telemetry.h" #include "flighttelemetrystats.h" #include "gcstelemetrystats.h" #include "telemetrysettings.h" @@ -85,6 +86,7 @@ static void updateSettings(); * \return -1 if initialisation failed * \return 0 on success */ +module_initcall(TelemetryInitialize, 0); int32_t TelemetryInitialize(void) { UAVObjEvent ev; @@ -131,6 +133,7 @@ int32_t TelemetryInitialize(void) return 0; } + /** * Register a new object, adds object to local list and connects the queue depending on the object's * telemetry settings. diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile index a316f4cc3..df8e11a3c 100644 --- a/flight/OpenPilot/Makefile +++ b/flight/OpenPilot/Makefile @@ -115,8 +115,6 @@ UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight # List C source files here. (C dependencies are automatically generated.) # use file-extension c for "c-only"-files -MODNAMES = $(notdir ${MODULES} ${PYMODULES}) - ifndef TESTAPP ## PyMite files and modules @@ -131,7 +129,6 @@ SRC += $(PYSRC) ## MODULES SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}} -SRC += ${OUTDIR}/InitMods.c ## OPENPILOT CORE: SRC += ${OPMODULEDIR}/System/systemmod.c SRC += $(OPSYSTEM)/openpilot.c @@ -478,19 +475,10 @@ endif endif # Generate intermediate code -gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h +gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h $(PYSRC): gencode -# Generate code for module initialization -${OUTDIR}/InitMods.c: Makefile - @echo $(MSG_MODINIT) $(call toprel, $@) - @echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c - @echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c - @echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c - @echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c - @echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c - # Generate code for PyMite ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) @echo $(MSG_PYMITEINIT) $(call toprel, $@) diff --git a/flight/OpenPilot/System/openpilot.c b/flight/OpenPilot/System/openpilot.c index 3f89f2df6..b2468721a 100644 --- a/flight/OpenPilot/System/openpilot.c +++ b/flight/OpenPilot/System/openpilot.c @@ -68,6 +68,11 @@ extern void InitModules(void); /* Prototype of PIOS_Board_Init() function */ extern void PIOS_Board_Init(void); +#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) +/* Init module section */ +extern initcall_t __module_initcall_start[], __module_initcall_end[]; +#endif + /** * OpenPilot Main function: * @@ -85,16 +90,45 @@ int main() /* Brings up System using CMSIS functions, enables the LEDs. */ PIOS_SYS_Init(); - /* Initialize the system thread */ - SystemModInitialize(); + /* Architecture dependant Hardware and + * core subsystem initialisation + * (see pios_board.c for your arch) + * */ + PIOS_Board_Init(); +#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) + /* Initialize modules */ + /* TODO: add id so we can parse this list later and replace module on the fly */ + /* property flag will be add to give information like: + * - importance of the module (can be dropped or required for flight + * - parameter to enable feature at run-time (based on user setup on GCS) + * All this will be handled by bootloader. this section will add a function pointer + * and a pointer to a 32 bit in RAM with all the flags. + * Limited on CC this could be mapped on RAM for OP so we can grow the list at run-time. + */ + initcall_t *fn; + int32_t ret; + for (fn = __module_initcall_start; fn < __module_initcall_end; fn++) + ret = (*fn)(); + + /* Create test tasks */ + /* keep this just because it was there */ + //xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL); + //xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL); + //xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL); + //xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL); + +#else /* only do this for posix and win32 since the caller will take care * of starting the scheduler and increase the heap and swith back to * MSP stack. (all arch specific is hidden from here and take care by reset handler) * LED blinking in case of scheduler returning back should be handled in NMI or other * appropriate handlers like mem manager. */ -#if defined(ARCH_POSIX) || defined(ARCH_WIN32) + + /* Initialize modules */ + InitModules(); + /* Start the FreeRTOS scheduler which never returns.*/ vTaskStartScheduler(); @@ -111,28 +145,6 @@ int main() return 0; } -/** - * Initialize the hardware, libraries and modules (called by the System thread in systemmod.c) - */ -void OpenPilotInit() -{ - - /* Architecture dependant Hardware and - * core subsystem initialisation - * (see pios_board.c for your arch) - * */ - - PIOS_Board_Init(); - - /* Initialize modules */ - InitModules(); - - /* Create test tasks */ - //xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL); - //xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL); - //xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL); - //xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL); -} #if INCLUDE_TEST_TASKS static void TaskTesting(void *pvParameters) diff --git a/flight/PiOS.posix/inc/pios_initcall.h b/flight/PiOS.posix/inc/pios_initcall.h index c80cd47a8..75652026c 100644 --- a/flight/PiOS.posix/inc/pios_initcall.h +++ b/flight/PiOS.posix/inc/pios_initcall.h @@ -39,6 +39,7 @@ */ #define uavobj_initcall(fn) +#define module_initcall(fn, param) #endif /* PIOS_INITCALL_H */ diff --git a/flight/PiOS.win32/inc/pios_initcall.h b/flight/PiOS.win32/inc/pios_initcall.h index 73d5e72f7..f4f20ffae 100644 --- a/flight/PiOS.win32/inc/pios_initcall.h +++ b/flight/PiOS.win32/inc/pios_initcall.h @@ -39,6 +39,7 @@ */ #define uavobj_initcall(fn) +#define module_initcall(fn, param) #endif /* PIOS_INITCALL_H */ diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld index 9f8c9fd0e..3e84a1651 100644 --- a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld +++ b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld @@ -36,6 +36,16 @@ SECTIONS __uavobj_initcall_end = .; } >FLASH + /* module sections */ + .initcallmodule.init : + { + . = ALIGN(4); + __module_initcall_start = .; + KEEP(*(.initcallmodule.init)) + . = ALIGN(4); + __module_initcall_end = .; + } >FLASH + .ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) diff --git a/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld b/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld index e2e1a6f44..ffd9c7af6 100644 --- a/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld +++ b/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld @@ -195,6 +195,16 @@ SECTIONS __uavobj_initcall_end = .; } >FLASH + /* module sections */ + .initcallmodule.init : + { + . = ALIGN(4); + __module_initcall_start = .; + KEEP(*(.initcallmodule.init)) + . = ALIGN(4); + __module_initcall_end = .; + } >FLASH + /* the program code is stored in the .text section, which goes to Flash */ .text : { diff --git a/flight/PiOS/inc/pios_initcall.h b/flight/PiOS/inc/pios_initcall.h index 7edad6283..b4f808f53 100644 --- a/flight/PiOS/inc/pios_initcall.h +++ b/flight/PiOS/inc/pios_initcall.h @@ -55,7 +55,13 @@ typedef int32_t (*initcall_t)(void); static initcall_t __initcall_##fn##id __attribute__((__used__)) \ __attribute__((__section__(".initcall" level ".init"))) = fn +/* TODO: add param later */ +#define __define_module_initcall(level,fn,param) \ + static initcall_t __initcall_##fn __attribute__((__used__)) \ + __attribute__((__section__(".initcall" level ".init"))) = fn + #define uavobj_initcall(fn) __define_initcall("uavobj",fn,1) +#define module_initcall(fn, param) __define_module_initcall("module",fn,param) #endif /* PIOS_INITCALL_H */ From 693c6bc5b04f24f45394335f0ed2d0f7e24d41a5 Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Fri, 17 Jun 2011 18:54:25 -0700 Subject: [PATCH 037/241] OP-423: fix bl and bu, also fix compiler problems encountered with make all --- flight/Bootloaders/BootloaderUpdater/Makefile | 4 + flight/Bootloaders/CopterControl/Makefile | 2 +- flight/Bootloaders/OpenPilot/Makefile | 2 +- flight/INS/Makefile | 2 +- .../STM32F10x/startup_stm32f10x_HD_OP_BL.S | 485 ++++++++++++++++++ .../STM32F10x/startup_stm32f10x_MD_CC_BL.S | 357 +++++++++++++ 6 files changed, 849 insertions(+), 3 deletions(-) create mode 100644 flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP_BL.S create mode 100644 flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC_BL.S diff --git a/flight/Bootloaders/BootloaderUpdater/Makefile b/flight/Bootloaders/BootloaderUpdater/Makefile index 81aa163ec..f16fdef52 100644 --- a/flight/Bootloaders/BootloaderUpdater/Makefile +++ b/flight/Bootloaders/BootloaderUpdater/Makefile @@ -138,7 +138,11 @@ CPPSRCARM = # Even though the DOS/Win* filesystem matches both .s and .S the same, # it will preserve the spelling of the filenames, and gcc itself does # care about how the name is spelled on its command-line. +ifeq ($(MODEL_SUFFIX),) ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S +else +ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX)_BL.S +endif # List Assembler source files here which must be assembled in ARM-Mode.. ASRCARM = diff --git a/flight/Bootloaders/CopterControl/Makefile b/flight/Bootloaders/CopterControl/Makefile index 4fc2f0f08..111be7772 100644 --- a/flight/Bootloaders/CopterControl/Makefile +++ b/flight/Bootloaders/CopterControl/Makefile @@ -173,7 +173,7 @@ CPPSRCARM = # Even though the DOS/Win* filesystem matches both .s and .S the same, # it will preserve the spelling of the filenames, and gcc itself does # care about how the name is spelled on its command-line. -ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S +ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX)_BL.S # List Assembler source files here which must be assembled in ARM-Mode.. ASRCARM = diff --git a/flight/Bootloaders/OpenPilot/Makefile b/flight/Bootloaders/OpenPilot/Makefile index e4285f7e0..5410831ea 100644 --- a/flight/Bootloaders/OpenPilot/Makefile +++ b/flight/Bootloaders/OpenPilot/Makefile @@ -176,7 +176,7 @@ CPPSRCARM = # Even though the DOS/Win* filesystem matches both .s and .S the same, # it will preserve the spelling of the filenames, and gcc itself does # care about how the name is spelled on its command-line. -ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S +ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX)_BL.S # List Assembler source files here which must be assembled in ARM-Mode.. ASRCARM = diff --git a/flight/INS/Makefile b/flight/INS/Makefile index bd3bb52a9..ee6b6c3e6 100644 --- a/flight/INS/Makefile +++ b/flight/INS/Makefile @@ -154,7 +154,7 @@ CPPSRCARM = # Even though the DOS/Win* filesystem matches both .s and .S the same, # it will preserve the spelling of the filenames, and gcc itself does # care about how the name is spelled on its command-line. -ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S +ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX)_BL.S # List Assembler source files here which must be assembled in ARM-Mode.. ASRCARM = diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP_BL.S b/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP_BL.S new file mode 100644 index 000000000..c0c6c5ec2 --- /dev/null +++ b/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP_BL.S @@ -0,0 +1,485 @@ +/** + ****************************************************************************** + * @file startup_stm32f10x_hd.s + * @author MCD Application Team / David Ankers: Vector table for FreeRTOS + * @version V3.1.2 + * @date 09/28/2009 + * @brief STM32F10x High Density Devices vector table for RIDE7 toolchain. + * This module performs: + * - Set the initial SP + * - Set the initial PC == Reset_Handler, + * - Set the vector table entries with the exceptions ISR address, + * - Configure external SRAM mounted on STM3210E-EVAL board + * to be used as data memory (optional, to be enabled by user) + * - Branches to main in the C library (which eventually + * calls main()). + * After Reset the Cortex-M3 processor is in Thread mode, + * priority is Privileged, and the Stack is set to Main. + ****************************************************************************** + * @copy + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2009 STMicroelectronics

+ */ + + .syntax unified + .cpu cortex-m3 + .fpu softvfp + .thumb + +.global g_pfnVectors +.global SystemInit_ExtMemCtl_Dummy +.global Default_Handler +.global vTaskStartScheduler +.global xPortIncreaseHeapSize + +/* start address for the initialization values of the .data section. +defined in linker script */ +.word _sidata +/* start address for the .data section. defined in linker script */ +.word _sdata +/* end address for the .data section. defined in linker script */ +.word _edata +/* start address for the .bss section. defined in linker script */ +.word _sbss +/* end address for the .bss section. defined in linker script */ +.word _ebss +/* stack used for SystemInit_ExtMemCtl; always internal RAM used */ + +.equ BootRAM, 0xF1E0F85F +/** + * @brief This is the code that gets called when the processor first + * starts execution following a reset event. Only the absolutely + * necessary set is performed, after which the application + * supplied main() routine is called. + * @param None + * @retval : None +*/ + + .section .text.Reset_Handler + .weak Reset_Handler + .type Reset_Handler, %function +Reset_Handler: + +/* FSMC Bank1 NOR/SRAM3 is used for the STM3210E-EVAL, if another Bank is + required, then adjust the Register Addresses */ + bl SystemInit_ExtMemCtl +/* restore original stack pointer */ + LDR r0, =_irq_stack_top + MSR msp, r0 + +/* Copy the data segment initializers from flash to SRAM */ + movs r1, #0 + b LoopCopyDataInit + +CopyDataInit: + ldr r3, =_sidata + ldr r3, [r3, r1] + str r3, [r0, r1] + adds r1, r1, #4 + +LoopCopyDataInit: + ldr r0, =_sdata + ldr r3, =_edata + adds r2, r0, r1 + cmp r2, r3 + bcc CopyDataInit + ldr r2, =_sbss + b LoopFillZerobss +/* Zero fill the bss segment. */ +FillZerobss: + movs r3, #0 + str r3, [r2], #4 + +LoopFillZerobss: + ldr r3, = _ebss + cmp r2, r3 + bcc FillZerobss +/* Call the application's entry point.*/ + bl main + bx lr +.size Reset_Handler, .-Reset_Handler + +/** + * @brief Dummy SystemInit_ExtMemCtl function + * @param None + * @retval : None +*/ + .section .text.SystemInit_ExtMemCtl_Dummy,"ax",%progbits +SystemInit_ExtMemCtl_Dummy: + bx lr + .size SystemInit_ExtMemCtl_Dummy, .-SystemInit_ExtMemCtl_Dummy + +/** + * @brief This is the code that gets called when the processor receives an + * unexpected interrupt. This simply enters an infinite loop, preserving + * the system state for examination by a debugger. + * + * @param None + * @retval : None +*/ + .section .text.Default_Handler,"ax",%progbits +Default_Handler: +Infinite_Loop: + b Infinite_Loop + .size Default_Handler, .-Default_Handler +/****************************************************************************** +* +* The minimal vector table for a Cortex M3. Note that the proper constructs +* must be placed on this to ensure that it ends up at physical address +* 0x0000.0000. +* +******************************************************************************/ + .section .isr_vector,"a",%progbits + .type g_pfnVectors, %object + .size g_pfnVectors, .-g_pfnVectors + + +g_pfnVectors: + .word _irq_stack_top + .word Reset_Handler + .word NMI_Handler + .word HardFault_Handler + .word MemManage_Handler + .word BusFault_Handler + .word UsageFault_Handler + .word 0 + .word 0 + .word 0 + .word 0 + .word vPortSVCHandler + .word DebugMon_Handler + .word 0 + .word xPortPendSVHandler + .word xPortSysTickHandler + .word WWDG_IRQHandler + .word PVD_IRQHandler + .word TAMPER_IRQHandler + .word RTC_IRQHandler + .word FLASH_IRQHandler + .word RCC_IRQHandler + .word EXTI0_IRQHandler + .word EXTI1_IRQHandler + .word EXTI2_IRQHandler + .word EXTI3_IRQHandler + .word EXTI4_IRQHandler + .word DMA1_Channel1_IRQHandler + .word DMA1_Channel2_IRQHandler + .word DMA1_Channel3_IRQHandler + .word DMA1_Channel4_IRQHandler + .word DMA1_Channel5_IRQHandler + .word DMA1_Channel6_IRQHandler + .word DMA1_Channel7_IRQHandler + .word ADC1_2_IRQHandler + .word USB_HP_CAN1_TX_IRQHandler + .word USB_LP_CAN1_RX0_IRQHandler + .word CAN1_RX1_IRQHandler + .word CAN1_SCE_IRQHandler + .word EXTI9_5_IRQHandler + .word TIM1_BRK_IRQHandler + .word TIM1_UP_IRQHandler + .word TIM1_TRG_COM_IRQHandler + .word TIM1_CC_IRQHandler + .word TIM2_IRQHandler + .word TIM3_IRQHandler + .word TIM4_IRQHandler + .word I2C1_EV_IRQHandler + .word I2C1_ER_IRQHandler + .word I2C2_EV_IRQHandler + .word I2C2_ER_IRQHandler + .word SPI1_IRQHandler + .word SPI2_IRQHandler + .word USART1_IRQHandler + .word USART2_IRQHandler + .word USART3_IRQHandler + .word EXTI15_10_IRQHandler + .word RTCAlarm_IRQHandler + .word USBWakeUp_IRQHandler + .word TIM8_BRK_IRQHandler + .word TIM8_UP_IRQHandler + .word TIM8_TRG_COM_IRQHandler + .word TIM8_CC_IRQHandler + .word ADC3_IRQHandler + .word FSMC_IRQHandler + .word SDIO_IRQHandler + .word TIM5_IRQHandler + .word SPI3_IRQHandler + .word UART4_IRQHandler + .word UART5_IRQHandler + .word TIM6_IRQHandler + .word TIM7_IRQHandler + .word DMA2_Channel1_IRQHandler + .word DMA2_Channel2_IRQHandler + .word DMA2_Channel3_IRQHandler + .word DMA2_Channel4_5_IRQHandler + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word BootRAM /* @0x1E0. This is for boot in RAM mode for + STM32F10x High Density devices. */ + +/******************************************************************************* +* +* Provide weak aliases for each Exception handler to the Default_Handler. +* As they are weak aliases, any function with the same name will override +* this definition. +* +*******************************************************************************/ + + .weak NMI_Handler + .thumb_set NMI_Handler,Default_Handler + + .weak HardFault_Handler + .thumb_set HardFault_Handler,Default_Handler + + .weak MemManage_Handler + .thumb_set MemManage_Handler,Default_Handler + + .weak BusFault_Handler + .thumb_set BusFault_Handler,Default_Handler + + .weak UsageFault_Handler + .thumb_set UsageFault_Handler,Default_Handler + + .weak SVC_Handler + .thumb_set SVC_Handler,Default_Handler + + .weak DebugMon_Handler + .thumb_set DebugMon_Handler,Default_Handler + + .weak PendSV_Handler + .thumb_set PendSV_Handler,Default_Handler + + .weak SysTick_Handler + .thumb_set SysTick_Handler,Default_Handler + + .weak WWDG_IRQHandler + .thumb_set WWDG_IRQHandler,Default_Handler + + .weak PVD_IRQHandler + .thumb_set PVD_IRQHandler,Default_Handler + + .weak TAMPER_IRQHandler + .thumb_set TAMPER_IRQHandler,Default_Handler + + .weak RTC_IRQHandler + .thumb_set RTC_IRQHandler,Default_Handler + + .weak FLASH_IRQHandler + .thumb_set FLASH_IRQHandler,Default_Handler + + .weak RCC_IRQHandler + .thumb_set RCC_IRQHandler,Default_Handler + + .weak EXTI0_IRQHandler + .thumb_set EXTI0_IRQHandler,Default_Handler + + .weak EXTI1_IRQHandler + .thumb_set EXTI1_IRQHandler,Default_Handler + + .weak EXTI2_IRQHandler + .thumb_set EXTI2_IRQHandler,Default_Handler + + .weak EXTI3_IRQHandler + .thumb_set EXTI3_IRQHandler,Default_Handler + + .weak EXTI4_IRQHandler + .thumb_set EXTI4_IRQHandler,Default_Handler + + .weak DMA1_Channel1_IRQHandler + .thumb_set DMA1_Channel1_IRQHandler,Default_Handler + + .weak DMA1_Channel2_IRQHandler + .thumb_set DMA1_Channel2_IRQHandler,Default_Handler + + .weak DMA1_Channel3_IRQHandler + .thumb_set DMA1_Channel3_IRQHandler,Default_Handler + + .weak DMA1_Channel4_IRQHandler + .thumb_set DMA1_Channel4_IRQHandler,Default_Handler + + .weak DMA1_Channel5_IRQHandler + .thumb_set DMA1_Channel5_IRQHandler,Default_Handler + + .weak DMA1_Channel6_IRQHandler + .thumb_set DMA1_Channel6_IRQHandler,Default_Handler + + .weak DMA1_Channel7_IRQHandler + .thumb_set DMA1_Channel7_IRQHandler,Default_Handler + + .weak ADC1_2_IRQHandler + .thumb_set ADC1_2_IRQHandler,Default_Handler + + .weak USB_HP_CAN1_TX_IRQHandler + .thumb_set USB_HP_CAN1_TX_IRQHandler,Default_Handler + + .weak USB_LP_CAN1_RX0_IRQHandler + .thumb_set USB_LP_CAN1_RX0_IRQHandler,Default_Handler + + .weak CAN1_RX1_IRQHandler + .thumb_set CAN1_RX1_IRQHandler,Default_Handler + + .weak CAN1_SCE_IRQHandler + .thumb_set CAN1_SCE_IRQHandler,Default_Handler + + .weak EXTI9_5_IRQHandler + .thumb_set EXTI9_5_IRQHandler,Default_Handler + + .weak TIM1_BRK_IRQHandler + .thumb_set TIM1_BRK_IRQHandler,Default_Handler + + .weak TIM1_UP_IRQHandler + .thumb_set TIM1_UP_IRQHandler,Default_Handler + + .weak TIM1_TRG_COM_IRQHandler + .thumb_set TIM1_TRG_COM_IRQHandler,Default_Handler + + .weak TIM1_CC_IRQHandler + .thumb_set TIM1_CC_IRQHandler,Default_Handler + + .weak TIM2_IRQHandler + .thumb_set TIM2_IRQHandler,Default_Handler + + .weak TIM3_IRQHandler + .thumb_set TIM3_IRQHandler,Default_Handler + + .weak TIM4_IRQHandler + .thumb_set TIM4_IRQHandler,Default_Handler + + .weak I2C1_EV_IRQHandler + .thumb_set I2C1_EV_IRQHandler,Default_Handler + + .weak I2C1_ER_IRQHandler + .thumb_set I2C1_ER_IRQHandler,Default_Handler + + .weak I2C2_EV_IRQHandler + .thumb_set I2C2_EV_IRQHandler,Default_Handler + + .weak I2C2_ER_IRQHandler + .thumb_set I2C2_ER_IRQHandler,Default_Handler + + .weak SPI1_IRQHandler + .thumb_set SPI1_IRQHandler,Default_Handler + + .weak SPI2_IRQHandler + .thumb_set SPI2_IRQHandler,Default_Handler + + .weak USART1_IRQHandler + .thumb_set USART1_IRQHandler,Default_Handler + + .weak USART2_IRQHandler + .thumb_set USART2_IRQHandler,Default_Handler + + .weak USART3_IRQHandler + .thumb_set USART3_IRQHandler,Default_Handler + + .weak EXTI15_10_IRQHandler + .thumb_set EXTI15_10_IRQHandler,Default_Handler + + .weak RTCAlarm_IRQHandler + .thumb_set RTCAlarm_IRQHandler,Default_Handler + + .weak USBWakeUp_IRQHandler + .thumb_set USBWakeUp_IRQHandler,Default_Handler + + .weak TIM8_BRK_IRQHandler + .thumb_set TIM8_BRK_IRQHandler,Default_Handler + + .weak TIM8_UP_IRQHandler + .thumb_set TIM8_UP_IRQHandler,Default_Handler + + .weak TIM8_TRG_COM_IRQHandler + .thumb_set TIM8_TRG_COM_IRQHandler,Default_Handler + + .weak TIM8_CC_IRQHandler + .thumb_set TIM8_CC_IRQHandler,Default_Handler + + .weak ADC3_IRQHandler + .thumb_set ADC3_IRQHandler,Default_Handler + + .weak FSMC_IRQHandler + .thumb_set FSMC_IRQHandler,Default_Handler + + .weak SDIO_IRQHandler + .thumb_set SDIO_IRQHandler,Default_Handler + + .weak TIM5_IRQHandler + .thumb_set TIM5_IRQHandler,Default_Handler + + .weak SPI3_IRQHandler + .thumb_set SPI3_IRQHandler,Default_Handler + + .weak UART4_IRQHandler + .thumb_set UART4_IRQHandler,Default_Handler + + .weak UART5_IRQHandler + .thumb_set UART5_IRQHandler,Default_Handler + + .weak TIM6_IRQHandler + .thumb_set TIM6_IRQHandler,Default_Handler + + .weak TIM7_IRQHandler + .thumb_set TIM7_IRQHandler,Default_Handler + + .weak DMA2_Channel1_IRQHandler + .thumb_set DMA2_Channel1_IRQHandler,Default_Handler + + .weak DMA2_Channel2_IRQHandler + .thumb_set DMA2_Channel2_IRQHandler,Default_Handler + + .weak DMA2_Channel3_IRQHandler + .thumb_set DMA2_Channel3_IRQHandler,Default_Handler + + .weak DMA2_Channel4_5_IRQHandler + .thumb_set DMA2_Channel4_5_IRQHandler,Default_Handler + + .weak SystemInit_ExtMemCtl + .thumb_set SystemInit_ExtMemCtl,SystemInit_ExtMemCtl_Dummy + diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC_BL.S b/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC_BL.S new file mode 100644 index 000000000..a5ac06727 --- /dev/null +++ b/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC_BL.S @@ -0,0 +1,357 @@ +/** + ****************************************************************************** + * @file startup_stm32f10x_md.s + * @author MCD Application Team / Angus Peart + * @version V3.1.2 + * @date 09/28/2009 + * @brief STM32F10x Medium Density Devices vector table for RIDE7 toolchain. + * This module performs: + * - Set the initial SP + * - Set the initial PC == Reset_Handler, + * - Set the vector table entries with the exceptions ISR address + * - Branches to main in the C library (which eventually + * calls main()). + * After Reset the Cortex-M3 processor is in Thread mode, + * priority is Privileged, and the Stack is set to Main. + ******************************************************************************* + * @copy + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2009 STMicroelectronics

+ */ + + .syntax unified + .cpu cortex-m3 + .fpu softvfp + .thumb + +.global g_pfnVectors +.global Default_Handler + + +/* start address for the initialization values of the .data section. +defined in linker script */ +.word _sidata +/* start address for the .data section. defined in linker script */ +.word _sdata +/* end address for the .data section. defined in linker script */ +.word _edata +/* start address for the .bss section. defined in linker script */ +.word _sbss +/* end address for the .bss section. defined in linker script */ +.word _ebss + +.equ BootRAM, 0xF108F85F + +/** + * @brief This is the code that gets called when the processor first + * starts execution following a reset event. Only the absolutely + * necessary set is performed, after which the application + * supplied main() routine is called. + * @param None + * @retval : None +*/ + + .section .text.Reset_Handler + .weak Reset_Handler + .type Reset_Handler, %function +Reset_Handler: + +/* Copy the data segment initializers from flash to SRAM */ + movs r1, #0 + b LoopCopyDataInit + +CopyDataInit: + ldr r3, =_sidata + ldr r3, [r3, r1] + str r3, [r0, r1] + adds r1, r1, #4 + +LoopCopyDataInit: + ldr r0, =_sdata + ldr r3, =_edata + adds r2, r0, r1 + cmp r2, r3 + bcc CopyDataInit + ldr r2, =_sbss + b LoopFillZerobss +/* Zero fill the bss segment. */ +FillZerobss: + movs r3, #0 + str r3, [r2], #4 + +LoopFillZerobss: + ldr r3, = _ebss + cmp r2, r3 + bcc FillZerobss +/* Call the application's entry point.*/ + bl main + bx lr +.size Reset_Handler, .-Reset_Handler + +/** + * @brief This is the code that gets called when the processor receives an + * unexpected interrupt. This simply enters an infinite loop, preserving + * the system state for examination by a debugger. + * + * @param None + * @retval : None +*/ + .section .text.Default_Handler,"ax",%progbits +Default_Handler: +Infinite_Loop: + b Infinite_Loop + .size Default_Handler, .-Default_Handler +/****************************************************************************** +* +* The minimal vector table for a Cortex M3. Note that the proper constructs +* must be placed on this to ensure that it ends up at physical address +* 0x0000.0000. +* +******************************************************************************/ + .section .isr_vector,"a",%progbits + .type g_pfnVectors, %object + .size g_pfnVectors, .-g_pfnVectors + + +g_pfnVectors: + .word _estack + .word Reset_Handler + .word NMI_Handler + .word HardFault_Handler + .word MemManage_Handler + .word BusFault_Handler + .word UsageFault_Handler + .word 0 + .word 0 + .word 0 + .word 0 + .word vPortSVCHandler + .word DebugMon_Handler + .word 0 + .word xPortPendSVHandler + .word xPortSysTickHandler + .word WWDG_IRQHandler + .word PVD_IRQHandler + .word TAMPER_IRQHandler + .word RTC_IRQHandler + .word FLASH_IRQHandler + .word RCC_IRQHandler + .word EXTI0_IRQHandler + .word EXTI1_IRQHandler + .word EXTI2_IRQHandler + .word EXTI3_IRQHandler + .word EXTI4_IRQHandler + .word DMA1_Channel1_IRQHandler + .word DMA1_Channel2_IRQHandler + .word DMA1_Channel3_IRQHandler + .word DMA1_Channel4_IRQHandler + .word DMA1_Channel5_IRQHandler + .word DMA1_Channel6_IRQHandler + .word DMA1_Channel7_IRQHandler + .word ADC1_2_IRQHandler + .word USB_HP_CAN1_TX_IRQHandler + .word USB_LP_CAN1_RX0_IRQHandler + .word CAN1_RX1_IRQHandler + .word CAN1_SCE_IRQHandler + .word EXTI9_5_IRQHandler + .word TIM1_BRK_IRQHandler + .word TIM1_UP_IRQHandler + .word TIM1_TRG_COM_IRQHandler + .word TIM1_CC_IRQHandler + .word TIM2_IRQHandler + .word TIM3_IRQHandler + .word TIM4_IRQHandler + .word I2C1_EV_IRQHandler + .word I2C1_ER_IRQHandler + .word I2C2_EV_IRQHandler + .word I2C2_ER_IRQHandler + .word SPI1_IRQHandler + .word SPI2_IRQHandler + .word USART1_IRQHandler + .word USART2_IRQHandler + .word USART3_IRQHandler + .word EXTI15_10_IRQHandler + .word RTCAlarm_IRQHandler + .word USBWakeUp_IRQHandler + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word BootRAM /* @0x108. This is for boot in RAM mode for + STM32F10x Medium Density devices. */ + +/******************************************************************************* +* +* Provide weak aliases for each Exception handler to the Default_Handler. +* As they are weak aliases, any function with the same name will override +* this definition. +* +*******************************************************************************/ + + .weak NMI_Handler + .thumb_set NMI_Handler,Default_Handler + + .weak HardFault_Handler + .thumb_set HardFault_Handler,Default_Handler + + .weak MemManage_Handler + .thumb_set MemManage_Handler,Default_Handler + + .weak BusFault_Handler + .thumb_set BusFault_Handler,Default_Handler + + .weak UsageFault_Handler + .thumb_set UsageFault_Handler,Default_Handler + + .weak SVC_Handler + .thumb_set SVC_Handler,Default_Handler + + .weak DebugMon_Handler + .thumb_set DebugMon_Handler,Default_Handler + + .weak PendSV_Handler + .thumb_set PendSV_Handler,Default_Handler + + .weak SysTick_Handler + .thumb_set SysTick_Handler,Default_Handler + + .weak WWDG_IRQHandler + .thumb_set WWDG_IRQHandler,Default_Handler + + .weak PVD_IRQHandler + .thumb_set PVD_IRQHandler,Default_Handler + + .weak TAMPER_IRQHandler + .thumb_set TAMPER_IRQHandler,Default_Handler + + .weak RTC_IRQHandler + .thumb_set RTC_IRQHandler,Default_Handler + + .weak FLASH_IRQHandler + .thumb_set FLASH_IRQHandler,Default_Handler + + .weak RCC_IRQHandler + .thumb_set RCC_IRQHandler,Default_Handler + + .weak EXTI0_IRQHandler + .thumb_set EXTI0_IRQHandler,Default_Handler + + .weak EXTI1_IRQHandler + .thumb_set EXTI1_IRQHandler,Default_Handler + + .weak EXTI2_IRQHandler + .thumb_set EXTI2_IRQHandler,Default_Handler + + .weak EXTI3_IRQHandler + .thumb_set EXTI3_IRQHandler,Default_Handler + + .weak EXTI4_IRQHandler + .thumb_set EXTI4_IRQHandler,Default_Handler + + .weak DMA1_Channel1_IRQHandler + .thumb_set DMA1_Channel1_IRQHandler,Default_Handler + + .weak DMA1_Channel2_IRQHandler + .thumb_set DMA1_Channel2_IRQHandler,Default_Handler + + .weak DMA1_Channel3_IRQHandler + .thumb_set DMA1_Channel3_IRQHandler,Default_Handler + + .weak DMA1_Channel4_IRQHandler + .thumb_set DMA1_Channel4_IRQHandler,Default_Handler + + .weak DMA1_Channel5_IRQHandler + .thumb_set DMA1_Channel5_IRQHandler,Default_Handler + + .weak DMA1_Channel6_IRQHandler + .thumb_set DMA1_Channel6_IRQHandler,Default_Handler + + .weak DMA1_Channel7_IRQHandler + .thumb_set DMA1_Channel7_IRQHandler,Default_Handler + + .weak ADC1_2_IRQHandler + .thumb_set ADC1_2_IRQHandler,Default_Handler + + .weak USB_HP_CAN1_TX_IRQHandler + .thumb_set USB_HP_CAN1_TX_IRQHandler,Default_Handler + + .weak USB_LP_CAN1_RX0_IRQHandler + .thumb_set USB_LP_CAN1_RX0_IRQHandler,Default_Handler + + .weak CAN1_RX1_IRQHandler + .thumb_set CAN1_RX1_IRQHandler,Default_Handler + + .weak CAN1_SCE_IRQHandler + .thumb_set CAN1_SCE_IRQHandler,Default_Handler + + .weak EXTI9_5_IRQHandler + .thumb_set EXTI9_5_IRQHandler,Default_Handler + + .weak TIM1_BRK_IRQHandler + .thumb_set TIM1_BRK_IRQHandler,Default_Handler + + .weak TIM1_UP_IRQHandler + .thumb_set TIM1_UP_IRQHandler,Default_Handler + + .weak TIM1_TRG_COM_IRQHandler + .thumb_set TIM1_TRG_COM_IRQHandler,Default_Handler + + .weak TIM1_CC_IRQHandler + .thumb_set TIM1_CC_IRQHandler,Default_Handler + + .weak TIM2_IRQHandler + .thumb_set TIM2_IRQHandler,Default_Handler + + .weak TIM3_IRQHandler + .thumb_set TIM3_IRQHandler,Default_Handler + + .weak TIM4_IRQHandler + .thumb_set TIM4_IRQHandler,Default_Handler + + .weak I2C1_EV_IRQHandler + .thumb_set I2C1_EV_IRQHandler,Default_Handler + + .weak I2C1_ER_IRQHandler + .thumb_set I2C1_ER_IRQHandler,Default_Handler + + .weak I2C2_EV_IRQHandler + .thumb_set I2C2_EV_IRQHandler,Default_Handler + + .weak I2C2_ER_IRQHandler + .thumb_set I2C2_ER_IRQHandler,Default_Handler + + .weak SPI1_IRQHandler + .thumb_set SPI1_IRQHandler,Default_Handler + + .weak SPI2_IRQHandler + .thumb_set SPI2_IRQHandler,Default_Handler + + .weak USART1_IRQHandler + .thumb_set USART1_IRQHandler,Default_Handler + + .weak USART2_IRQHandler + .thumb_set USART2_IRQHandler,Default_Handler + + .weak USART3_IRQHandler + .thumb_set USART3_IRQHandler,Default_Handler + + .weak EXTI15_10_IRQHandler + .thumb_set EXTI15_10_IRQHandler,Default_Handler + + .weak RTCAlarm_IRQHandler + .thumb_set RTCAlarm_IRQHandler,Default_Handler + + .weak USBWakeUp_IRQHandler + .thumb_set USBWakeUp_IRQHandler,Default_Handler + + From eecacc57f611523a2f6e8e8df5f244e8b3eeceac Mon Sep 17 00:00:00 2001 From: dankers Date: Sun, 19 Jun 2011 02:34:12 +1000 Subject: [PATCH 038/241] Update deluxe dials from London Flyer, added deluxe horizontal dial Note: these are not used by default, commiting to master directly --- .../Dials/deluxe/lineardial-horizontal.svg | 1329 +++++++++++++++++ artwork/Dials/deluxe/lineardial-vertical.svg | 25 +- .../dials/deluxe/lineardial-horizontal.svg | 1329 +++++++++++++++++ .../dials/deluxe/lineardial-vertical.svg | 25 +- 4 files changed, 2682 insertions(+), 26 deletions(-) create mode 100644 artwork/Dials/deluxe/lineardial-horizontal.svg create mode 100644 ground/openpilotgcs/share/openpilotgcs/dials/deluxe/lineardial-horizontal.svg diff --git a/artwork/Dials/deluxe/lineardial-horizontal.svg b/artwork/Dials/deluxe/lineardial-horizontal.svg new file mode 100644 index 000000000..2f6f71b17 --- /dev/null +++ b/artwork/Dials/deluxe/lineardial-horizontal.svg @@ -0,0 +1,1329 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + + Edouard Lafargue + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/artwork/Dials/deluxe/lineardial-vertical.svg b/artwork/Dials/deluxe/lineardial-vertical.svg index 11a4e1c93..010283c2c 100644 --- a/artwork/Dials/deluxe/lineardial-vertical.svg +++ b/artwork/Dials/deluxe/lineardial-vertical.svg @@ -30,7 +30,7 @@ style="stop-color:#000000;stop-opacity:1" /> + style="stop-color:#dcaf28;stop-opacity:1" /> + offset="0.38184431" + style="stop-color:#00a000;stop-opacity:1" /> + style="stop-color:#aa0000;stop-opacity:1" />
diff --git a/ground/openpilotgcs/src/plugins/uploader/images/warning.svg b/ground/openpilotgcs/src/plugins/uploader/images/warning.svg new file mode 100644 index 000000000..cd684c4e1 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/uploader/images/warning.svg @@ -0,0 +1,102 @@ + + + +image/svg+xml + + + + + + + + + + + + + \ No newline at end of file diff --git a/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp b/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp index a3fe178c6..8a9045233 100644 --- a/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp @@ -718,7 +718,7 @@ OP_DFU::Status DFUObject::UploadFirmwareT(const QString &sfile, const bool &veri return OP_DFU::abort;; } - quint32 crc=CRCFromQBArray(arr,devices[device].SizeOfCode); + quint32 crc=DFUObject::CRCFromQBArray(arr,devices[device].SizeOfCode); if (debug) qDebug() << "NEW FIRMWARE CRC=" << crc; @@ -817,7 +817,7 @@ OP_DFU::Status DFUObject::CompareFirmware(const QString &sfile, const CompareTyp } if(type==OP_DFU::crccompare) { - quint32 crc=CRCFromQBArray(arr,devices[device].SizeOfCode); + quint32 crc=DFUObject::CRCFromQBArray(arr,devices[device].SizeOfCode); if(crc==devices[device].FW_CRC) { cout<<"Compare Successfull CRC MATCH!\n"; @@ -971,7 +971,7 @@ quint32 DFUObject::CRCFromQBArray(QByteArray array, quint32 Size) aux+=(char)array[x*4+0]&0xFF; t[x]=aux; } - return CRC32WideFast(0xFFFFFFFF,Size/4,(quint32*)t); + return DFUObject::CRC32WideFast(0xFFFFFFFF,Size/4,(quint32*)t); } diff --git a/ground/openpilotgcs/src/plugins/uploader/op_dfu.h b/ground/openpilotgcs/src/plugins/uploader/op_dfu.h index c58621f67..420e0a3ea 100644 --- a/ground/openpilotgcs/src/plugins/uploader/op_dfu.h +++ b/ground/openpilotgcs/src/plugins/uploader/op_dfu.h @@ -108,7 +108,7 @@ namespace OP_DFU { Q_OBJECT; public: - + static quint32 CRCFromQBArray(QByteArray array, quint32 Size); //DFUObject(bool debug); DFUObject(bool debug,bool use_serial,QString port); @@ -152,7 +152,7 @@ namespace OP_DFU { // Helper functions: QString StatusToString(OP_DFU::Status const & status); - quint32 CRC32WideFast(quint32 Crc, quint32 Size, quint32 *Buffer); + static quint32 CRC32WideFast(quint32 Crc, quint32 Size, quint32 *Buffer); @@ -179,7 +179,7 @@ namespace OP_DFU { // USB Bootloader: pjrc_rawhid hidHandle; int setStartBit(int command){ return command|0x20; } - quint32 CRCFromQBArray(QByteArray array, quint32 Size); + void CopyWords(char * source, char* destination, int count); void printProgBar( int const & percent,QString const& label); bool StartUpload(qint32 const &numberOfBytes, TransferTypes const & type,quint32 crc); diff --git a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp index f1511e746..5939ee3f8 100644 --- a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp @@ -25,7 +25,8 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ #include "runningdevicewidget.h" - +#include "devicedescriptorstruct.h" +#include "uploadergadgetwidget.h" runningDeviceWidget::runningDeviceWidget(QWidget *parent) : QWidget(parent) { @@ -102,9 +103,12 @@ void runningDeviceWidget::populate() QString serial = utilMngr->getBoardCPUSerial().toHex(); myDevice->cpuSerial->setText(serial); - QString description = utilMngr->getBoardDescription(); - myDevice->description->setText(description); - + QByteArray description = utilMngr->getBoardDescription(); + deviceDescriptorStruct devDesc; + UploaderGadgetWidget::descriptionToStructure(description,&devDesc); + myDevice->description->setText(devDesc.description); + myDevice->lblGitTag->setText(QString("Git Tag:")+devDesc.gitTag); + myDevice->lblFwDate->setText(QString("FW Build Date:")+devDesc.buildDate); status("Ready...", STATUSICON_INFO); } diff --git a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h index 413a406fd..a1b77b3ba 100644 --- a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h +++ b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h @@ -29,7 +29,7 @@ #define RUNNINGDEVICEWIDGET_H #include "ui_runningdevicewidget.h" -#include "uploadergadgetwidget.h" + #include #include #include diff --git a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui index 4a730c509..f54b6ca48 100644 --- a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui +++ b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui @@ -16,7 +16,7 @@ - + @@ -90,6 +90,20 @@ + + + + + + + + + + + + + + diff --git a/ground/openpilotgcs/src/plugins/uploader/uploader.pro b/ground/openpilotgcs/src/plugins/uploader/uploader.pro index 05742868d..32424509b 100755 --- a/ground/openpilotgcs/src/plugins/uploader/uploader.pro +++ b/ground/openpilotgcs/src/plugins/uploader/uploader.pro @@ -22,7 +22,8 @@ HEADERS += uploadergadget.h \ SSP/qssp.h \ SSP/qsspt.h \ SSP/common.h \ - runningdevicewidget.h + runningdevicewidget.h \ + devicedescriptorstruct.h SOURCES += uploadergadget.cpp \ uploadergadgetconfiguration.cpp \ uploadergadgetfactory.cpp \ @@ -35,7 +36,8 @@ SOURCES += uploadergadget.cpp \ SSP/port.cpp \ SSP/qssp.cpp \ SSP/qsspt.cpp \ - runningdevicewidget.cpp + runningdevicewidget.cpp \ + devicedescriptorstruct.cpp OTHER_FILES += Uploader.pluginspec FORMS += \ diff --git a/ground/openpilotgcs/src/plugins/uploader/uploader.qrc b/ground/openpilotgcs/src/plugins/uploader/uploader.qrc index 1008ef3ba..f51ea265c 100644 --- a/ground/openpilotgcs/src/plugins/uploader/uploader.qrc +++ b/ground/openpilotgcs/src/plugins/uploader/uploader.qrc @@ -10,5 +10,6 @@ images/deviceID-0201.svg images/deviceID-0101.svg images/application-certificate.svg + images/warning.svg diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp index 397533c2b..a1dc469da 100755 --- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp @@ -27,7 +27,49 @@ #include "uploadergadgetwidget.h" #define DFU_DEBUG true +bool UploaderGadgetWidget::descriptionToStructure(QByteArray desc,deviceDescriptorStruct * struc) +{ + if (desc.startsWith("OpFw")) { + // This looks like a binary with a description at the end + /* + # 4 bytes: header: "OpFw" + # 4 bytes: GIT commit tag (short version of SHA1) + # 4 bytes: Unix timestamp of compile time + # 2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files. + # 26 bytes: commit tag if it is there, otherwise "Unreleased". Zero-padded + # ---- 40 bytes limit --- + # 20 bytes: SHA1 sum of the firmware. + # 40 bytes: free for now. + */ + // Note: the ARM binary is big-endian: + quint32 gitCommitTag = desc.at(7)&0xFF; + for (int i=1;i<4;i++) { + gitCommitTag = gitCommitTag<<8; + gitCommitTag += desc.at(7-i) & 0xFF; + } + struc->gitTag="0x" + QString::number(gitCommitTag,16); + quint32 buildDate = desc.at(11)&0xFF; + for (int i=1;i<4;i++) { + buildDate = buildDate<<8; + buildDate += desc.at(11-i) & 0xFF; + } + struc->buildDate= QDateTime::fromTime_t(buildDate).toString(); + QByteArray targetPlatform = desc.mid(12,2); + qDebug()<<"targetPlatform"<<(int)targetPlatform.at(0); + qDebug()<<"targetPlatform"<<(int)targetPlatform.at(1); + + // TODO: check platform compatibility + QString dscText = QString(desc.mid(14,26)); + qDebug()<<"dscText"<boardType=(int)targetPlatform.at(0); + struc->boardRevision=(int)targetPlatform.at(1); + qDebug()<<"type"<boardType<<"rev"<boardRevision; + struc->description=dscText; + return true; + } + return false; +} UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent) { m_config = new Ui_UploaderWidget(); diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h index 8fb167a82..81d39e44f 100755 --- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h +++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h @@ -52,20 +52,23 @@ #include #include #include - +#include "devicedescriptorstruct.h" #include using namespace OP_DFU; + class UploaderGadgetWidget : public QWidget { Q_OBJECT + public: UploaderGadgetWidget(QWidget *parent = 0); ~UploaderGadgetWidget(); typedef enum { IAP_STATE_READY, IAP_STATE_STEP_1, IAP_STATE_STEP_2, IAP_STEP_RESET, IAP_STATE_BOOTLOADER} IAPStep; void log(QString str); + static bool descriptionToStructure(QByteArray desc,deviceDescriptorStruct * struc); public slots: void onAutopilotConnect(); From c6350492ebe2c5620039e36922d637679b196600 Mon Sep 17 00:00:00 2001 From: zedamota Date: Sun, 19 Jun 2011 00:56:35 +0100 Subject: [PATCH 044/241] Cleaning and formating --- .../src/plugins/uploader/devicewidget.cpp | 145 +++++++++--------- .../plugins/uploader/uploadergadgetwidget.cpp | 5 - 2 files changed, 72 insertions(+), 78 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp index 74f6eda1d..0548ed800 100644 --- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp @@ -56,8 +56,8 @@ void deviceWidget::showEvent(QShowEvent *event) // the result is usually a ahrsbargraph that is way too small. if (devicePic) { - myDevice->gVDevice->fitInView(devicePic,Qt::KeepAspectRatio); - } + myDevice->gVDevice->fitInView(devicePic,Qt::KeepAspectRatio); + } } void deviceWidget::resizeEvent(QResizeEvent* event) @@ -79,7 +79,6 @@ void deviceWidget::setDfu(DFUObject *dfu) QString deviceWidget::idToBoardName(int id) { - qDebug()<<"idToBoard"<DownloadDescriptionAsBA(size); if (! populateBoardStructuredDescription(desc)) { -//TODO + //TODO // desc was not a structured description QString str = m_dfu->DownloadDescription(size); //myDevice->lblDescription->setMaxLength(size); @@ -179,9 +178,9 @@ void deviceWidget::populate() */ void deviceWidget::freeze() { - myDevice->description->setEnabled(false); - myDevice->updateButton->setEnabled(false); - myDevice->retrieveButton->setEnabled(false); + myDevice->description->setEnabled(false); + myDevice->updateButton->setEnabled(false); + myDevice->retrieveButton->setEnabled(false); } /** @@ -190,64 +189,64 @@ void deviceWidget::freeze() */ bool deviceWidget::populateBoardStructuredDescription(QByteArray desc) { - if(UploaderGadgetWidget::descriptionToStructure(desc,&onBoardDescrition)) - { - myDevice->lblGitTag->setText("GIT tag "+onBoardDescrition.gitTag); - myDevice->lblBuildDate->setText(QString("Build time: ") + onBoardDescrition.buildDate); - if(onBoardDescrition.description.startsWith("release",Qt::CaseInsensitive)) - { - myDevice->lblDescription->setText(QString("FW Release:")+onBoardDescrition.description); - QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg")); - myDevice->lblCertified->setPixmap(pix); - myDevice->lblCertified->setToolTip(tr("Official Firmware Build")); + if(UploaderGadgetWidget::descriptionToStructure(desc,&onBoardDescrition)) + { + myDevice->lblGitTag->setText("GIT tag "+onBoardDescrition.gitTag); + myDevice->lblBuildDate->setText(QString("Build time: ") + onBoardDescrition.buildDate); + if(onBoardDescrition.description.startsWith("release",Qt::CaseInsensitive)) + { + myDevice->lblDescription->setText(QString("FW Release:")+onBoardDescrition.description); + QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg")); + myDevice->lblCertified->setPixmap(pix); + myDevice->lblCertified->setToolTip(tr("Official Firmware Build")); - } - else - { - myDevice->lblDescription->setText(QString("Beta or Custom Firmware:")+onBoardDescrition.description); - QPixmap pix = QPixmap(QString(":uploader/images/warning.svg")); - myDevice->lblCertified->setPixmap(pix); - myDevice->lblCertified->setToolTip(tr("Custom Firmware Build")); - } + } + else + { + myDevice->lblDescription->setText(QString("Beta or Custom Firmware:")+onBoardDescrition.description); + QPixmap pix = QPixmap(QString(":uploader/images/warning.svg")); + myDevice->lblCertified->setPixmap(pix); + myDevice->lblCertified->setToolTip(tr("Custom Firmware Build")); + } - myDevice->lblBrdName->setText(idToBoardName(onBoardDescrition.boardType<<8)); + myDevice->lblBrdName->setText(idToBoardName(onBoardDescrition.boardType<<8)); - return true; - } + return true; + } - return false; + return false; } bool deviceWidget::populateLoadedStructuredDescription(QByteArray desc) { - if(UploaderGadgetWidget::descriptionToStructure(desc,&LoadedDescrition)) - { + if(UploaderGadgetWidget::descriptionToStructure(desc,&LoadedDescrition)) + { myDevice->lblGitTagL->setText("GIT tag "+LoadedDescrition.gitTag); - myDevice->lblBuildDateL->setText(QString("Build time: ") + LoadedDescrition.buildDate); - if(LoadedDescrition.description.startsWith("release",Qt::CaseInsensitive)) - { - myDevice->lblDescriptionL->setText(tr("FW Release:")); - myDevice->description->setText(LoadedDescrition.description); - QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg")); - myDevice->lblCertifiedL->setPixmap(pix); - myDevice->lblCertifiedL->setToolTip(tr("Official Firmware Build")); + myDevice->lblBuildDateL->setText(QString("Build time: ") + LoadedDescrition.buildDate); + if(LoadedDescrition.description.startsWith("release",Qt::CaseInsensitive)) + { + myDevice->lblDescriptionL->setText(tr("FW Release:")); + myDevice->description->setText(LoadedDescrition.description); + QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg")); + myDevice->lblCertifiedL->setPixmap(pix); + myDevice->lblCertifiedL->setToolTip(tr("Official Firmware Build")); - } - else - { - myDevice->lblDescriptionL->setText(tr("Beta or Custom Firmware:")); - myDevice->description->setText(LoadedDescrition.description); - QPixmap pix = QPixmap(QString(":uploader/images/warning.svg")); - myDevice->lblCertifiedL->setPixmap(pix); - myDevice->lblCertifiedL->setToolTip(tr("Custom Firmware Build")); - } + } + else + { + myDevice->lblDescriptionL->setText(tr("Beta or Custom Firmware:")); + myDevice->description->setText(LoadedDescrition.description); + QPixmap pix = QPixmap(QString(":uploader/images/warning.svg")); + myDevice->lblCertifiedL->setPixmap(pix); + myDevice->lblCertifiedL->setToolTip(tr("Custom Firmware Build")); + } - myDevice->lblBrdNameL->setText(idToBoardName(LoadedDescrition.boardType<<8)); + myDevice->lblBrdNameL->setText(idToBoardName(LoadedDescrition.boardType<<8)); - return true; - } + return true; + } - return false; + return false; } /** @@ -315,7 +314,7 @@ void deviceWidget::loadFirmware() myDevice->lblCRCL->setText(QString("FW CRC: ") + QString::number(DFUObject::CRCFromQBArray(loadedFW,m_dfu->devices[deviceID].SizeOfCode))); if (populateLoadedStructuredDescription(desc)) { - myDevice->youdont->setChecked(true); + myDevice->youdont->setChecked(true); myDevice->verticalGroupBox_loaded->setVisible(true); if(myDevice->lblCRC->text()==myDevice->lblCRCL->text()) { @@ -352,7 +351,7 @@ void deviceWidget::loadFirmware() myDevice->verticalGroupBox_loaded->setVisible(false); } myDevice->statusIcon->setPixmap(px); - //myDevice->updateButton->setEnabled(true); + //myDevice->updateButton->setEnabled(true); } @@ -475,26 +474,26 @@ void deviceWidget::uploadFinished(OP_DFU::Status retstatus) status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data(), STATUSICON_FAIL); return; } else - if (!descriptionArray.isEmpty()) { - // We have a structured array to save - status(QString("Updating description"), STATUSICON_RUNNING); - repaint(); // Make sure the text above shows right away - retstatus = m_dfu->UploadDescription(descriptionArray); - if( retstatus != OP_DFU::Last_operation_Success) { - status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data(), STATUSICON_FAIL); - return; - } + if (!descriptionArray.isEmpty()) { + // We have a structured array to save + status(QString("Updating description"), STATUSICON_RUNNING); + repaint(); // Make sure the text above shows right away + retstatus = m_dfu->UploadDescription(descriptionArray); + if( retstatus != OP_DFU::Last_operation_Success) { + status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data(), STATUSICON_FAIL); + return; + } - } else if (!myDevice->description->text().isEmpty()) { - // Fallback: we save the description field: - status(QString("Updating description"), STATUSICON_RUNNING); - repaint(); // Make sure the text above shows right away - retstatus = m_dfu->UploadDescription(myDevice->description->text()); - if( retstatus != OP_DFU::Last_operation_Success) { - status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data(), STATUSICON_FAIL); - return; - } - } + } else if (!myDevice->description->text().isEmpty()) { + // Fallback: we save the description field: + status(QString("Updating description"), STATUSICON_RUNNING); + repaint(); // Make sure the text above shows right away + retstatus = m_dfu->UploadDescription(myDevice->description->text()); + if( retstatus != OP_DFU::Last_operation_Success) { + status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data(), STATUSICON_FAIL); + return; + } + } status("Upload successful", STATUSICON_OK); diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp index a1dc469da..9301fa12a 100755 --- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp @@ -56,15 +56,10 @@ bool UploaderGadgetWidget::descriptionToStructure(QByteArray desc,deviceDescript } struc->buildDate= QDateTime::fromTime_t(buildDate).toString(); QByteArray targetPlatform = desc.mid(12,2); - qDebug()<<"targetPlatform"<<(int)targetPlatform.at(0); - qDebug()<<"targetPlatform"<<(int)targetPlatform.at(1); - // TODO: check platform compatibility QString dscText = QString(desc.mid(14,26)); - qDebug()<<"dscText"<boardType=(int)targetPlatform.at(0); struc->boardRevision=(int)targetPlatform.at(1); - qDebug()<<"type"<boardType<<"rev"<boardRevision; struc->description=dscText; return true; } From 5e3e7cc4e3e4ba4559686abeb783195ce4e062ab Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Sat, 18 Jun 2011 17:28:37 -0700 Subject: [PATCH 045/241] OP-423 Fix issue with init not properly started in the right order endup up object thinking other where not init. --- flight/CopterControl/System/coptercontrol.c | 6 +++++- flight/Modules/System/systemmod.c | 1 - 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/flight/CopterControl/System/coptercontrol.c b/flight/CopterControl/System/coptercontrol.c index bfba951b9..29dc68bae 100644 --- a/flight/CopterControl/System/coptercontrol.c +++ b/flight/CopterControl/System/coptercontrol.c @@ -90,6 +90,10 @@ int main() */ initcall_t *fn; int32_t ret; + + /* this one needs to be done first */ + SystemModInitialize(); + for (fn = __module_initcall_start; fn < __module_initcall_end; fn++) ret = (*fn)(); @@ -102,7 +106,7 @@ int main() vTaskStartScheduler(); #endif - return 0; + return 0; } /** diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c index 9bb6653cb..fabacd0b1 100644 --- a/flight/Modules/System/systemmod.c +++ b/flight/Modules/System/systemmod.c @@ -87,7 +87,6 @@ static void systemTask(void *parameters); * Initialise the module, called on startup. * \returns 0 on success or -1 if initialisation failed */ -module_initcall(SystemModInitialize, 0); int32_t SystemModInitialize(void) { // Initialize vars From 2b11395a6714c65803795d189402dbde03d71dfb Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Sat, 18 Jun 2011 17:31:29 -0700 Subject: [PATCH 046/241] OP-423 just move stack from systemmod back to heap (200 bytes) that are not needed anymore. --- flight/CopterControl/System/inc/pios_config.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h index 96d2ff27a..02302de26 100644 --- a/flight/CopterControl/System/inc/pios_config.h +++ b/flight/CopterControl/System/inc/pios_config.h @@ -95,7 +95,7 @@ /* Task stack sizes */ #define PIOS_ACTUATOR_STACK_SIZE 1020 #define PIOS_MANUAL_STACK_SIZE 724 -#define PIOS_SYSTEM_STACK_SIZE 560 +#define PIOS_SYSTEM_STACK_SIZE 360 #define PIOS_STABILIZATION_STACK_SIZE 524 #define PIOS_TELEM_STACK_SIZE 500 From d5cd3e0d2a410fc1e07baa1916a8e3a5c8887419 Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Sat, 18 Jun 2011 15:55:11 -0700 Subject: [PATCH 047/241] OP-423: fix problem in GCS when the config files get deleted. GCS aborts on a table overflow when trying to set the axes with wrong number of channels. --- .../openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp index 9480d789e..3c00987f7 100644 --- a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp +++ b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp @@ -283,8 +283,8 @@ void GCSControlGadget::buttonState(ButtonNumber number, bool pressed) void GCSControlGadget::axesValues(QListInt16 values) { int chMax = values.length(); - if (rollChannel > chMax || pitchChannel > chMax || - yawChannel > chMax || throttleChannel > chMax ) { + if (rollChannel >= chMax || pitchChannel >= chMax || + yawChannel >= chMax || throttleChannel >= chMax ) { qDebug() << "GCSControl: configuration is inconsistent with current joystick! Aborting update."; return; } From 6272210df753fe021a960751f6b4805976c4cc8c Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Sun, 19 Jun 2011 14:30:13 +0300 Subject: [PATCH 048/241] sbus: some code cleanup (no functional changes) --- flight/CopterControl/Makefile | 23 ++- flight/CopterControl/System/inc/pios_config.h | 116 ++------------ flight/CopterControl/System/pios_board.c | 141 ++++++++++++++---- flight/PiOS/STM32F10x/pios_sbus.c | 120 +++++++-------- flight/PiOS/inc/pios_sbus.h | 1 - flight/PiOS/inc/pios_sbus_priv.h | 13 +- 6 files changed, 206 insertions(+), 208 deletions(-) diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index c0bfd28ae..25b2a5675 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -383,35 +383,34 @@ ifeq ($(ERASE_FLASH), YES) CDEFS += -DERASE_FLASH endif +# USART port functions. NO means do not use this function. +# YES means use with default USART port number (hardware-dependent). +# Number means use with specified USART port number (this value). ifneq ($(USE_TELEMETRY), NO) -ifeq ($(USE_TELEMETRY), YES) CDEFS += -DUSE_TELEMETRY -else -CDEFS += -DUSE_TELEMETRY -DPIOS_PORT_TELEMETRY=$(USE_TELEMETRY) +ifneq ($(USE_TELEMETRY), YES) +CDEFS += -DPIOS_PORT_TELEMETRY=$(USE_TELEMETRY) endif endif ifneq ($(USE_GPS), NO) -ifeq ($(USE_GPS), YES) CDEFS += -DUSE_GPS -else -CDEFS += -DUSE_GPS -DPIOS_PORT_GPS=$(USE_GPS) +ifneq ($(USE_GPS), YES) +CDEFS += -DPIOS_PORT_GPS=$(USE_GPS) endif endif ifneq ($(USE_SPEKTRUM), NO) -ifeq ($(USE_SPEKTRUM), YES) CDEFS += -DUSE_SPEKTRUM -else -CDEFS += -DUSE_SPEKTRUM -DPIOS_PORT_SPEKTRUM=$(USE_SPEKTRUM) +ifneq ($(USE_SPEKTRUM), YES) +CDEFS += -DPIOS_PORT_SPEKTRUM=$(USE_SPEKTRUM) endif endif ifneq ($(USE_SBUS), NO) -ifeq ($(USE_SBUS), YES) CDEFS += -DUSE_SBUS -else -CDEFS += -DUSE_SBUS -DPIOS_PORT_SBUS=$(USE_SBUS) +ifneq ($(USE_SBUS), YES) +CDEFS += -DPIOS_PORT_SBUS=$(USE_SBUS) endif endif diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h index 430b0e3ee..0e9baf9d1 100644 --- a/flight/CopterControl/System/inc/pios_config.h +++ b/flight/CopterControl/System/inc/pios_config.h @@ -75,114 +75,26 @@ #define PIOS_PORT_SBUS 1 #endif -/* - * Define USART ports and check for conflicts. - * Make sure it does not conflict with each other and with I2C. - */ -#define USART_GPIO(port) (((port) == 1) ? GPIOA : GPIOB) -#define USART_RXIO(port) (((port) == 1) ? GPIO_Pin_10 : GPIO_Pin_11) -#define USART_TXIO(port) (((port) == 1) ? GPIO_Pin_9 : GPIO_Pin_10) - -#if defined(USE_TELEMETRY) -#if defined(USE_I2C) && (PIOS_PORT_TELEMETRY == 3) -#error defined(USE_I2C) && (PIOS_PORT_TELEMETRY == 3) -#endif -#if (PIOS_PORT_TELEMETRY == 1) -#define PIOS_USART_TELEMETRY USART1 -#define PIOS_IRQH_TELEMETRY USART1_IRQHandler -#define PIOS_IRQC_TELEMETRY USART1_IRQn -#else -#define PIOS_USART_TELEMETRY USART3 -#define PIOS_IRQH_TELEMETRY USART3_IRQHandler -#define PIOS_IRQC_TELEMETRY USART3_IRQn -#endif -#define PIOS_GPIO_TELEMETRY USART_GPIO(PIOS_PORT_TELEMETRY) -#define PIOS_RXIO_TELEMETRY USART_RXIO(PIOS_PORT_TELEMETRY) -#define PIOS_TXIO_TELEMETRY USART_TXIO(PIOS_PORT_TELEMETRY) -#define PIOS_INCLUDE_TELEMETRY_RF -#endif - -#if defined(USE_GPS) -#if defined(USE_I2C) && (PIOS_PORT_GPS == 3) -#error defined(USE_I2C) && (PIOS_PORT_GPS == 3) -#endif -#if defined(USE_TELEMETRY) && (PIOS_PORT_TELEMETRY == PIOS_PORT_GPS) -#error defined(USE_TELEMETRY) && (PIOS_PORT_TELEMETRY == PIOS_PORT_GPS) -#endif -#if (PIOS_PORT_GPS == 1) -#define PIOS_USART_GPS USART1 -#define PIOS_IRQH_GPS USART1_IRQHandler -#define PIOS_IRQC_GPS USART1_IRQn -#else -#define PIOS_USART_GPS USART3 -#define PIOS_IRQH_GPS USART3_IRQHandler -#define PIOS_IRQC_GPS USART3_IRQn -#endif -#define PIOS_GPIO_GPS USART_GPIO(PIOS_PORT_GPS) -#define PIOS_RXIO_GPS USART_RXIO(PIOS_PORT_GPS) -#define PIOS_TXIO_GPS USART_TXIO(PIOS_PORT_GPS) -#define PIOS_INCLUDE_GPS -#endif - -#if defined(USE_SPEKTRUM) -#if defined(USE_I2C) && (PIOS_PORT_SPEKTRUM == 3) -#error defined(USE_I2C) && (PIOS_PORT_SPEKTRUM == 3) -#endif -#if defined(USE_TELEMETRY) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_TELEMETRY) -#error defined(USE_TELEMETRY) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_TELEMETRY) -#endif -#if defined(USE_GPS) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_GPS) -#error defined(USE_GPS) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_GPS) -#endif -#if defined(USE_SBUS) -#error defined(USE_SPEKTRUM) && defined(USE_SBUS) -#endif -#if (PIOS_PORT_SPEKTRUM == 1) -#define PIOS_USART_SPEKTRUM USART1 -#define PIOS_IRQH_SPEKTRUM USART1_IRQHandler -#define PIOS_IRQC_SPEKTRUM USART1_IRQn -#else -#define PIOS_USART_SPEKTRUM USART3 -#define PIOS_IRQH_SPEKTRUM USART3_IRQHandler -#define PIOS_IRQC_SPEKTRUM USART3_IRQn -#endif -#define PIOS_GPIO_SPEKTRUM USART_GPIO(PIOS_PORT_SPEKTRUM) -#define PIOS_RXIO_SPEKTRUM USART_RXIO(PIOS_PORT_SPEKTRUM) -#define PIOS_TXIO_SPEKTRUM USART_TXIO(PIOS_PORT_SPEKTRUM) -#define PIOS_INCLUDE_SPEKTRUM -#endif - -#if defined(USE_SBUS) -#if (PIOS_PORT_SBUS != 1) -#error (PIOS_PORT_SBUS != 1) -#endif -#if defined(USE_TELEMETRY) && (PIOS_PORT_SBUS == PIOS_PORT_TELEMETRY) -#error defined(USE_TELEMETRY) && (PIOS_PORT_SBUS == PIOS_PORT_TELEMETRY) -#endif -#if defined(USE_GPS) && (PIOS_PORT_SBUS == PIOS_PORT_GPS) -#error defined(USE_GPS) && (PIOS_PORT_SBUS == PIOS_PORT_GPS) -#endif -#if defined(USE_SPEKTRUM) -#error defined(USE_SPEKTRUM) && defined(USE_SBUS) -#endif -#define PIOS_USART_SBUS USART1 -#define PIOS_IRQH_SBUS USART1_IRQHandler -#define PIOS_IRQC_SBUS USART1_IRQn -#define PIOS_GPIO_SBUS USART_GPIO(PIOS_PORT_SBUS) -#define PIOS_RXIO_SBUS USART_RXIO(PIOS_PORT_SBUS) -#define PIOS_TXIO_SBUS USART_TXIO(PIOS_PORT_SBUS) -#define PIOS_GPIO_INV_PORT GPIOB -#define PIOS_GPIO_INV_PIN GPIO_Pin_2 -#define PIOS_GPIO_INV_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE) -#define PIOS_INCLUDE_SBUS -#endif - /* Receiver interfaces - only one allowed */ #if !defined(USE_SPEKTRUM) && !defined(USE_SBUS) //#define PIOS_INCLUDE_PPM #define PIOS_INCLUDE_PWM #endif +/* USART-based PIOS modules */ +#if defined(USE_TELEMETRY) +#define PIOS_INCLUDE_TELEMETRY_RF +#endif +#if defined(USE_GPS) +#define PIOS_INCLUDE_GPS +#endif +#if defined(USE_SPEKTRUM) +#define PIOS_INCLUDE_SPEKTRUM +#endif +#if defined(USE_SBUS) +#define PIOS_INCLUDE_SBUS +#endif + #define PIOS_INCLUDE_SERVO #define PIOS_INCLUDE_SPI #define PIOS_INCLUDE_SYS diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index 72107bdee..0a9d32740 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -33,7 +33,6 @@ #if defined(PIOS_INCLUDE_SPI) - #include /* Flash/Accel Interface @@ -200,6 +199,101 @@ void PIOS_ADC_handler() { #include "pios_usart_priv.h" +/* + * Define USART port configurations and check for conflicts + * making sure they do not conflict with each other and with I2C. + */ +#define USART_GPIO(port) (((port) == 1) ? GPIOA : GPIOB) +#define USART_RXIO(port) (((port) == 1) ? GPIO_Pin_10 : GPIO_Pin_11) +#define USART_TXIO(port) (((port) == 1) ? GPIO_Pin_9 : GPIO_Pin_10) + +#if defined(USE_TELEMETRY) +#if defined(USE_I2C) && (PIOS_PORT_TELEMETRY == 3) +#error defined(USE_I2C) && (PIOS_PORT_TELEMETRY == 3) +#endif +#if (PIOS_PORT_TELEMETRY == 1) +#define PIOS_USART_TELEMETRY USART1 +#define PIOS_IRQH_TELEMETRY USART1_IRQHandler +#define PIOS_IRQC_TELEMETRY USART1_IRQn +#else +#define PIOS_USART_TELEMETRY USART3 +#define PIOS_IRQH_TELEMETRY USART3_IRQHandler +#define PIOS_IRQC_TELEMETRY USART3_IRQn +#endif +#define PIOS_GPIO_TELEMETRY USART_GPIO(PIOS_PORT_TELEMETRY) +#define PIOS_RXIO_TELEMETRY USART_RXIO(PIOS_PORT_TELEMETRY) +#define PIOS_TXIO_TELEMETRY USART_TXIO(PIOS_PORT_TELEMETRY) +#endif + +#if defined(USE_GPS) +#if defined(USE_I2C) && (PIOS_PORT_GPS == 3) +#error defined(USE_I2C) && (PIOS_PORT_GPS == 3) +#endif +#if defined(USE_TELEMETRY) && (PIOS_PORT_TELEMETRY == PIOS_PORT_GPS) +#error defined(USE_TELEMETRY) && (PIOS_PORT_TELEMETRY == PIOS_PORT_GPS) +#endif +#if (PIOS_PORT_GPS == 1) +#define PIOS_USART_GPS USART1 +#define PIOS_IRQH_GPS USART1_IRQHandler +#define PIOS_IRQC_GPS USART1_IRQn +#else +#define PIOS_USART_GPS USART3 +#define PIOS_IRQH_GPS USART3_IRQHandler +#define PIOS_IRQC_GPS USART3_IRQn +#endif +#define PIOS_GPIO_GPS USART_GPIO(PIOS_PORT_GPS) +#define PIOS_RXIO_GPS USART_RXIO(PIOS_PORT_GPS) +#define PIOS_TXIO_GPS USART_TXIO(PIOS_PORT_GPS) +#endif + +#if defined(USE_SPEKTRUM) +#if defined(USE_I2C) && (PIOS_PORT_SPEKTRUM == 3) +#error defined(USE_I2C) && (PIOS_PORT_SPEKTRUM == 3) +#endif +#if defined(USE_TELEMETRY) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_TELEMETRY) +#error defined(USE_TELEMETRY) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_TELEMETRY) +#endif +#if defined(USE_GPS) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_GPS) +#error defined(USE_GPS) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_GPS) +#endif +#if defined(USE_SBUS) +#error defined(USE_SPEKTRUM) && defined(USE_SBUS) +#endif +#if (PIOS_PORT_SPEKTRUM == 1) +#define PIOS_USART_SPEKTRUM USART1 +#define PIOS_IRQH_SPEKTRUM USART1_IRQHandler +#define PIOS_IRQC_SPEKTRUM USART1_IRQn +#else +#define PIOS_USART_SPEKTRUM USART3 +#define PIOS_IRQH_SPEKTRUM USART3_IRQHandler +#define PIOS_IRQC_SPEKTRUM USART3_IRQn +#endif +#define PIOS_GPIO_SPEKTRUM USART_GPIO(PIOS_PORT_SPEKTRUM) +#define PIOS_RXIO_SPEKTRUM USART_RXIO(PIOS_PORT_SPEKTRUM) +#define PIOS_TXIO_SPEKTRUM USART_TXIO(PIOS_PORT_SPEKTRUM) +#endif + +#if defined(USE_SBUS) +#if (PIOS_PORT_SBUS != 1) +#error (PIOS_PORT_SBUS != 1) +#endif +#if defined(USE_TELEMETRY) && (PIOS_PORT_SBUS == PIOS_PORT_TELEMETRY) +#error defined(USE_TELEMETRY) && (PIOS_PORT_SBUS == PIOS_PORT_TELEMETRY) +#endif +#if defined(USE_GPS) && (PIOS_PORT_SBUS == PIOS_PORT_GPS) +#error defined(USE_GPS) && (PIOS_PORT_SBUS == PIOS_PORT_GPS) +#endif +#if defined(USE_SPEKTRUM) +#error defined(USE_SPEKTRUM) && defined(USE_SBUS) +#endif +#define PIOS_USART_SBUS USART1 +#define PIOS_IRQH_SBUS USART1_IRQHandler +#define PIOS_IRQC_SBUS USART1_IRQn +#define PIOS_GPIO_SBUS USART_GPIO(PIOS_PORT_SBUS) +#define PIOS_RXIO_SBUS USART_RXIO(PIOS_PORT_SBUS) +#define PIOS_TXIO_SBUS USART_TXIO(PIOS_PORT_SBUS) +#endif + #if defined(PIOS_INCLUDE_TELEMETRY_RF) /* * Telemetry USART @@ -442,22 +536,19 @@ void PIOS_USART_sbus_irq_handler(void) void RTC_IRQHandler(); void RTC_IRQHandler() __attribute__ ((alias ("PIOS_SUPV_irq_handler"))); const struct pios_sbus_cfg pios_sbus_cfg = { + /* USART configuration structure */ .pios_usart_sbus_cfg = &pios_usart_sbus_cfg, - .gpio_init = { //used for bind feature + + /* Invertor configuration */ + .gpio_clk_func = RCC_APB2PeriphClockCmd, + .gpio_clk_periph = RCC_APB2Periph_GPIOB, + .gpio_inv_port = GPIOB, + .gpio_inv_init = { + .GPIO_Pin = GPIO_Pin_2, .GPIO_Mode = GPIO_Mode_Out_PP, .GPIO_Speed = GPIO_Speed_2MHz, }, - .remap = 0, - .irq = { - .handler = RTC_IRQHandler, - .init = { - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, - .port = PIOS_GPIO_SBUS, - .pin = PIOS_RXIO_SBUS, + .gpio_inv_enable = Bit_SET, }; void PIOS_SUPV_irq_handler() { @@ -786,18 +877,6 @@ void PIOS_Board_Init(void) { } #endif -#if defined(PIOS_INCLUDE_SBUS) - /* SBUS init must come before comms */ - PIOS_SBUS_Init(); - - if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_cfg)) { - PIOS_DEBUG_Assert(0); - } - if (PIOS_COM_Init(&pios_com_sbus_id, &pios_usart_com_driver, pios_usart_sbus_id)) { - PIOS_DEBUG_Assert(0); - } -#endif - /* Initialize UAVObject libraries */ EventDispatcherInitialize(); UAVObjInitialize(); @@ -827,7 +906,17 @@ void PIOS_Board_Init(void) { PIOS_DEBUG_Assert(0); } #endif /* PIOS_INCLUDE_GPS */ -#endif /* PIOS_INCLUDE_COM */ +#if defined(PIOS_INCLUDE_SBUS) + PIOS_SBUS_Init(); + + if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_cfg)) { + PIOS_DEBUG_Assert(0); + } + if (PIOS_COM_Init(&pios_com_sbus_id, &pios_usart_com_driver, pios_usart_sbus_id)) { + PIOS_DEBUG_Assert(0); + } +#endif /* PIOS_INCLUDE_SBUS */ +#endif /* PIOS_INCLUDE_COM */ /* Remap AFIO pin */ GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE); diff --git a/flight/PiOS/STM32F10x/pios_sbus.c b/flight/PiOS/STM32F10x/pios_sbus.c index 120cd2371..c742397a5 100644 --- a/flight/PiOS/STM32F10x/pios_sbus.c +++ b/flight/PiOS/STM32F10x/pios_sbus.c @@ -44,7 +44,7 @@ static uint8_t failsafe_timer; static uint8_t frame_found; /** - * reset_channels function clears all channel data in case of + * reset_channels() function clears all channel data in case of * lost signal or explicit failsafe flag from the S.Bus data stream */ static void reset_channels(void) @@ -55,8 +55,11 @@ static void reset_channels(void) } /** - * unroll_channels function computes channel_data[] from received_data[] - * For efficiency it unrolls first 8 channel without loops + * unroll_channels() function computes channel_data[] from received_data[] + * For efficiency it unrolls first 8 channels without loops. If other + * 8 channels are needed they can be unrolled using the same code + * starting from s[11] instead of s[0]. Two extra digital channels are + * accessible using (s[22] & SBUS_FLAG_DGx) logical expressions. */ static void unroll_channels(void) { @@ -75,61 +78,13 @@ static void unroll_channels(void) *d++ = F(s[5] | s[6] << 8, 4); *d++ = F(s[6] | s[7] << 8 | s[8] << 16, 7); *d++ = F(s[8] | s[9] << 8, 2); - *d = F(s[9] | s[10] << 8, 5); + *d++ = F(s[9] | s[10] << 8, 5); } /** - * Initialise S.Bus receiver interface + * process_byte() function processes incoming byte from S.Bus stream */ -void PIOS_SBUS_Init(void) -{ - /* Enable USART input invertor clock */ - PIOS_GPIO_INV_FUNCTION; - - /* Set invertor pin mode */ - static const GPIO_InitTypeDef GPIO_InitStructure = { - .GPIO_Pin = PIOS_GPIO_INV_PIN, - .GPIO_Mode = GPIO_Mode_Out_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }; - GPIO_Init(PIOS_GPIO_INV_PORT, &GPIO_InitStructure); - - /* Enable invertor */ - GPIO_WriteBit(PIOS_GPIO_INV_PORT, PIOS_GPIO_INV_PIN, Bit_SET); - - /* Init RTC supervisor timer interrupt */ - static const NVIC_InitTypeDef NVIC_InitStructure = { - .NVIC_IRQChannel = RTC_IRQn, - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }; - NVIC_Init(&NVIC_InitStructure); - - /* Init RTC clock */ - PIOS_RTC_Init(); -} - -/** - * Get the value of an input channel - * \param[in] channel Number of the channel desired (zero based) - * \output -1 channel not available - * \output >0 channel value - */ -int16_t PIOS_SBUS_Get(int8_t channel) -{ - /* return error if channel is not available */ - if (channel >= SBUS_NUMBER_OF_CHANNELS) { - return -1; - } - return channel_data[channel]; -} - -/** - * Decodes a byte - * \param[in] b byte which should be decoded - */ -void PIOS_SBUS_Decode(uint8_t b) +static void process_byte(uint8_t b) { static uint8_t byte_count; @@ -168,30 +123,71 @@ void PIOS_SBUS_Decode(uint8_t b) } } -/* Interrupt handler for USART */ +/** + * Initialise S.Bus receiver interface + */ +void PIOS_SBUS_Init(void) +{ + /* Enable USART input invertor clock and enable the invertor */ + (*pios_sbus_cfg.gpio_clk_func)(pios_sbus_cfg.gpio_clk_periph, ENABLE); + GPIO_Init(pios_sbus_cfg.gpio_inv_port, &pios_sbus_cfg.gpio_inv_init); + GPIO_WriteBit(pios_sbus_cfg.gpio_inv_port, + pios_sbus_cfg.gpio_inv_init.GPIO_Pin, + pios_sbus_cfg.gpio_inv_enable); + + /* Init RTC supervisor timer interrupt */ + static const NVIC_InitTypeDef NVIC_InitStructure = { + .NVIC_IRQChannel = RTC_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }; + NVIC_Init(&NVIC_InitStructure); + + /* Init RTC clock */ + PIOS_RTC_Init(); +} + +/** + * Get the value of an input channel + * \param[in] channel Number of the channel desired (zero based) + * \output -1 channel not available + * \output >0 channel value + */ +int16_t PIOS_SBUS_Get(int8_t channel) +{ + /* return error if channel is not available */ + if (channel >= SBUS_NUMBER_OF_CHANNELS) { + return -1; + } + return channel_data[channel]; +} + +/** + * Interrupt handler for USART + */ void SBUS_IRQHandler(uint32_t usart_id) { /* by always reading DR after SR make sure to clear any error interrupts */ volatile uint16_t sr = pios_sbus_cfg.pios_usart_sbus_cfg->regs->SR; volatile uint8_t b = pios_sbus_cfg.pios_usart_sbus_cfg->regs->DR; - /* process received byte if new one has arrived */ + /* process received byte if one has arrived */ if (sr & USART_SR_RXNE) { - PIOS_SBUS_Decode(b); - - /* byte has arrived, clear receive timer */ + /* process byte and clear receive timer */ + process_byte(b); receive_timer = 0; } /* ignore TXE interrupts */ if (sr & USART_SR_TXE) { - /* Disable TXE interrupt (TXEIE=0) */ + /* disable TXE interrupt (TXEIE=0) */ USART_ITConfig(pios_sbus_cfg.pios_usart_sbus_cfg->regs, USART_IT_TXE, DISABLE); } } /** - * Input data superviser is called periodically and provides + * Input data supervisor is called periodically and provides * two functions: frame syncing and failsafe triggering. * * S.Bus frames come at 7ms (HS) or 14ms (FS) rate at 100000bps. RTC @@ -212,8 +208,8 @@ void PIOS_SBUS_irq_handler() /* activate failsafe if no frames have arrived in 102.4ms */ if (++failsafe_timer > 64) { - failsafe_timer = 0; reset_channels(); + failsafe_timer = 0; } } diff --git a/flight/PiOS/inc/pios_sbus.h b/flight/PiOS/inc/pios_sbus.h index 3e99f6f6c..d30b1432d 100644 --- a/flight/PiOS/inc/pios_sbus.h +++ b/flight/PiOS/inc/pios_sbus.h @@ -34,7 +34,6 @@ /* Public Functions */ extern void PIOS_SBUS_Init(void); -extern void PIOS_SBUS_Decode(uint8_t b); extern int16_t PIOS_SBUS_Get(int8_t Channel); extern void SBUS_IRQHandler(uint32_t usart_id); diff --git a/flight/PiOS/inc/pios_sbus_priv.h b/flight/PiOS/inc/pios_sbus_priv.h index ff774d75b..aa626dbdd 100644 --- a/flight/PiOS/inc/pios_sbus_priv.h +++ b/flight/PiOS/inc/pios_sbus_priv.h @@ -65,13 +65,16 @@ */ #define SBUS_NUMBER_OF_CHANNELS 8 +/* + * S.Bus configuration includes USART and programmable invertor + */ struct pios_sbus_cfg { const struct pios_usart_cfg *pios_usart_sbus_cfg; - GPIO_InitTypeDef gpio_init; - uint32_t remap; /* GPIO_Remap_* */ - struct stm32_irq irq; - GPIO_TypeDef *port; - uint16_t pin; + void (*gpio_clk_func)(uint32_t periph, FunctionalState state); + uint32_t gpio_clk_periph; + GPIO_TypeDef* gpio_inv_port; + GPIO_InitTypeDef gpio_inv_init; + BitAction gpio_inv_enable; }; extern const struct pios_sbus_cfg pios_sbus_cfg; From d372c615ed7068508fecb4d72168639868cb3863 Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Sun, 19 Jun 2011 16:26:14 +0300 Subject: [PATCH 049/241] sbus: added packaging target for CopterControl S.Bus firmware Serial telemetry relocated to other port (USART3) for this firmware. PPM OP MB firmware seems to be broken (the same as PWM one). Fix needed. --- package/Makefile | 38 ++++++++++++++++++++------------------ 1 file changed, 20 insertions(+), 18 deletions(-) diff --git a/package/Makefile b/package/Makefile index 1b27755e8..9b495d00e 100644 --- a/package/Makefile +++ b/package/Makefile @@ -33,16 +33,15 @@ CLEAN_GROUND := YES CLEAN_FLIGHT := YES endif -# Set up targets -FW_STEMS_COMMON := ahrs pipxtreme -FW_STEMS_INPUT := coptercontrol openpilot -FW_STEMS_TOOLS := coptercontrol -FW_STEMS_ALL := $(FW_STEMS_COMMON) $(FW_STEMS_INPUT) -FW_TARGETS_COMMON := $(addprefix fw_, $(FW_STEMS_COMMON)) -FW_TARGETS_INPUT := $(addprefix fw_, $(FW_STEMS_INPUT)) -FW_TARGETS_TOOLS := $(addprefix fw_, $(FW_STEMS_TOOLS)) -BL_TARGETS := $(addprefix bl_, $(FW_STEMS_ALL)) -BU_TARGETS := $(addprefix bu_, $(FW_STEMS_ALL)) +# Set up targets (PPM target seems to be broken at the moment) +FW_TARGETS_COMMON := $(addprefix fw_, ahrs pipxtreme) +FW_TARGETS_PWM := $(addprefix fw_, coptercontrol openpilot) +FW_TARGETS_DSM2 := $(addprefix fw_, coptercontrol openpilot) +FW_TARGETS_SBUS := $(addprefix fw_, coptercontrol) +FW_TARGETS_PPM := $(addprefix fw_, openpilot) +FW_TARGETS_TOOLS := $(addprefix fw_, coptercontrol) +BL_TARGETS := $(addprefix bl_, coptercontrol openpilot ahrs pipxtreme) +BU_TARGETS := $(addprefix bu_, coptercontrol openpilot ahrs pipxtreme) help: @echo @@ -102,9 +101,10 @@ endef # Firmware for different input drivers $(eval $(call INSTALL_TEMPLATE,fw_common,uavobjects,$(FW_DIR),,-$(PACKAGE_LBL),,,$(FW_TARGETS_COMMON),install)) -$(eval $(call INSTALL_TEMPLATE,fw_pwm,uavobjects,$(FW_DIR),,-pwm-$(PACKAGE_LBL),,clean,$(FW_TARGETS_INPUT),install)) -$(eval $(call INSTALL_TEMPLATE,fw_spektrum,uavobjects,$(FW_DIR),,-dsm2sat-$(PACKAGE_LBL),USE_SPEKTRUM=YES,clean,$(FW_TARGETS_INPUT),install)) -$(eval $(call INSTALL_TEMPLATE,fw_ppm,uavobjects,$(FW_DIR),,-ppm-$(PACKAGE_LBL),USE_PPM=YES,clean,$(FW_TARGETS_INPUT),install)) +$(eval $(call INSTALL_TEMPLATE,fw_pwm,uavobjects,$(FW_DIR),,-pwm-$(PACKAGE_LBL),,clean,$(FW_TARGETS_PWM),install)) +$(eval $(call INSTALL_TEMPLATE,fw_dsm2,uavobjects,$(FW_DIR),,-dsm2sat-$(PACKAGE_LBL),USE_SPEKTRUM=YES,clean,$(FW_TARGETS_DSM2),install)) +$(eval $(call INSTALL_TEMPLATE,fw_sbus,uavobjects,$(FW_DIR),,-sbus-$(PACKAGE_LBL),USE_SBUS=YES USE_TELEMETRY=3,clean,$(FW_TARGETS_SBUS),install)) +$(eval $(call INSTALL_TEMPLATE,fw_ppm,uavobjects,$(FW_DIR),,-ppm-$(PACKAGE_LBL),USE_PPM=YES,clean,$(FW_TARGETS_PPM),install)) # Bootloaders (change 'install' to 'bin' if you don't want to install bootloaders) $(eval $(call INSTALL_TEMPLATE,all_bl,uavobjects,$(BL_DIR),,-$(PACKAGE_LBL),,,$(BL_TARGETS),install)) @@ -119,15 +119,17 @@ $(eval $(call INSTALL_TEMPLATE,fw_tools,uavobjects,$(FE_DIR),,-flash-erase-$(PAC # They are bit complicated to support parallel (-j) builds and to create # the pwm/ppm/spektrum and CC flash eraser targets in some fixed order -fw_pwm: | # default dependencies, will be built first +fw_pwm: | # default dependencies, will be built first -fw_spektrum: | fw_pwm # ordered build +fw_dsm2: | fw_pwm # ordered build -fw_ppm: | fw_spektrum # ordered build +fw_sbus: | fw_dsm2 # ordered build -fw_tools: | fw_spektrum # ordered build, replace fw_spektrum by fw_ppm if uncommented below +fw_ppm: | fw_sbus # ordered build -package_fw: | fw_common fw_pwm fw_spektrum # fw_ppm +fw_tools: | fw_ppm # ordered build + +package_fw: | fw_common fw_pwm fw_dsm2 fw_sbus fw_ppm package_bu: | all_bu From 52d22c59d3df60d571948232ace97ed7b130fe28 Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Sun, 19 Jun 2011 19:37:22 +0300 Subject: [PATCH 050/241] Revert "OP-522: fixed throttle calibration if input channel is reversed" This reverts commit 0ba605812e8db132cefc749c6b4a0ef363d037a1. The real problem was not with this, but due to unexpected reverse checkbox behaviour. Reverse checkboxes are completely ignored at the start of calibration, they can be even set checked initially. But change of checkbox does not reverse the GCS control gadget display. This should probably be fixed. --- .../src/plugins/config/configinputwidget.cpp | 17 +++++------------ 1 file changed, 5 insertions(+), 12 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp index d6483c184..7e47eda79 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp @@ -538,7 +538,7 @@ void ConfigInputWidget::updateChannels(UAVObject* controlCommand) obj->setMetadata(mdata); // Set some slider values to better defaults - // Find what channel we used for throttle, set it 2% about min: + // Find some channels first int throttleChannel = -1; int fmChannel = -1; for (int i=0; i < inChannelAssign.length(); i++) { @@ -558,17 +558,10 @@ void ConfigInputWidget::updateChannels(UAVObject* controlCommand) // Throttle neutral defaults to 2% of range if (throttleChannel > -1) { - if (inRevCheckboxes[throttleChannel]->isChecked()) { - inSliders.at(throttleChannel)->setValue( - inSliders.at(throttleChannel)->maximum() - - (inSliders.at(throttleChannel)->maximum()- - inSliders.at(throttleChannel)->minimum())*0.02); - } else { - inSliders.at(throttleChannel)->setValue( - inSliders.at(throttleChannel)->minimum() + - (inSliders.at(throttleChannel)->maximum()- - inSliders.at(throttleChannel)->minimum())*0.02); - } + inSliders.at(throttleChannel)->setValue( + inSliders.at(throttleChannel)->minimum() + + (inSliders.at(throttleChannel)->maximum()- + inSliders.at(throttleChannel)->minimum())*0.02); } // Flight mode at 50% of range: From e74c3390f76b54c298106804af52941322365a8d Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Mon, 20 Jun 2011 00:31:30 -0400 Subject: [PATCH 051/241] OP-532 Minor UI layout changes --- ground/openpilotgcs/src/plugins/config/ccpm.ui | 10 ++++++++-- .../src/plugins/config/configccpmwidget.cpp | 7 ++++--- 2 files changed, 12 insertions(+), 5 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/ccpm.ui b/ground/openpilotgcs/src/plugins/config/ccpm.ui index 8d0c3fb41..9c5c8b3e1 100644 --- a/ground/openpilotgcs/src/plugins/config/ccpm.ui +++ b/ground/openpilotgcs/src/plugins/config/ccpm.ui @@ -943,7 +943,7 @@ - false + true @@ -965,12 +965,18 @@ - 12 + 11 + + Qt::LeftToRight + Collective Ch + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + true diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index b02510c78..9e7833986 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -175,7 +175,10 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) QStringList channels; channels << "Channel1" << "Channel2" << - "Channel3" << "Channel4" << "Channel5" << "Channel6" << "Channel7" << "Channel8" << "None" ; + "Channel3" << "Channel4" << "Channel5" << "Channel6" << "Channel7" << "Channel8" ; + m_ccpm->ccpmCollectiveChannel->addItems(channels); + m_ccpm->ccpmCollectiveChannel->setCurrentIndex(8); + channels << "None" ; m_ccpm->ccpmEngineChannel->addItems(channels); m_ccpm->ccpmEngineChannel->setCurrentIndex(8); m_ccpm->ccpmTailChannel->addItems(channels); @@ -188,8 +191,6 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) m_ccpm->ccpmServoYChannel->setCurrentIndex(8); m_ccpm->ccpmServoZChannel->addItems(channels); m_ccpm->ccpmServoZChannel->setCurrentIndex(8); - m_ccpm->ccpmCollectiveChannel->addItems(channels); - m_ccpm->ccpmCollectiveChannel->setCurrentIndex(8); QStringList Types; Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º" << "Custom - User Angles" << "Custom - Advanced Settings" ; From fc1e3f574c0c427e4862729c4eaafee271e9c837 Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Sun, 19 Jun 2011 22:35:40 -0700 Subject: [PATCH 052/241] OP-423: Split task create and module init in order to postpone task creation once the full heap is available. Also implement some ordering (quite ugly still) in the module init and task creation order so we can decide which module to start/init first and which module to start/init last. This will be replaced/adapter with the uavobject list later (once it's implemented). reserving some space for module init and task create parameters to customize module/task creation (this will be usefull once we get the list and customization from customer). Changes have been made for OP and CC. Tested comped with CC,OP, sim_posix. Only ran on bench with CC for couple of minutes (code increase expected but no dropping of stack which is good). This gives task creation at the time wherethe all heap is available. --- flight/CopterControl/System/coptercontrol.c | 20 +---------- flight/Modules/AHRSComms/ahrs_comms.c | 14 ++++++-- flight/Modules/Actuator/actuator.c | 22 ++++++++---- flight/Modules/Altitude/altitude.c | 15 ++++++-- flight/Modules/Attitude/attitude.c | 30 +++++++++++----- flight/Modules/FirmwareIAP/firmwareiap.c | 2 +- flight/Modules/FlightPlan/flightplan.c | 21 +++++++---- flight/Modules/GPS/GPS.c | 24 ++++++++----- flight/Modules/Guidance/guidance.c | 19 +++++++--- flight/Modules/ManualControl/manualcontrol.c | 21 ++++++++--- flight/Modules/Stabilization/stabilization.c | 36 ++++++++++++------- flight/Modules/System/systemmod.c | 26 +++++++++++--- flight/Modules/Telemetry/telemetry.c | 35 +++++++++++------- flight/OpenPilot/System/openpilot.c | 19 ++-------- flight/PiOS.posix/inc/pios_initcall.h | 4 ++- flight/PiOS.win32/inc/pios_initcall.h | 5 ++- flight/PiOS/inc/pios_initcall.h | 37 +++++++++++++++++--- 17 files changed, 233 insertions(+), 117 deletions(-) diff --git a/flight/CopterControl/System/coptercontrol.c b/flight/CopterControl/System/coptercontrol.c index 29dc68bae..e41da2aa8 100644 --- a/flight/CopterControl/System/coptercontrol.c +++ b/flight/CopterControl/System/coptercontrol.c @@ -48,9 +48,6 @@ extern void InitModules(void); /* Prototype of PIOS_Board_Init() function */ extern void PIOS_Board_Init(void); -/* Init module section */ -extern initcall_t __module_initcall_start[], __module_initcall_end[]; - /** * OpenPilot Main function: * @@ -80,22 +77,7 @@ int main() #endif /* Initialize modules */ - /* TODO: add id so we can parse this list later and replace module on the fly */ - /* property flag will be add to give information like: - * - importance of the module (can be dropped or required for flight - * - parameter to enable feature at run-time (based on user setup on GCS) - * All this will be handled by bootloader. this section will add a function pointer - * and a pointer to a 32 bit in RAM with all the flags. - * Limited on CC this could be mapped on RAM for OP so we can grow the list at run-time. - */ - initcall_t *fn; - int32_t ret; - - /* this one needs to be done first */ - SystemModInitialize(); - - for (fn = __module_initcall_start; fn < __module_initcall_end; fn++) - ret = (*fn)(); + MODULE_INITIALISE_ALL(); #if defined(ARCH_POSIX) || defined(ARCH_WIN32) /* Start the FreeRTOS scheduler which never returns.*/ diff --git a/flight/Modules/AHRSComms/ahrs_comms.c b/flight/Modules/AHRSComms/ahrs_comms.c index ee19dd38c..d080a9b4d 100644 --- a/flight/Modules/AHRSComms/ahrs_comms.c +++ b/flight/Modules/AHRSComms/ahrs_comms.c @@ -69,8 +69,7 @@ static void ahrscommsTask(void *parameters); * Initialise the module, called on startup * \returns 0 on success or -1 if initialisation failed */ -module_initcall(AHRSCommsInitialize, 0); -int32_t AHRSCommsInitialize(void) +int32_t AHRSCommsStart(void) { // Start main task xTaskCreate(ahrscommsTask, (signed char *)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle); @@ -80,6 +79,17 @@ int32_t AHRSCommsInitialize(void) return 0; } +/** + * Initialise the module, called on startup + * \returns 0 on success or -1 if initialisation failed + */ +int32_t AHRSCommsInitialize(void) +{ + + return 0; +} +module_initcall(AHRSCommsInitialize, 0, AHRSCommsStart, 0, MODULE_EXEC_NOORDER_FLAG); + /** * Module thread, should not return. */ diff --git a/flight/Modules/Actuator/actuator.c b/flight/Modules/Actuator/actuator.c index c40ef13e7..a9bf40ebf 100644 --- a/flight/Modules/Actuator/actuator.c +++ b/flight/Modules/Actuator/actuator.c @@ -85,12 +85,24 @@ typedef struct { int8_t matrix[5]; } __attribute__((packed)) Mixer_t; +/** + * @brief Module initialization + * @return 0 + */ +int32_t ActuatorStart() +{ + // Start main task + xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); + TaskMonitorAdd(TASKINFO_RUNNING_ACTUATOR, taskHandle); + PIOS_WDG_RegisterFlag(PIOS_WDG_ACTUATOR); + + return 0; +} /** * @brief Module initialization * @return 0 */ -module_initcall(ActuatorInitialize, 0); int32_t ActuatorInitialize() { // Create object queue @@ -101,14 +113,10 @@ int32_t ActuatorInitialize() // If settings change, update the output rate ActuatorSettingsConnectCallback(actuator_update_rate); - - // Start main task - xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); - TaskMonitorAdd(TASKINFO_RUNNING_ACTUATOR, taskHandle); - PIOS_WDG_RegisterFlag(PIOS_WDG_ACTUATOR); - + return 0; } +module_initcall(ActuatorInitialize, 0, ActuatorStart, 0, MODULE_EXEC_NOORDER_FLAG); /** * @brief Main Actuator module task diff --git a/flight/Modules/Altitude/altitude.c b/flight/Modules/Altitude/altitude.c index a23d1723f..6167d7d25 100644 --- a/flight/Modules/Altitude/altitude.c +++ b/flight/Modules/Altitude/altitude.c @@ -67,13 +67,22 @@ static void altitudeTask(void *parameters); * Initialise the module, called on startup * \returns 0 on success or -1 if initialisation failed */ -module_initcall(AltitudeInitialize, 0); -int32_t AltitudeInitialize() +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; +} + +/** + * Initialise the module, called on startup + * \returns 0 on success or -1 if initialisation failed + */ +int32_t AltitudeInitialize() +{ + // init down-sampling data alt_ds_temp = 0; alt_ds_pres = 0; @@ -81,7 +90,7 @@ int32_t AltitudeInitialize() return 0; } - +module_initcall(AltitudeInitialize, 0, AltitudeStart, 0, MODULE_EXEC_NOORDER_FLAG); /** * Module thread, should not return. */ diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c index 5f12d001e..bc2983877 100644 --- a/flight/Modules/Attitude/attitude.c +++ b/flight/Modules/Attitude/attitude.c @@ -94,7 +94,21 @@ static bool zero_during_arming = false; * Initialise the module, called on startup * \returns 0 on success or -1 if initialisation failed */ -module_initcall(AttitudeInitialize, 0); +int32_t AttitudeStart(void) +{ + + // Start main task + xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); + TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle); + PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE); + + return 0; +} + +/** + * Initialise the module, called on startup + * \returns 0 on success or -1 if initialisation failed + */ int32_t AttitudeInitialize(void) { // Initialize quaternion @@ -105,22 +119,20 @@ int32_t AttitudeInitialize(void) attitude.q3 = 0; attitude.q4 = 0; AttitudeActualSet(&attitude); + + AttitudeSettingsConnectCallback(&settingsUpdatedCb); // Create queue for passing gyro data, allow 2 back samples in case gyro_queue = xQueueCreate(1, sizeof(float) * 4); - if(gyro_queue == NULL) + if(gyro_queue == NULL) return -1; PIOS_ADC_SetQueue(gyro_queue); - - AttitudeSettingsConnectCallback(&settingsUpdatedCb); - - // Start main task - xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); - TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle); - PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE); + return 0; } +module_initcall(AttitudeInitialize, 0, AttitudeStart, 0, MODULE_EXEC_NOORDER_FLAG); + /** * Module thread, should not return. */ diff --git a/flight/Modules/FirmwareIAP/firmwareiap.c b/flight/Modules/FirmwareIAP/firmwareiap.c index c069163f4..696157630 100644 --- a/flight/Modules/FirmwareIAP/firmwareiap.c +++ b/flight/Modules/FirmwareIAP/firmwareiap.c @@ -88,7 +88,7 @@ static void resetTask(UAVObjEvent *); * \note * */ -module_initcall(FirmwareIAPInitialize, 0); +module_initcall(FirmwareIAPInitialize, 0, 0, 0, MODULE_EXEC_NOORDER_FLAG); int32_t FirmwareIAPInitialize() { const struct pios_board_info * bdinfo = &pios_board_info_blob; diff --git a/flight/Modules/FlightPlan/flightplan.c b/flight/Modules/FlightPlan/flightplan.c index 8666c1f98..a9a0ac203 100644 --- a/flight/Modules/FlightPlan/flightplan.c +++ b/flight/Modules/FlightPlan/flightplan.c @@ -57,7 +57,20 @@ extern unsigned char usrlib_img[]; /** * Module initialization */ -module_initcall(FlightPlanInitialize, 0); +int32_t FlightPlanStart() +{ + taskHandle = NULL; + + // Start VM thread + xTaskCreate(flightPlanTask, (signed char *)"FlightPlan", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); + TaskMonitorAdd(TASKINFO_RUNNING_FLIGHTPLAN, taskHandle); + + return 0; +} + +/** + * Module initialization + */ int32_t FlightPlanInitialize() { taskHandle = NULL; @@ -71,13 +84,9 @@ int32_t FlightPlanInitialize() // Listen for FlightPlanControl updates FlightPlanControlConnectQueue(queue); - // Start VM thread - xTaskCreate(flightPlanTask, (signed char *)"FlightPlan", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); - TaskMonitorAdd(TASKINFO_RUNNING_FLIGHTPLAN, taskHandle); - return 0; } - +module_initcall(FlightPlanInitialize, 0, FlightPlanStart, 0, MODULE_EXEC_NOORDER_FLAG); /** * Module task */ diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c index ccd1a31bd..04cf87d07 100644 --- a/flight/Modules/GPS/GPS.c +++ b/flight/Modules/GPS/GPS.c @@ -108,20 +108,28 @@ static uint32_t numParsingErrors; * \return -1 if initialisation failed * \return 0 on success */ -module_initcall(GPSInitialize, 0); -int32_t GPSInitialize(void) + +int32_t GPSStart(void) { - signed portBASE_TYPE xReturn; - - // TODO: Get gps settings object - gpsPort = PIOS_COM_GPS; - // Start gps task - xReturn = xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle); + xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle); TaskMonitorAdd(TASKINFO_RUNNING_GPS, gpsTaskHandle); return 0; } +/** + * Initialise the gps module + * \return -1 if initialisation failed + * \return 0 on success + */ +int32_t GPSInitialize(void) +{ + // TODO: Get gps settings object + gpsPort = PIOS_COM_GPS; + + return 0; +} +module_initcall(GPSInitialize, 0, GPSStart, 0, MODULE_EXEC_NOORDER_FLAG); // **************** /** diff --git a/flight/Modules/Guidance/guidance.c b/flight/Modules/Guidance/guidance.c index 3849e75e1..d95a0c972 100644 --- a/flight/Modules/Guidance/guidance.c +++ b/flight/Modules/Guidance/guidance.c @@ -82,7 +82,19 @@ static void updateVtolDesiredAttitude(); * Initialise the module, called on startup * \returns 0 on success or -1 if initialisation failed */ -module_initcall(GuidanceInitialize, 0); +int32_t GuidanceStart() +{ + // Start main task + xTaskCreate(guidanceTask, (signed char *)"Guidance", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &guidanceTaskHandle); + TaskMonitorAdd(TASKINFO_RUNNING_GUIDANCE, guidanceTaskHandle); + + return 0; +} + +/** + * Initialise the module, called on startup + * \returns 0 on success or -1 if initialisation failed + */ int32_t GuidanceInitialize() { // Create object queue @@ -91,12 +103,9 @@ int32_t GuidanceInitialize() // Listen for updates. AttitudeRawConnectQueue(queue); - // Start main task - xTaskCreate(guidanceTask, (signed char *)"Guidance", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &guidanceTaskHandle); - TaskMonitorAdd(TASKINFO_RUNNING_GUIDANCE, guidanceTaskHandle); - return 0; } +module_initcall(GuidanceInitialize, 0, GuidanceStart, 0, MODULE_EXEC_NOORDER_FLAG); static float northVelIntegral = 0; static float eastVelIntegral = 0; diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c index 8bcb881fa..cc5ae86c4 100644 --- a/flight/Modules/ManualControl/manualcontrol.c +++ b/flight/Modules/ManualControl/manualcontrol.c @@ -144,20 +144,33 @@ static bool validInputRange(int16_t min, int16_t max, uint16_t value); /** * Module initialization */ -module_initcall(ManualControlInitialize, 0); +int32_t ManualControlStart() +{ + /* Check the assumptions about uavobject enum's are correct */ + if(!assumptions) + return -1; + // Start main task + xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); + TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle); + PIOS_WDG_RegisterFlag(PIOS_WDG_MANUAL); + return 0; +} + +/** + * Module initialization + */ int32_t ManualControlInitialize() { /* Check the assumptions about uavobject enum's are correct */ if(!assumptions) return -1; // Start main task - xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); - TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle); - PIOS_WDG_RegisterFlag(PIOS_WDG_MANUAL); + //ManualControlStart(); return 0; } +module_initcall(ManualControlInitialize, 0, ManualControlStart, 0, MODULE_EXEC_NOORDER_FLAG); /** * Module task diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c index 573f4ed74..0043f61ab 100644 --- a/flight/Modules/Stabilization/stabilization.c +++ b/flight/Modules/Stabilization/stabilization.c @@ -89,28 +89,40 @@ static void SettingsUpdatedCb(UAVObjEvent * ev); /** * Module initialization */ -module_initcall(StabilizationInitialize, 0); -int32_t StabilizationInitialize() +int32_t StabilizationStart() { // Initialize variables - // Create object queue - queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent)); - - // Listen for updates. - // AttitudeActualConnectQueue(queue); - AttitudeRawConnectQueue(queue); - - StabilizationSettingsConnectCallback(SettingsUpdatedCb); - SettingsUpdatedCb(StabilizationSettingsHandle()); // Start main task xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); TaskMonitorAdd(TASKINFO_RUNNING_STABILIZATION, taskHandle); PIOS_WDG_RegisterFlag(PIOS_WDG_STABILIZATION); - return 0; } +/** + * Module initialization + */ +int32_t StabilizationInitialize() +{ + // Initialize variables + + // Create object queue + queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent)); + + // Listen for updates. + // AttitudeActualConnectQueue(queue); + AttitudeRawConnectQueue(queue); + + StabilizationSettingsConnectCallback(SettingsUpdatedCb); + SettingsUpdatedCb(StabilizationSettingsHandle()); + // Start main task + + return 0; +} + +module_initcall(StabilizationInitialize, 0, StabilizationStart, 0, MODULE_EXEC_NOORDER_FLAG); + /** * Module task */ diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c index fabacd0b1..fb9d9cc50 100644 --- a/flight/Modules/System/systemmod.c +++ b/flight/Modules/System/systemmod.c @@ -84,18 +84,34 @@ static void updateSystemAlarms(); static void systemTask(void *parameters); /** - * Initialise the module, called on startup. - * \returns 0 on success or -1 if initialisation failed + * Create the module task. + * \returns 0 on success or -1 if initialization failed */ -int32_t SystemModInitialize(void) +int32_t SystemModStart(void) { // Initialize vars stackOverflow = 0; // Create system task xTaskCreate(systemTask, (signed char *)"System", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &systemTaskHandle); + // Register task + TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle); + return 0; } +/** + * Initialize the module, called on startup. + * \returns 0 on success or -1 if initialization failed + */ +int32_t SystemModInitialize(void) +{ + + SystemModStart(); + + return 0; +} + +module_initcall(SystemModInitialize, 0, 0, 0, MODULE_EXEC_FIRST_FLAG); /** * System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS */ @@ -103,8 +119,8 @@ static void systemTask(void *parameters) { portTickType lastSysTime; - // Register task - TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle); + /* create all modules thread */ + MODULE_TASKCREATE_ALL(); // Initialize vars idleCounter = 0; diff --git a/flight/Modules/Telemetry/telemetry.c b/flight/Modules/Telemetry/telemetry.c index be44ca5b6..b5da66d90 100644 --- a/flight/Modules/Telemetry/telemetry.c +++ b/flight/Modules/Telemetry/telemetry.c @@ -86,7 +86,28 @@ static void updateSettings(); * \return -1 if initialisation failed * \return 0 on success */ -module_initcall(TelemetryInitialize, 0); +int32_t TelemetryStart(void) +{ + + // Start telemetry tasks + xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle); + xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle); + TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTX, telemetryTxTaskHandle); + TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle); + +#if defined(PIOS_TELEM_PRIORITY_QUEUE) + xTaskCreate(telemetryTxPriTask, (signed char *)"TelPriTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle); + TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle); +#endif + + return 0; +} + +/** + * Initialise the telemetry module + * \return -1 if initialisation failed + * \return 0 on success + */ int32_t TelemetryInitialize(void) { UAVObjEvent ev; @@ -119,20 +140,10 @@ int32_t TelemetryInitialize(void) GCSTelemetryStatsConnectQueue(priorityQueue); TelemetrySettingsConnectQueue(priorityQueue); - // Start telemetry tasks - xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle); - xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle); - TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTX, telemetryTxTaskHandle); - TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle); - -#if defined(PIOS_TELEM_PRIORITY_QUEUE) - xTaskCreate(telemetryTxPriTask, (signed char *)"TelPriTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle); - TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle); -#endif - return 0; } +module_initcall(TelemetryInitialize, 0, TelemetryStart, 0, MODULE_EXEC_LAST_FLAG); /** * Register a new object, adds object to local list and connects the queue depending on the object's diff --git a/flight/OpenPilot/System/openpilot.c b/flight/OpenPilot/System/openpilot.c index b2468721a..2e3f20d93 100644 --- a/flight/OpenPilot/System/openpilot.c +++ b/flight/OpenPilot/System/openpilot.c @@ -68,11 +68,6 @@ extern void InitModules(void); /* Prototype of PIOS_Board_Init() function */ extern void PIOS_Board_Init(void); -#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) -/* Init module section */ -extern initcall_t __module_initcall_start[], __module_initcall_end[]; -#endif - /** * OpenPilot Main function: * @@ -97,19 +92,9 @@ int main() PIOS_Board_Init(); #if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) + /* Initialize modules */ - /* TODO: add id so we can parse this list later and replace module on the fly */ - /* property flag will be add to give information like: - * - importance of the module (can be dropped or required for flight - * - parameter to enable feature at run-time (based on user setup on GCS) - * All this will be handled by bootloader. this section will add a function pointer - * and a pointer to a 32 bit in RAM with all the flags. - * Limited on CC this could be mapped on RAM for OP so we can grow the list at run-time. - */ - initcall_t *fn; - int32_t ret; - for (fn = __module_initcall_start; fn < __module_initcall_end; fn++) - ret = (*fn)(); + MODULE_INITIALISE_ALL(); /* Create test tasks */ /* keep this just because it was there */ diff --git a/flight/PiOS.posix/inc/pios_initcall.h b/flight/PiOS.posix/inc/pios_initcall.h index 75652026c..d60c91b3f 100644 --- a/flight/PiOS.posix/inc/pios_initcall.h +++ b/flight/PiOS.posix/inc/pios_initcall.h @@ -39,7 +39,9 @@ */ #define uavobj_initcall(fn) -#define module_initcall(fn, param) +#define module_initcall(ifn, iparam, sfn, sparam, flags) + +#define MODULE_TASKCREATE_ALL(); #endif /* PIOS_INITCALL_H */ diff --git a/flight/PiOS.win32/inc/pios_initcall.h b/flight/PiOS.win32/inc/pios_initcall.h index f4f20ffae..e47515f81 100644 --- a/flight/PiOS.win32/inc/pios_initcall.h +++ b/flight/PiOS.win32/inc/pios_initcall.h @@ -39,7 +39,10 @@ */ #define uavobj_initcall(fn) -#define module_initcall(fn, param) +#define module_initcall(ifn, iparam, sfn, sparam, flags) + +#define MODULE_TASKCREATE_ALL(); + #endif /* PIOS_INITCALL_H */ diff --git a/flight/PiOS/inc/pios_initcall.h b/flight/PiOS/inc/pios_initcall.h index b4f808f53..b7cf00535 100644 --- a/flight/PiOS/inc/pios_initcall.h +++ b/flight/PiOS/inc/pios_initcall.h @@ -41,7 +41,21 @@ /* * Used for initialization calls.. */ +#define MODULE_EXEC_NOORDER_FLAG 0xFA000000 +#define MODULE_EXEC_FIRST_FLAG 0xFA000001 +#define MODULE_EXEC_LAST_FLAG 0xFA000002 + typedef int32_t (*initcall_t)(void); +typedef struct { + uint32_t flag; + uint32_t param_minit; + initcall_t fn_minit; + uint32_t param_tinit; + initcall_t fn_tinit; +} initmodule_t; + +/* Init module section */ +extern initmodule_t __module_initcall_start[], __module_initcall_end[]; /* initcalls are now grouped by functionality into separate * subsections. Ordering inside the subsections is determined @@ -55,13 +69,26 @@ typedef int32_t (*initcall_t)(void); static initcall_t __initcall_##fn##id __attribute__((__used__)) \ __attribute__((__section__(".initcall" level ".init"))) = fn -/* TODO: add param later */ -#define __define_module_initcall(level,fn,param) \ - static initcall_t __initcall_##fn __attribute__((__used__)) \ - __attribute__((__section__(".initcall" level ".init"))) = fn +#define __define_module_initcall(level,ifn,iparam,sfn,sparam, param) \ + static initmodule_t __initcall_##fn __attribute__((__used__)) \ + __attribute__((__section__(".initcall" level ".init"))) = { .flag = param, .param_minit = iparam, .fn_minit = ifn, .param_tinit = sparam, .fn_tinit = sfn } #define uavobj_initcall(fn) __define_initcall("uavobj",fn,1) -#define module_initcall(fn, param) __define_module_initcall("module",fn,param) +#define module_initcall(ifn, iparam, sfn, sparam, flags) __define_module_initcall("module", ifn, iparam, sfn, sparam, flags) + +#define MODULE_INITIALISE_ALL(); for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \ + if (fn->fn_minit && ( (fn->flag & MODULE_EXEC_FIRST_FLAG) == MODULE_EXEC_FIRST_FLAG) ) \ + (fn->fn_minit)(); \ + for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \ + if (fn->fn_minit && ( (fn->flag & (MODULE_EXEC_LAST_FLAG | MODULE_EXEC_FIRST_FLAG)) == MODULE_EXEC_NOORDER_FLAG) ) \ + (fn->fn_minit)(); \ + for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \ + if (fn->fn_minit && ( (fn->flag & MODULE_EXEC_LAST_FLAG) == MODULE_EXEC_LAST_FLAG) ) \ + (fn->fn_minit)(); + +#define MODULE_TASKCREATE_ALL(); for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \ + if (fn->fn_tinit) \ + (fn->fn_tinit)(); #endif /* PIOS_INITCALL_H */ From 1c700c9e7c2182b0be2ec96fd6b183645cb5ab40 Mon Sep 17 00:00:00 2001 From: zedamota Date: Mon, 20 Jun 2011 14:28:16 +0100 Subject: [PATCH 053/241] OpenPilot OP-537 Make the GCS input configuration errors a bit more informative --- .../src/plugins/config/configinputwidget.cpp | 50 +++++++ .../src/plugins/config/configinputwidget.h | 1 + .../openpilotgcs/src/plugins/config/input.ui | 134 ++++++++++++------ 3 files changed, 139 insertions(+), 46 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp index 7e47eda79..6876e2bf0 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp @@ -179,6 +179,8 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent) // Connect the help button connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp())); + connect(m_config->receiverError, SIGNAL(clicked()), this, SLOT(receiverHelp())); + } ConfigInputWidget::~ConfigInputWidget() @@ -655,4 +657,52 @@ void ConfigInputWidget::openHelp() QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Input+Configuration", QUrl::StrictMode) ); } +void ConfigInputWidget::receiverHelp() +{ + QString unassigned; + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); + UAVObjectManager *objManager = pm->getObject(); + UAVDataObject* controlCommand = dynamic_cast(objManager->getObject(QString("ManualControlSettings"))); + UAVObjectField *field; + + field= controlCommand->getField("Roll"); + if(field->getValue().toString()=="None") + unassigned.append("Roll"); + + field =controlCommand->getField("Pitch"); + if(field->getValue().toString()=="None") + { + if(unassigned.length()>0) + unassigned.append(" ,"); + unassigned.append("Pitch"); + } + + field =controlCommand->getField("Yaw"); + if(field->getValue().toString()=="None") + { + if(unassigned.length()>0) + unassigned.append(" ,"); + unassigned.append("Yaw"); + } + + field =controlCommand->getField("Throttle"); + if(field->getValue().toString()=="None") + { + if(unassigned.length()>0) + unassigned.append(" ,"); + unassigned.append("Throttle"); + } + + field =controlCommand->getField("FlightMode"); + if(field->getValue().toString()=="None") + { + if(unassigned.length()>0) + unassigned.append(" ,"); + unassigned.append("FlightMode"); + } + if(unassigned.length()>0) + QMessageBox::information(this,"Not all required channels are assigned",QString("Channel left to assign:")+unassigned); + else + QMessageBox::information(this,"Receiver not connected","All the required channels are assigned, however no receiver signal is being detected"); +} diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.h b/ground/openpilotgcs/src/plugins/config/configinputwidget.h index 3017c5677..cbefd5c18 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.h @@ -79,6 +79,7 @@ private slots: void saveRCInputObject(); void reverseCheckboxClicked(bool state); void openHelp(); + void receiverHelp(); }; #endif diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui index 224424c4e..f0771ba71 100644 --- a/ground/openpilotgcs/src/plugins/config/input.ui +++ b/ground/openpilotgcs/src/plugins/config/input.ui @@ -80,7 +80,7 @@ p, li { white-space: pre-wrap; } - + true @@ -99,7 +99,7 @@ p, li { white-space: pre-wrap; } - + @@ -120,7 +120,7 @@ p, li { white-space: pre-wrap; } - + Check this to reverse the channel. @@ -188,7 +188,7 @@ p, li { white-space: pre-wrap; } - + true @@ -207,7 +207,7 @@ p, li { white-space: pre-wrap; } - + @@ -228,7 +228,7 @@ p, li { white-space: pre-wrap; } - + Check this to reverse the channel. @@ -296,7 +296,7 @@ p, li { white-space: pre-wrap; } - + true @@ -315,7 +315,7 @@ p, li { white-space: pre-wrap; } - + @@ -336,7 +336,7 @@ p, li { white-space: pre-wrap; } - + Check this to reverse the channel. @@ -404,7 +404,7 @@ p, li { white-space: pre-wrap; } - + true @@ -423,7 +423,7 @@ p, li { white-space: pre-wrap; } - + @@ -444,7 +444,7 @@ p, li { white-space: pre-wrap; } - + Check this to reverse the channel. @@ -512,7 +512,7 @@ p, li { white-space: pre-wrap; } - + true @@ -531,7 +531,7 @@ p, li { white-space: pre-wrap; } - + @@ -552,7 +552,7 @@ p, li { white-space: pre-wrap; } - + Check this to reverse the channel. @@ -620,7 +620,7 @@ p, li { white-space: pre-wrap; } - + true @@ -639,7 +639,7 @@ p, li { white-space: pre-wrap; } - + @@ -660,7 +660,7 @@ p, li { white-space: pre-wrap; } - + Check this to reverse the channel. @@ -728,7 +728,7 @@ p, li { white-space: pre-wrap; } - + true @@ -747,7 +747,7 @@ p, li { white-space: pre-wrap; } - + @@ -768,7 +768,7 @@ p, li { white-space: pre-wrap; } - + Check this to reverse the channel. @@ -800,7 +800,7 @@ Neutral should be put at the bottom of the slider for the throttle. - + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> @@ -811,14 +811,14 @@ p, li { white-space: pre-wrap; } - + Rev. - + Check this to reverse the channel. @@ -830,7 +830,7 @@ reversal capabilities). - + @@ -851,7 +851,7 @@ p, li { white-space: pre-wrap; } - + true @@ -935,26 +935,6 @@ p, li { white-space: pre-wrap; } - - - - - 11 - 75 - true - - - - Indicates whether OpenPilot is getting a signal from the RC receiver. - - - RC Receiver not connected or invalid input configuration (missing channels) - - - true - - - @@ -981,6 +961,68 @@ p, li { white-space: pre-wrap; } + + + + + + + 234 + 54 + + + + + 11 + 75 + true + + + + Indicates whether OpenPilot is getting a signal from the RC receiver. + + + RC Receiver not connected or invalid input configuration (missing channels) + + + true + + + + + + + + 0 + 0 + + + + + 32 + 32 + + + + + + + + :/core/images/helpicon.svg:/core/images/helpicon.svg + + + + 32 + 32 + + + + true + + + + + From 880905efbae952af1bf9f63a7e4466cdb8d17d46 Mon Sep 17 00:00:00 2001 From: zedamota Date: Mon, 20 Jun 2011 14:39:01 +0100 Subject: [PATCH 054/241] OP-530 Change multirotor max throttle default value to 90% --- .../openpilotgcs/src/plugins/config/configairframewidget.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp b/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp index 53296f3f5..9045210b6 100644 --- a/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp @@ -368,7 +368,7 @@ void ConfigAirframeWidget::resetMrMixer() { UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("MixerSettings"))); UAVObjectField* field = obj->getField(QString("ThrottleCurve1")); - resetMixer(m_aircraft->multiThrottleCurve, field->getNumElements(),0.95); + resetMixer(m_aircraft->multiThrottleCurve, field->getNumElements(),0.9); } /** @@ -479,7 +479,7 @@ void ConfigAirframeWidget::requestAircraftUpdate() } if(temp==0) { - m_aircraft->multiThrottleCurve->initLinearCurve(field->getNumElements(),0.95);; + m_aircraft->multiThrottleCurve->initLinearCurve(field->getNumElements(),0.9);; m_aircraft->fixedWingThrottle->initLinearCurve(field->getNumElements(),(double)1); } else From 9e632b532e8a0b683acb3cb2c45f2b454fe930d6 Mon Sep 17 00:00:00 2001 From: unknown Date: Mon, 20 Jun 2011 15:48:05 -0400 Subject: [PATCH 055/241] Fix win32 SiTL by adding PiOS CRC and another missing function. --- flight/OpenPilot/Makefile.win32 | 1 + flight/PiOS.win32/inc/pios_crc.h | 31 ++++++++ flight/PiOS.win32/pios.h | 1 + .../FreeRTOS/Source/portable/GCC/Win32/port.c | 5 ++ flight/PiOS.win32/win32/pios_crc.c | 74 +++++++++++++++++++ 5 files changed, 112 insertions(+) create mode 100644 flight/PiOS.win32/inc/pios_crc.h create mode 100644 flight/PiOS.win32/win32/pios_crc.c diff --git a/flight/OpenPilot/Makefile.win32 b/flight/OpenPilot/Makefile.win32 index 1ea309b26..261e4abfb 100644 --- a/flight/OpenPilot/Makefile.win32 +++ b/flight/OpenPilot/Makefile.win32 @@ -166,6 +166,7 @@ SRC += $(PIOSWIN32)/pios_udp.c SRC += $(PIOSWIN32)/pios_com.c SRC += $(PIOSWIN32)/pios_servo.c SRC += $(PIOSWIN32)/pios_wdg.c +SRC += $(PIOSWIN32)/pios_crc.c # ## RTOS SRC += $(RTOSSRCDIR)/list.c diff --git a/flight/PiOS.win32/inc/pios_crc.h b/flight/PiOS.win32/inc/pios_crc.h new file mode 100644 index 000000000..3a64f8bab --- /dev/null +++ b/flight/PiOS.win32/inc/pios_crc.h @@ -0,0 +1,31 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_CRC CRC Functions + * @{ + * + * @file pios_crc.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief CRC functions header. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +uint8_t PIOS_CRC_updateByte(uint8_t crc, const uint8_t data); +uint8_t PIOS_CRC_updateCRC(uint8_t crc, const uint8_t* data, int32_t length); diff --git a/flight/PiOS.win32/pios.h b/flight/PiOS.win32/pios.h index 0c908cafc..a4600cee5 100644 --- a/flight/PiOS.win32/pios.h +++ b/flight/PiOS.win32/pios.h @@ -63,6 +63,7 @@ #include #include #include +#include #define NELEMENTS(x) (sizeof(x) / sizeof(*(x))) diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/port.c b/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/port.c index 787826afa..94f09de91 100644 --- a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/port.c +++ b/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/port.c @@ -941,3 +941,8 @@ void vPortExitCritical( void ) } } } + +unsigned long ulPortGetTimerValue( void ) +{ + return (unsigned long) clock(); +} \ No newline at end of file diff --git a/flight/PiOS.win32/win32/pios_crc.c b/flight/PiOS.win32/win32/pios_crc.c new file mode 100644 index 000000000..548ba2648 --- /dev/null +++ b/flight/PiOS.win32/win32/pios_crc.c @@ -0,0 +1,74 @@ +/* + * pios_crc.c + * OpenPilotOSX + * + * Created by James Cotton on 6/4/11. + * Copyright 2011 OpenPilot. All rights reserved. + * + */ + +#include "pios.h" + +// CRC lookup table +static const uint8_t crc_table[256] = { + 0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d, + 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d, + 0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd, + 0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd, + 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, + 0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a, + 0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a, + 0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, + 0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4, + 0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4, + 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, + 0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34, + 0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63, + 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, + 0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83, + 0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3 +}; + +/** + * Update the crc value with new data. + * + * Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/ + * using the configuration: + * Width = 8 + * Poly = 0x07 + * XorIn = 0x00 + * ReflectIn = False + * XorOut = 0x00 + * ReflectOut = False + * Algorithm = table-driven + * + * \param crc The current crc value. + * \param data Pointer to a buffer of \a data_len bytes. + * \param length Number of bytes in the \a data buffer. + * \return The updated crc value. + */ +uint8_t PIOS_CRC_updateByte(uint8_t crc, const uint8_t data) +{ + return crc_table[crc ^ data]; +} + +/* + * @brief Update a CRC with a data buffer + * @param[in] crc Starting CRC value + * @param[in] data Data buffer + * @param[in] length Number of bytes to process + * @returns Updated CRC + */ +uint8_t PIOS_CRC_updateCRC(uint8_t crc, const uint8_t* data, int32_t length) +{ + // use registers for speed + register int32_t len = length; + register uint8_t crc8 = crc; + register const uint8_t *p = data; + + while (len--) + crc8 = crc_table[crc8 ^ *p++]; + + return crc8; +} + From 31cbad1fffaa783f69198ce9afd9c16142578104 Mon Sep 17 00:00:00 2001 From: dankers Date: Tue, 21 Jun 2011 08:13:04 +1000 Subject: [PATCH 056/241] Add Michel Pet's Y6 flight. Add some more place holders of some Milestones yet to be completed. --- MILESTONES.txt | 24 +++++++++++++++++++++--- 1 file changed, 21 insertions(+), 3 deletions(-) diff --git a/MILESTONES.txt b/MILESTONES.txt index 3895e977b..b8a01ddae 100644 --- a/MILESTONES.txt +++ b/MILESTONES.txt @@ -117,11 +117,30 @@ C: Sami Korhonen (Sambas) D: May 2011 V: http://vimeo.com/24258192 -M: First CopterControl flip on a Flybarless Heli +M: First Y6 CopterControl flight +C: Michel Pet +D: June 2011 +V: http://www.youtube.com/watch?v=QsE2MQELPZY + +M: First Height Hold using Sonar C: D: V: +M: First CopterControl Navigation on RC Ground Vechicle +C: +D: +V: + +M: First CopterControl Navigation on RC Water Vechicle +C: +D: +V: + +M: First CopterControl flip on a Flybarless Heli +C: +D: +V: An incomplete list of some future Milestones is below: @@ -131,8 +150,7 @@ An incomplete list of some future Milestones is below: * First successful flight using the GCS only and no RC TX * First use of Magic Waypoint * First Flybarless Helicopter flight with OpenPilot -* First flight with CopterControl -* First fixed wing navigation flight +* First fixed wing navigation flight * First Multirotor navigation flight * First Helicopter navigation flight * First over 1km navigation flight From 177263c237c19780419f3285f2d53823f33eee74 Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Mon, 20 Jun 2011 21:04:51 -0400 Subject: [PATCH 057/241] OP-532 minor UI changes to servo selection box visibilities --- .../src/plugins/config/configccpmwidget.cpp | 19 +++++++++++++++++-- 1 file changed, 17 insertions(+), 2 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index 9e7833986..b84548217 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -263,7 +263,7 @@ ConfigccpmWidget::~ConfigccpmWidget() void ConfigccpmWidget::UpdateType() { - int TypeInt,SingleServoIndex; + int TypeInt,SingleServoIndex,NumServosDefined; QString TypeText; double AdjustmentAngle=0; @@ -305,6 +305,7 @@ void ConfigccpmWidget::UpdateType() //m_ccpm->customThrottleCurve2Value->setVisible(1); //m_ccpm->label_41->setVisible(1); + NumServosDefined=1; //set values for pre defined heli types if (TypeText.compare(QString("CCPM 2 Servo 90º"), Qt::CaseInsensitive)==0) { @@ -319,6 +320,7 @@ void ConfigccpmWidget::UpdateType() m_ccpm->ccpmServoYChannel->setEnabled(0); m_ccpm->ccpmServoZChannel->setEnabled(0); m_ccpm->ccpmCorrectionAngle->setValue(0); + NumServosDefined=2; } if (TypeText.compare(QString("CCPM 3 Servo 120º"), Qt::CaseInsensitive)==0) @@ -331,7 +333,8 @@ void ConfigccpmWidget::UpdateType() m_ccpm->ccpmServoZChannel->setCurrentIndex(8); m_ccpm->ccpmServoZChannel->setEnabled(0); m_ccpm->ccpmCorrectionAngle->setValue(0); - + NumServosDefined=3; + } if (TypeText.compare(QString("CCPM 3 Servo 140º"), Qt::CaseInsensitive)==0) { @@ -343,6 +346,7 @@ void ConfigccpmWidget::UpdateType() m_ccpm->ccpmServoZChannel->setCurrentIndex(8); m_ccpm->ccpmServoZChannel->setEnabled(0); m_ccpm->ccpmCorrectionAngle->setValue(0); + NumServosDefined=3; } if (TypeText.compare(QString("FP 2 Servo 90º"), Qt::CaseInsensitive)==0) @@ -369,8 +373,19 @@ void ConfigccpmWidget::UpdateType() m_ccpm->PitchCurve->setVisible(0); //m_ccpm->customThrottleCurve2Value->setVisible(0); //m_ccpm->label_41->setVisible(0); + NumServosDefined=2; } + //set the visibility of the swashplate servo selection boxes + m_ccpm->ccpmServoWLabel->setVisible(NumServosDefined>=1); + m_ccpm->ccpmServoXLabel->setVisible(NumServosDefined>=2); + m_ccpm->ccpmServoYLabel->setVisible(NumServosDefined>=3); + m_ccpm->ccpmServoZLabel->setVisible(NumServosDefined>=4); + m_ccpm->ccpmServoWChannel->setVisible(NumServosDefined>=1); + m_ccpm->ccpmServoXChannel->setVisible(NumServosDefined>=2); + m_ccpm->ccpmServoYChannel->setVisible(NumServosDefined>=3); + m_ccpm->ccpmServoZChannel->setVisible(NumServosDefined>=4); + m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents(); for (int i=0;i<6;i++) { From ca21863f91a83c605b1a9e8c130196b718c19bad Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Mon, 20 Jun 2011 21:33:11 -0400 Subject: [PATCH 058/241] OP-507 added more swashplate configurations --- .../src/plugins/config/configccpmwidget.cpp | 27 ++++++++++++++++++- 1 file changed, 26 insertions(+), 1 deletion(-) diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index b84548217..b92020008 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -193,7 +193,7 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) m_ccpm->ccpmServoZChannel->setCurrentIndex(8); QStringList Types; - Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º" << "Custom - User Angles" << "Custom - Advanced Settings" ; + Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 90º" << "CCPM 4 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º" << "Custom - User Angles" << "Custom - Advanced Settings" ; m_ccpm->ccpmType->addItems(Types); m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - 1); requestccpmUpdate(); @@ -322,6 +322,31 @@ void ConfigccpmWidget::UpdateType() m_ccpm->ccpmCorrectionAngle->setValue(0); NumServosDefined=2; + } + if (TypeText.compare(QString("CCPM 3 Servo 90º"), Qt::CaseInsensitive)==0) + { + m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); + m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); + m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360)); + m_ccpm->ccpmAngleZ->setValue(0); + m_ccpm->ccpmAngleZ->setEnabled(0); + m_ccpm->ccpmServoZChannel->setCurrentIndex(8); + m_ccpm->ccpmServoZChannel->setEnabled(0); + m_ccpm->ccpmCorrectionAngle->setValue(0); + NumServosDefined=3; + + } + if (TypeText.compare(QString("CCPM 4 Servo 90º"), Qt::CaseInsensitive)==0) + { + m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); + m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); + m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360)); + m_ccpm->ccpmAngleZ->setValue(fmod(AdjustmentAngle + 270,360)); + m_ccpm->ccpmCorrectionAngle->setValue(0); + m_ccpm->ccpmSingleServo->setEnabled(0); + m_ccpm->ccpmSingleServo->setCurrentIndex(0); + NumServosDefined=4; + } if (TypeText.compare(QString("CCPM 3 Servo 120º"), Qt::CaseInsensitive)==0) { From cf342b41558b16a6c773d00a494901b84041f158 Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Mon, 20 Jun 2011 21:39:10 -0400 Subject: [PATCH 059/241] OP-532 make all swashplate lines draw even if servos not defined --- .../openpilotgcs/src/plugins/config/configccpmwidget.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index b92020008..a4c692dd9 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -719,7 +719,7 @@ void ConfigccpmWidget::GenerateCurve() void ConfigccpmWidget::ccpmSwashplateRedraw() { double angle[CCPM_MAX_SWASH_SERVOS],CorrectionAngle,x,y,w,h,radius,CenterX,CenterY; - int used[CCPM_MAX_SWASH_SERVOS],i; + int used[CCPM_MAX_SWASH_SERVOS],defined[CCPM_MAX_SWASH_SERVOS],i; CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value(); @@ -730,6 +730,10 @@ void ConfigccpmWidget::ccpmSwashplateRedraw() SwashplateImg->setPos(CenterX-200,CenterY-200); + defined[0]=(m_ccpm->ccpmServoWChannel->isEnabled()); + defined[1]=(m_ccpm->ccpmServoXChannel->isEnabled()); + defined[2]=(m_ccpm->ccpmServoYChannel->isEnabled()); + defined[3]=(m_ccpm->ccpmServoZChannel->isEnabled()); used[0]=((m_ccpm->ccpmServoWChannel->currentIndex()<8)&&(m_ccpm->ccpmServoWChannel->isEnabled())); used[1]=((m_ccpm->ccpmServoXChannel->currentIndex()<8)&&(m_ccpm->ccpmServoXChannel->isEnabled())); used[2]=((m_ccpm->ccpmServoYChannel->currentIndex()<8)&&(m_ccpm->ccpmServoYChannel->isEnabled())); @@ -766,7 +770,7 @@ void ConfigccpmWidget::ccpmSwashplateRedraw() x=CenterX-(radius*sin(angle[i])); y=CenterY+(radius*cos(angle[i])); ServoLines[i]->setLine(CenterX,CenterY,x,y); - ServoLines[i]->setVisible(used[i]!=0); + ServoLines[i]->setVisible(defined[i]!=0); } //m_ccpm->SwashplateImage->centerOn (CenterX, CenterY); From 438cb917095820efc05a56a41f6b96372ac35cc5 Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Mon, 20 Jun 2011 22:20:19 -0400 Subject: [PATCH 060/241] OP-532 minor GUI improvements to highlight incorrect servo assignments --- .../src/plugins/config/configccpmwidget.cpp | 34 +++++++++++++++++++ 1 file changed, 34 insertions(+) diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index a4c692dd9..72a04faf2 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -783,6 +783,40 @@ void ConfigccpmWidget::ccpmSwashplateUpdate() ccpmSwashplateRedraw(); SetUIComponentVisibilities(); UpdateMixer(); + + if((m_ccpm->ccpmServoWChannel->currentIndex()==8)&&(m_ccpm->ccpmServoWChannel->isEnabled())) + { + m_ccpm->ccpmServoWLabel->setText("Servo W"); + } + else + { + m_ccpm->ccpmServoWLabel->setText("Servo W"); + } + if((m_ccpm->ccpmServoXChannel->currentIndex()==8)&&(m_ccpm->ccpmServoXChannel->isEnabled())) + { + m_ccpm->ccpmServoXLabel->setText("Servo X"); + } + else + { + m_ccpm->ccpmServoXLabel->setText("Servo X"); + } + if((m_ccpm->ccpmServoYChannel->currentIndex()==8)&&(m_ccpm->ccpmServoYChannel->isEnabled())) + { + m_ccpm->ccpmServoYLabel->setText("Servo Y"); + } + else + { + m_ccpm->ccpmServoYLabel->setText("Servo Y"); + } + if((m_ccpm->ccpmServoZChannel->currentIndex()==8)&&(m_ccpm->ccpmServoZChannel->isEnabled())) + { + m_ccpm->ccpmServoZLabel->setText("Servo Z"); + } + else + { + m_ccpm->ccpmServoZLabel->setText("Servo Z"); + } + } void ConfigccpmWidget::UpdateMixer() From 80709f356f890136222f58672c8c41e8e202438b Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Mon, 20 Jun 2011 22:31:05 -0400 Subject: [PATCH 061/241] alarms: lower heap warning and critical thresholds for CC Free heap on CC is currently 160 bytes so the current thresholds were causing a continual alarm condition, thus preventing arming. --- flight/CopterControl/System/inc/pios_config.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h index 392771a26..7f77c7a5e 100644 --- a/flight/CopterControl/System/inc/pios_config.h +++ b/flight/CopterControl/System/inc/pios_config.h @@ -85,8 +85,8 @@ #define AUXUART_BAUDRATE 19200 /* Alarm Thresholds */ -#define HEAP_LIMIT_WARNING 220 -#define HEAP_LIMIT_CRITICAL 150 +#define HEAP_LIMIT_WARNING 156 +#define HEAP_LIMIT_CRITICAL 130 #define CPULOAD_LIMIT_WARNING 80 #define CPULOAD_LIMIT_CRITICAL 95 From 97c22fb57cb3f5fe34c901ca485f9e37577e583c Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Mon, 20 Jun 2011 22:40:22 -0400 Subject: [PATCH 062/241] OP-532 Better indication of unassigned servos in heli config UI --- .../src/plugins/config/configccpmwidget.cpp | 36 +++++++++++++++++-- .../src/plugins/config/configccpmwidget.h | 1 + 2 files changed, 35 insertions(+), 2 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index 72a04faf2..5d49e00e0 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -410,7 +410,17 @@ void ConfigccpmWidget::UpdateType() m_ccpm->ccpmServoXChannel->setVisible(NumServosDefined>=2); m_ccpm->ccpmServoYChannel->setVisible(NumServosDefined>=3); m_ccpm->ccpmServoZChannel->setVisible(NumServosDefined>=4); - + + //set the visibility of the swashplate angle selection boxes + m_ccpm->ccpmServoWLabel_2->setVisible(NumServosDefined>=1); + m_ccpm->ccpmServoXLabel_2->setVisible(NumServosDefined>=2); + m_ccpm->ccpmServoYLabel_2->setVisible(NumServosDefined>=3); + m_ccpm->ccpmServoZLabel_2->setVisible(NumServosDefined>=4); + m_ccpm->ccpmAngleW->setVisible(NumServosDefined>=1); + m_ccpm->ccpmAngleX->setVisible(NumServosDefined>=2); + m_ccpm->ccpmAngleY->setVisible(NumServosDefined>=3); + m_ccpm->ccpmAngleZ->setVisible(NumServosDefined>=4); + m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents(); for (int i=0;i<6;i++) { @@ -783,7 +793,10 @@ void ConfigccpmWidget::ccpmSwashplateUpdate() ccpmSwashplateRedraw(); SetUIComponentVisibilities(); UpdateMixer(); - +} + +void ConfigccpmWidget::ccpmChannelCheck() +{ if((m_ccpm->ccpmServoWChannel->currentIndex()==8)&&(m_ccpm->ccpmServoWChannel->isEnabled())) { m_ccpm->ccpmServoWLabel->setText("Servo W"); @@ -817,6 +830,24 @@ void ConfigccpmWidget::ccpmSwashplateUpdate() m_ccpm->ccpmServoZLabel->setText("Servo Z"); } + if((m_ccpm->ccpmEngineChannel->currentIndex()==8)&&(m_ccpm->ccpmEngineChannel->isEnabled())) + { + m_ccpm->ccpmEngineLabel->setText("Engine"); + } + else + { + m_ccpm->ccpmEngineLabel->setText("Engine"); + } + + if((m_ccpm->ccpmTailChannel->currentIndex()==8)&&(m_ccpm->ccpmTailChannel->isEnabled())) + { + m_ccpm->ccpmTailLabel->setText("Tail Rotor"); + } + else + { + m_ccpm->ccpmTailLabel->setText("Tail Rotor"); + } + } void ConfigccpmWidget::UpdateMixer() @@ -828,6 +859,7 @@ void ConfigccpmWidget::UpdateMixer() //QTableWidgetItem *newItem;// = new QTableWidgetItem(); QString Channel; + ccpmChannelCheck(); //Type = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; //CollectiveConstant=m_ccpm->ccpmCollectiveSlider->value()/100.0; //CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value(); diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h index 853081024..cb44b4f16 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h @@ -136,6 +136,7 @@ private: void UpdatCCPMUIFromOptions(); void SetUIComponentVisibilities(); + void ccpmChannelCheck(); void enableSwashplateLevellingControl(bool state); void setSwashplateLevel(int percent); From 6910bbb4f14bdc3f74c7aea46aa9f0b6e93e068d Mon Sep 17 00:00:00 2001 From: zedamota Date: Tue, 21 Jun 2011 18:09:37 +0100 Subject: [PATCH 063/241] OP-515 Changes according to Osnwt suggestions. --- .../uavobjectutil/uavobjectutilmanager.cpp | 31 +++- .../uavobjectutil/uavobjectutilmanager.h | 1 + .../plugins/uploader/devicedescriptorstruct.h | 20 +++ .../src/plugins/uploader/devicewidget.cpp | 69 ++++---- .../src/plugins/uploader/devicewidget.ui | 93 ++++++---- .../plugins/uploader/runningdevicewidget.cpp | 44 ++++- .../plugins/uploader/runningdevicewidget.ui | 165 +++++++++++------- .../plugins/uploader/uploadergadgetwidget.cpp | 4 +- 8 files changed, 286 insertions(+), 141 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp index ad90fde52..67d30aadb 100644 --- a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp +++ b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp @@ -261,12 +261,39 @@ QByteArray UAVObjectUtilManager::getBoardCPUSerial() loop.exec(); UAVObjectField* cpuField = obj->getField("CPUSerial"); - for (int i = 0; i < cpuField->getNumElements(); ++i) { + for (uint i = 0; i < cpuField->getNumElements(); ++i) { cpuSerial.append(cpuField->getValue(i).toUInt()); } return cpuSerial; } +quint32 UAVObjectUtilManager::getFirmwareCRC() +{ + quint32 fwCRC; + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); + if (!pm) + return 0; + UAVObjectManager *om = pm->getObject(); + if (!om) + return 0; + + UAVDataObject *obj = dynamic_cast(om->getObject(QString("FirmwareIAPObj"))); + obj->getField("crc")->setValue(0); + obj->updated(); + // The code below will ask for the object update and wait for the updated to be received, + // or the timeout of the timer, set to 1 second. + QEventLoop loop; + connect(obj, SIGNAL(objectUpdated(UAVObject*)), &loop, SLOT(quit())); + QTimer::singleShot(1000, &loop, SLOT(quit())); // Create a timeout + obj->requestUpdate(); + loop.exec(); + + UAVObjectField* fwCRCField = obj->getField("crc"); + + fwCRC=(quint32)fwCRCField->getValue().toLongLong(); + return fwCRC; +} + /** * Get the UAV Board Description, for anyone interested. */ @@ -291,7 +318,7 @@ QByteArray UAVObjectUtilManager::getBoardDescription() UAVObjectField* descriptionField = obj->getField("Description"); // Description starts with an offset of - for (int i = 0; i < descriptionField->getNumElements(); ++i) { + for (uint i = 0; i < descriptionField->getNumElements(); ++i) { ret.append(descriptionField->getValue(i).toInt()); } return ret; diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.h b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.h index 88c278b6b..298374862 100644 --- a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.h +++ b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.h @@ -63,6 +63,7 @@ public: int getBoardModel(); QByteArray getBoardCPUSerial(); + quint32 getFirmwareCRC(); QByteArray getBoardDescription(); UAVObjectManager* getObjectManager(); void saveObjectToSD(UAVObject *obj); diff --git a/ground/openpilotgcs/src/plugins/uploader/devicedescriptorstruct.h b/ground/openpilotgcs/src/plugins/uploader/devicedescriptorstruct.h index 6181d0728..1304127e1 100644 --- a/ground/openpilotgcs/src/plugins/uploader/devicedescriptorstruct.h +++ b/ground/openpilotgcs/src/plugins/uploader/devicedescriptorstruct.h @@ -10,6 +10,26 @@ public: QString description; int boardType; int boardRevision; + static QString idToBoardName(int id) + { + switch (id | 0x0011) { + case 0x0111://MB + return QString("Board name: OpenPilot MainBoard"); + break; + case 0x0311://PipX + return QString("Board name: PipXtreame"); + break; + case 0x0411://Coptercontrol + return QString("Board name: CopterControl"); + break; + case 0x0211://INS + return QString("Board name: OpenPilot INS"); + break; + default: + return QString(""); + break; + } + } deviceDescriptorStruct(); }; diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp index 0548ed800..5e24f55e2 100644 --- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp @@ -35,6 +35,7 @@ deviceWidget::deviceWidget(QWidget *parent) : // Initialization of the Device icon display myDevice->verticalGroupBox_loaded->setVisible(false); + myDevice->groupCustom->setVisible(false); myDevice->youdont->setVisible(false); myDevice->gVDevice->setScene(new QGraphicsScene(this)); connect(myDevice->retrieveButton, SIGNAL(clicked()), this, SLOT(downloadFirmware())); @@ -81,16 +82,16 @@ QString deviceWidget::idToBoardName(int id) { switch (id | 0x0011) { case 0x0111://MB - return QString("Board Name: OpenPilot MainBoard"); + return QString("Board name: OpenPilot MainBoard"); break; case 0x0311://PipX - return QString("Board Name: PipXtreame"); + return QString("Board name: PipXtreame"); break; case 0x0411://Coptercontrol - return QString("Board Name: CopterControl"); + return QString("Board name: CopterControl"); break; case 0x0211://INS - return QString("Board Name: OpenPilot INS"); + return QString("Board name: OpenPilot INS"); break; default: return QString(""); @@ -109,14 +110,11 @@ void deviceWidget::populate() // DeviceID tells us what sort of HW we have detected: // display a nice icon: myDevice->gVDevice->scene()->clear(); - if (devicePic) - delete devicePic; + myDevice->lblDevName->setText(deviceDescriptorStruct::idToBoardName(id)); + myDevice->lblHWRev->setText(QString(tr("HW Revision: "))+QString::number(id & 0x0011, 16)); + devicePic = new QGraphicsSvgItem(); devicePic->setSharedRenderer(new QSvgRenderer()); - - myDevice->lblDevName->setText(idToBoardName(id)); - - myDevice->lblHWRev->setText(QString(tr("HW Revision:"))+QString::number(id & 0x0011, 16)); switch (id) { case 0x0101: devicePic->renderer()->load(QString(":/uploader/images/deviceID-0101.svg")); @@ -134,10 +132,6 @@ void deviceWidget::populate() break; } devicePic->setElementId("device"); - //myDevice->devicePicture->scene()->addItem(devicePic); - //myDevice->devicePicture->setSceneRect(devicePic->boundingRect()); - //myDevice->devicePicture->fitInView(devicePic,Qt::KeepAspectRatio); - myDevice->gVDevice->scene()->addItem(devicePic); myDevice->gVDevice->setSceneRect(devicePic->boundingRect()); myDevice->gVDevice->fitInView(devicePic,Qt::KeepAspectRatio); @@ -145,11 +139,14 @@ void deviceWidget::populate() bool r = m_dfu->devices[deviceID].Readable; bool w = m_dfu->devices[deviceID].Writable; - myDevice->lblAccess->setText(QString("Access: ") + QString(r ? "R" : "-") + QString(w ? "W" : "-")); + myDevice->lblAccess->setText(QString("Flash access: ") + QString(r ? "R" : "-") + QString(w ? "W" : "-")); myDevice->lblMaxCode->setText(QString("Max code size: ") +QString::number(m_dfu->devices[deviceID].SizeOfCode)); - myDevice->lblCRC->setText(QString("FW CRC: ") + QString::number(m_dfu->devices[deviceID].FW_CRC)); - myDevice->lblBLVer->setText(QString("BL Version: ") + QString::number(m_dfu->devices[deviceID].BL_Version)); - + myDevice->lblCRC->setText(QString("Firmware CRC: ") + QString::number(m_dfu->devices[deviceID].FW_CRC)); + myDevice->lblBLVer->setText(QString("BL version: ") + QString::number(m_dfu->devices[deviceID].BL_Version)); + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); + UAVObjectUtilManager* utilMngr = pm->getObject(); + QString serial = utilMngr->getBoardCPUSerial().toHex(); + myDevice->lblCPU->setText(QString("CPU serial number: "+serial)); int size=((OP_DFU::device)m_dfu->devices[deviceID]).SizeOfDesc; m_dfu->enterDFU(deviceID); QByteArray desc = m_dfu->DownloadDescriptionAsBA(size); @@ -158,18 +155,16 @@ void deviceWidget::populate() //TODO // desc was not a structured description QString str = m_dfu->DownloadDescription(size); - //myDevice->lblDescription->setMaxLength(size); - myDevice->lblDescription->setText(QString("FW Description")+str.left(str.indexOf(QChar(255)))); + myDevice->lblDescription->setText(QString("Firmware custom description: ")+str.left(str.indexOf(QChar(255)))); QPixmap pix = QPixmap(QString(":uploader/images/warning.svg")); myDevice->lblCertified->setPixmap(pix); myDevice->lblCertified->setToolTip(tr("Custom Firmware Build")); myDevice->lblBuildDate->setText("Warning: development firmware"); myDevice->lblGitTag->setText(""); + myDevice->lblBrdName->setText(""); } - status("Ready...", STATUSICON_INFO); - } /** @@ -191,11 +186,11 @@ bool deviceWidget::populateBoardStructuredDescription(QByteArray desc) { if(UploaderGadgetWidget::descriptionToStructure(desc,&onBoardDescrition)) { - myDevice->lblGitTag->setText("GIT tag "+onBoardDescrition.gitTag); - myDevice->lblBuildDate->setText(QString("Build time: ") + onBoardDescrition.buildDate); + myDevice->lblGitTag->setText("Git commit tag: "+onBoardDescrition.gitTag); + myDevice->lblBuildDate->setText(QString("Firmware date: ") + onBoardDescrition.buildDate); if(onBoardDescrition.description.startsWith("release",Qt::CaseInsensitive)) { - myDevice->lblDescription->setText(QString("FW Release:")+onBoardDescrition.description); + myDevice->lblDescription->setText(QString("Firmware tag: ")+onBoardDescrition.description); QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg")); myDevice->lblCertified->setPixmap(pix); myDevice->lblCertified->setToolTip(tr("Official Firmware Build")); @@ -203,7 +198,7 @@ bool deviceWidget::populateBoardStructuredDescription(QByteArray desc) } else { - myDevice->lblDescription->setText(QString("Beta or Custom Firmware:")+onBoardDescrition.description); + myDevice->lblDescription->setText(QString("Firmware tag: ")+onBoardDescrition.description+QString(" (beta or custom build)")); QPixmap pix = QPixmap(QString(":uploader/images/warning.svg")); myDevice->lblCertified->setPixmap(pix); myDevice->lblCertified->setToolTip(tr("Custom Firmware Build")); @@ -221,27 +216,25 @@ bool deviceWidget::populateLoadedStructuredDescription(QByteArray desc) { if(UploaderGadgetWidget::descriptionToStructure(desc,&LoadedDescrition)) { - myDevice->lblGitTagL->setText("GIT tag "+LoadedDescrition.gitTag); - myDevice->lblBuildDateL->setText(QString("Build time: ") + LoadedDescrition.buildDate); + myDevice->lblGitTagL->setText("Git commit tag: "+LoadedDescrition.gitTag); + myDevice->lblBuildDateL->setText(QString("Firmware date: ") + LoadedDescrition.buildDate); if(LoadedDescrition.description.startsWith("release",Qt::CaseInsensitive)) { - myDevice->lblDescriptionL->setText(tr("FW Release:")); + myDevice->lblDescritpionL->setText(QString("Firmware tag: ")+LoadedDescrition.description); myDevice->description->setText(LoadedDescrition.description); QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg")); myDevice->lblCertifiedL->setPixmap(pix); myDevice->lblCertifiedL->setToolTip(tr("Official Firmware Build")); - } else { - myDevice->lblDescriptionL->setText(tr("Beta or Custom Firmware:")); + myDevice->lblDescritpionL->setText(QString("Firmware tag: ")+LoadedDescrition.description+QString(" (beta or custom build)")); myDevice->description->setText(LoadedDescrition.description); QPixmap pix = QPixmap(QString(":uploader/images/warning.svg")); myDevice->lblCertifiedL->setPixmap(pix); myDevice->lblCertifiedL->setToolTip(tr("Custom Firmware Build")); } - - myDevice->lblBrdNameL->setText(idToBoardName(LoadedDescrition.boardType<<8)); + myDevice->lblBrdNameL->setText(deviceDescriptorStruct::idToBoardName(LoadedDescrition.boardType<<8)); return true; } @@ -293,6 +286,9 @@ void deviceWidget::status(QString str, StatusIcon ic) void deviceWidget::loadFirmware() { + myDevice->verticalGroupBox_loaded->setVisible(false); + myDevice->groupCustom->setVisible(false); + filename = setOpenFileName(); if (filename.isEmpty()) { @@ -312,16 +308,18 @@ void deviceWidget::loadFirmware() QByteArray desc = loadedFW.right(100); QPixmap px; myDevice->lblCRCL->setText(QString("FW CRC: ") + QString::number(DFUObject::CRCFromQBArray(loadedFW,m_dfu->devices[deviceID].SizeOfCode))); + myDevice->lblFirmwareSizeL->setText(QString("Firmware size: ")+QVariant(loadedFW.length()).toString()+ QString(" bytes")); if (populateLoadedStructuredDescription(desc)) { myDevice->youdont->setChecked(true); myDevice->verticalGroupBox_loaded->setVisible(true); + myDevice->groupCustom->setVisible(false); if(myDevice->lblCRC->text()==myDevice->lblCRCL->text()) { myDevice->statusLabel->setText(tr("The loaded firmware maches the firmware on the board. You shouldn't upload it")); px.load(QString(":/uploader/images/warning.svg")); } - else if(onBoardDescrition.boardType!=LoadedDescrition.boardType) + else if(myDevice->lblDevName->text()!=myDevice->lblBrdNameL->text()) { myDevice->statusLabel->setText(tr("The loaded firmware is not suited for the HW connected. You shouldn't upload it")); px.load(QString(":/uploader/images/warning.svg")); @@ -349,6 +347,7 @@ void deviceWidget::loadFirmware() myDevice->youdont->setChecked(false); myDevice->youdont->setVisible(true); myDevice->verticalGroupBox_loaded->setVisible(false); + myDevice->groupCustom->setVisible(true); } myDevice->statusIcon->setPixmap(px); //myDevice->updateButton->setEnabled(true); @@ -494,7 +493,7 @@ void deviceWidget::uploadFinished(OP_DFU::Status retstatus) return; } } - + populate(); status("Upload successful", STATUSICON_OK); } diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui b/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui index 66705375b..679599d64 100644 --- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui +++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui @@ -44,6 +44,13 @@ + + + + DeviceID + + + @@ -52,9 +59,9 @@ - + - DeviceID + lblCPU @@ -89,7 +96,7 @@ Loads the firmware - Load + Open @@ -102,7 +109,7 @@ Update the firmware on this board. - Update... + Flash @@ -184,16 +191,23 @@ - + - lblBuildDate + lblBrdName - + - lblCRC + lblDescription + + + + + + + lblBuildDate @@ -205,9 +219,9 @@ - + - lblBrdName + lblCRC @@ -225,13 +239,6 @@ - - - - lblDescription - - - @@ -249,16 +256,23 @@ - + - lblBuildDate + lblBrdName - + - lblCRC + lblDescritpionL + + + + + + + lblBuildDate @@ -270,9 +284,16 @@ - + - lblBrdName + lblCRC + + + + + + + lblFirmwareSizeL @@ -287,19 +308,21 @@ + + + + + + - - - - - Description: - - - - - - - + + + Custom description: + + + + + diff --git a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp index 5939ee3f8..9b56f2dfb 100644 --- a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp @@ -69,8 +69,11 @@ void runningDeviceWidget::populate() UAVObjectUtilManager* utilMngr = pm->getObject(); int id = utilMngr->getBoardModel(); - myDevice->deviceID->setText(QString("Device ID: ") + QString::number(id, 16)); - + myDevice->lblDeviceID->setText(QString("Device ID: ") + QString::number(id, 16)); + myDevice->lblBoardName->setText(deviceDescriptorStruct::idToBoardName(id)); + myDevice->lblHWRev->setText(QString(tr("HW Revision: "))+QString::number(id & 0x0011, 16)); + qDebug()<<"CRC"<getFirmwareCRC(); + myDevice->lblCRC->setText(QString(tr("Firmware CRC: "))+QVariant(utilMngr->getFirmwareCRC()).toString()); // DeviceID tells us what sort of HW we have detected: // display a nice icon: myDevice->devicePicture->scene()->clear(); @@ -101,16 +104,41 @@ void runningDeviceWidget::populate() myDevice->devicePicture->fitInView(devicePic,Qt::KeepAspectRatio); QString serial = utilMngr->getBoardCPUSerial().toHex(); - myDevice->cpuSerial->setText(serial); + myDevice->lblCPU->setText(QString("CPU serial number: "+serial)); QByteArray description = utilMngr->getBoardDescription(); deviceDescriptorStruct devDesc; - UploaderGadgetWidget::descriptionToStructure(description,&devDesc); - myDevice->description->setText(devDesc.description); - myDevice->lblGitTag->setText(QString("Git Tag:")+devDesc.gitTag); - myDevice->lblFwDate->setText(QString("FW Build Date:")+devDesc.buildDate); - status("Ready...", STATUSICON_INFO); + if(UploaderGadgetWidget::descriptionToStructure(description,&devDesc)) + { + if(devDesc.description.startsWith("release",Qt::CaseInsensitive)) + { + myDevice->lblFWTag->setText(QString("Firmware tag: ")+devDesc.description); + QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg")); + myDevice->lblCertified->setPixmap(pix); + myDevice->lblCertified->setToolTip(tr("Official Firmware Build")); + } + else + { + myDevice->lblFWTag->setText(QString("Firmware tag: ")+devDesc.description+QString(" (beta or custom build)")); + QPixmap pix = QPixmap(QString(":uploader/images/warning.svg")); + myDevice->lblCertified->setPixmap(pix); + myDevice->lblCertified->setToolTip(tr("Custom Firmware Build")); + } + myDevice->lblGitCommitTag->setText("Git commit tag: "+devDesc.gitTag); + myDevice->lblFWDate->setText(QString("Firmware date: ") + devDesc.buildDate); + } + else + { + + myDevice->lblFWTag->setText(QString("Firmware tag: ")+QString(description).left(QString(description).indexOf(QChar(255)))); + myDevice->lblGitCommitTag->setText("Git commit tag: Unknown"); + myDevice->lblFWDate->setText(QString("Firmware date: Unknown")); + QPixmap pix = QPixmap(QString(":uploader/images/warning.svg")); + myDevice->lblCertified->setPixmap(pix); + myDevice->lblCertified->setToolTip(tr("Custom Firmware Build")); + } + status("Ready...", STATUSICON_INFO); } diff --git a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui index f54b6ca48..1f69d407f 100644 --- a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui +++ b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui @@ -14,9 +14,114 @@ Form + + + + Device Information + + + + + + + 160 + 160 + + + + background: transparent + + + QFrame::NoFrame + + + + + + + + + TextLabel + + + + + + + TextLabel + + + + + + + TextLabel + + + + + + + TextLabel + + + + + + + + + + + + Firmware Information + + + + + + + + TextLabel + + + + + + + TextLabel + + + + + + + TextLabel + + + + + + + TextLabel + + + + + + + + + TextLabel + + + + + + - + @@ -46,64 +151,6 @@ - - - - DeviceID - - - - - - - CPU Serial: - - - - - - - - 160 - 160 - - - - background: transparent - - - QFrame::NoFrame - - - - - - - true - - - - - - - true - - - - - - - - - - - - - - - - - diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp index 9301fa12a..3a5427a6c 100755 --- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp @@ -48,13 +48,13 @@ bool UploaderGadgetWidget::descriptionToStructure(QByteArray desc,deviceDescript gitCommitTag = gitCommitTag<<8; gitCommitTag += desc.at(7-i) & 0xFF; } - struc->gitTag="0x" + QString::number(gitCommitTag,16); + struc->gitTag=QString::number(gitCommitTag,16); quint32 buildDate = desc.at(11)&0xFF; for (int i=1;i<4;i++) { buildDate = buildDate<<8; buildDate += desc.at(11-i) & 0xFF; } - struc->buildDate= QDateTime::fromTime_t(buildDate).toString(); + struc->buildDate= QDateTime::fromTime_t(buildDate).toLocalTime().toString("yyyy MMMM dd HH:mm:ss"); QByteArray targetPlatform = desc.mid(12,2); // TODO: check platform compatibility QString dscText = QString(desc.mid(14,26)); From 0ae31593ba3531065076f64dcde40ab895e9f40d Mon Sep 17 00:00:00 2001 From: zedamota Date: Tue, 21 Jun 2011 18:58:46 +0100 Subject: [PATCH 064/241] OP-537 Fixes according to Osnwt suggestions --- .../src/plugins/config/configinputwidget.cpp | 40 +- .../src/plugins/config/configinputwidget.h | 4 +- .../openpilotgcs/src/plugins/config/input.ui | 2029 ++++++++++------- 3 files changed, 1203 insertions(+), 870 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp index 6876e2bf0..73efdb3bb 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp @@ -174,12 +174,12 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent) connect(m_config->ch5Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); connect(m_config->ch6Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); connect(m_config->ch7Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); - + connect(m_config->doRCInputCalibration,SIGNAL(stateChanged(int)),this,SLOT(updateTips(int))); firstUpdate = true; // Connect the help button connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp())); - connect(m_config->receiverError, SIGNAL(clicked()), this, SLOT(receiverHelp())); + } @@ -471,10 +471,15 @@ void ConfigInputWidget::updateChannels(UAVObject* controlCommand) QString fieldName = QString("Connected"); UAVObjectField *field = controlCommand->getField(fieldName); if (field->getValue().toBool()) + { m_config->RCInputConnected->setText("RC Receiver connected"); + m_config->lblMissingInputs->setText(""); + } else + { m_config->RCInputConnected->setText("RC Receiver not connected or invalid input configuration (missing channels)"); - + receiverHelp(); + } if (m_config->doRCInputCalibration->isChecked()) { if (firstUpdate) { // Increase the data rate from the board so that the sliders @@ -702,7 +707,32 @@ void ConfigInputWidget::receiverHelp() unassigned.append("FlightMode"); } if(unassigned.length()>0) - QMessageBox::information(this,"Not all required channels are assigned",QString("Channel left to assign:")+unassigned); + m_config->lblMissingInputs->setText(QString("Channels left to assign:")+unassigned); else - QMessageBox::information(this,"Receiver not connected","All the required channels are assigned, however no receiver signal is being detected"); + m_config->lblMissingInputs->setText(""); +} +void ConfigInputWidget::updateTips(int value) +{ + if(value==Qt::Checked) + { + m_config->ch0Cur->setToolTip("Current channel value"); + m_config->ch1Cur->setToolTip("Current channel value"); + m_config->ch2Cur->setToolTip("Current channel value"); + m_config->ch3Cur->setToolTip("Current channel value"); + m_config->ch4Cur->setToolTip("Current channel value"); + m_config->ch5Cur->setToolTip("Current channel value"); + m_config->ch6Cur->setToolTip("Current channel value"); + m_config->ch7Cur->setToolTip("Current channel value"); + } + else + { + m_config->ch0Cur->setToolTip("Channel neutral point"); + m_config->ch1Cur->setToolTip("Channel neutral point"); + m_config->ch2Cur->setToolTip("Channel neutral point"); + m_config->ch3Cur->setToolTip("Channel neutral point"); + m_config->ch4Cur->setToolTip("Channel neutral point"); + m_config->ch5Cur->setToolTip("Channel neutral point"); + m_config->ch6Cur->setToolTip("Channel neutral point"); + m_config->ch7Cur->setToolTip("Channel neutral point"); + } } diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.h b/ground/openpilotgcs/src/plugins/config/configinputwidget.h index cbefd5c18..75f47cc8d 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.h @@ -71,7 +71,7 @@ private: bool firstUpdate; virtual void enableControls(bool enable); - + void receiverHelp(); private slots: void updateChannels(UAVObject* obj); virtual void refreshValues(); @@ -79,7 +79,7 @@ private slots: void saveRCInputObject(); void reverseCheckboxClicked(bool state); void openHelp(); - void receiverHelp(); + void updateTips(int); }; #endif diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui index f0771ba71..712ac6109 100644 --- a/ground/openpilotgcs/src/plugins/config/input.ui +++ b/ground/openpilotgcs/src/plugins/config/input.ui @@ -6,7 +6,7 @@ 0 0 - 557 + 560 467 @@ -23,1007 +23,1310 @@ RC Input - - - - - - MS Shell Dlg 2 - 8 - - - - - - - - - FreeSans - 10 - 75 - true - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + + 9 + 97 + 69 + 20 + + + + + MS Shell Dlg 2 + 8 + + + + + + + 133 + 97 + 32 + 16 + + + + + FreeSans + 10 + 75 + true + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1500 + + + + + + 256 + 97 + 24 + 16 + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1000 + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + 313 + 97 + 84 + 19 + + + + true + + + 1000 + + + 2000 + + + 1500 + + + Qt::Horizontal + + + + + + 475 + 97 + 24 + 16 + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. + + + 2000 + + + + + + 505 + 100 + 16 + 16 + + + + Check this to reverse the channel. (Useful for transmitters without channel reversal capabilities). - - - - - - - - - - - MS Shell Dlg 2 - 8 - - - - - - - - - FreeSans - 10 - 75 - true - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + + + + + + + 9 + 123 + 69 + 20 + + + + + MS Shell Dlg 2 + 8 + + + + + + + 133 + 123 + 32 + 16 + + + + + FreeSans + 10 + 75 + true + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1500 + + + + + + 256 + 123 + 24 + 16 + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1000 + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + 313 + 123 + 84 + 19 + + + + true + + + 1000 + + + 2000 + + + 1500 + + + Qt::Horizontal + + + + + + 475 + 123 + 24 + 16 + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. + + + 2000 + + + + + + 505 + 126 + 16 + 16 + + + + Check this to reverse the channel. (Useful for transmitters without channel reversal capabilities). - - - - - - - - - - - MS Shell Dlg 2 - 8 - - - - - - - - - FreeSans - 10 - 75 - true - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + + + + + + + 9 + 149 + 69 + 20 + + + + + MS Shell Dlg 2 + 8 + + + + + + + 133 + 149 + 32 + 16 + + + + + FreeSans + 10 + 75 + true + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1500 + + + + + + 256 + 149 + 24 + 16 + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1000 + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + 313 + 149 + 84 + 19 + + + + true + + + 1000 + + + 2000 + + + 1500 + + + Qt::Horizontal + + + + + + 475 + 149 + 24 + 16 + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. + + + 2000 + + + + + + 505 + 152 + 16 + 16 + + + + Check this to reverse the channel. (Useful for transmitters without channel reversal capabilities). - - - - - - - - - - - MS Shell Dlg 2 - 8 - - - - - - - - - FreeSans - 10 - 75 - true - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + + + + + + + 9 + 175 + 69 + 20 + + + + + MS Shell Dlg 2 + 8 + + + + + + + 133 + 175 + 32 + 16 + + + + + FreeSans + 10 + 75 + true + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1500 + + + + + + 256 + 175 + 24 + 16 + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1000 + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + 313 + 175 + 84 + 19 + + + + true + + + 1000 + + + 2000 + + + 1500 + + + Qt::Horizontal + + + + + + 475 + 175 + 24 + 16 + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. + + + 2000 + + + + + + 505 + 178 + 16 + 16 + + + + Check this to reverse the channel. (Useful for transmitters without channel reversal capabilities). - - - - - - - - - - - MS Shell Dlg 2 - 8 - - - - - - - - - FreeSans - 10 - 75 - true - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + + + + + + + 9 + 201 + 69 + 20 + + + + + MS Shell Dlg 2 + 8 + + + + + + + 133 + 201 + 32 + 16 + + + + + FreeSans + 10 + 75 + true + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1500 + + + + + + 256 + 201 + 24 + 16 + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1000 + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + 313 + 201 + 84 + 19 + + + + true + + + 1000 + + + 2000 + + + 1500 + + + Qt::Horizontal + + + + + + 475 + 201 + 24 + 16 + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. + + + 2000 + + + + + + 505 + 204 + 16 + 16 + + + + Check this to reverse the channel. (Useful for transmitters without channel reversal capabilities). - - - - - - - - - - - MS Shell Dlg 2 - 8 - - - - - - - - - FreeSans - 10 - 75 - true - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + + + + + + + 9 + 227 + 69 + 20 + + + + + MS Shell Dlg 2 + 8 + + + + + + + 133 + 227 + 32 + 16 + + + + + FreeSans + 10 + 75 + true + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1500 + + + + + + 256 + 227 + 24 + 16 + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1000 + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + 313 + 227 + 84 + 19 + + + + true + + + 1000 + + + 2000 + + + 1500 + + + Qt::Horizontal + + + + + + 475 + 227 + 24 + 16 + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. + + + 2000 + + + + + + 505 + 230 + 16 + 16 + + + + Check this to reverse the channel. (Useful for transmitters without channel reversal capabilities). - - - - - - - - - - - MS Shell Dlg 2 - 8 - - - - - - - - - FreeSans - 10 - 75 - true - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + + + + + + + 9 + 253 + 69 + 20 + + + + + MS Shell Dlg 2 + 8 + + + + + + + 133 + 253 + 32 + 16 + + + + + FreeSans + 10 + 75 + true + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1500 + + + + + + 256 + 253 + 24 + 16 + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1000 + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + 313 + 253 + 84 + 19 + + + + true + + + 1000 + + + 2000 + + + 1500 + + + Qt::Horizontal + + + + + + 475 + 253 + 24 + 16 + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. + + + 2000 + + + + + + 505 + 256 + 16 + 16 + + + + Check this to reverse the channel. (Useful for transmitters without channel reversal capabilities). - - - - - - - - - - - 75 - true - - - - Start calibrating the RC Inputs. + + + + + + + + + 9 + 279 + 109 + 17 + + + + + 75 + true + + + + Start calibrating the RC Inputs. Uncheck/Check to restart calibration. During calibration: move your RC controls over their whole range, then leave them on Neutral, uncheck calibration and save. Neutral should be put at the bottom of the slider for the throttle. - - - Run Calibration - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + Run Calibration + + + + + + 9 + 341 + 511 + 16 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:10pt; font-weight:600; color:#ff0000;">BEWARE: make sure your engines are not connected when running calibration!</span></p></body></html> - - - - - - - Rev. - - - - - - - Check this to reverse the channel. + + + + + + 505 + 9 + 22 + 16 + + + + Rev. + + + + + + 505 + 74 + 16 + 16 + + + + Check this to reverse the channel. (Useful for transmitters without channel reversal capabilities). - - - - - - - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + + + + + + + 475 + 71 + 24 + 16 + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 2000 + + + + + + 313 + 71 + 84 + 19 + + + + true + + + 1000 + + + 2000 + + + 1500 + + + Qt::Horizontal + + + + + + 256 + 71 + 24 + 16 + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - - FreeSans - 10 - 75 - true - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1000 + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + 133 + 71 + 32 + 16 + + + + + FreeSans + 10 + 75 + true + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - - - MS Shell Dlg 2 - 8 - - - - - 16 - 16 - - - - true - - - - - - - Select the receiver type here: + + + 1500 + + + + + + 9 + 71 + 69 + 20 + + + + + MS Shell Dlg 2 + 8 + + + + + 16 + 16 + + + + true + + + + + + 133 + 27 + 69 + 20 + + + + Select the receiver type here: - PWM is the most usual type - PPM is connected to input XXX - Spektrum is used with Spektrum 'satellite' receivers - - - - - - - - 75 - true - - - - Receiver Type: - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - - - - 234 - 54 - - - - - 11 - 75 - true - - - - Indicates whether OpenPilot is getting a signal from the RC receiver. - - - RC Receiver not connected or invalid input configuration (missing channels) - - - true - - - - - - - - 0 - 0 - - - - - 32 - 32 - - - - - - - - :/core/images/helpicon.svg:/core/images/helpicon.svg - - - - 32 - 32 - - - - true - - - - - - + + + + + + 9 + 9 + 84 + 16 + + + + + 75 + true + + + + Receiver Type: + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + 9 + 302 + 141 + 33 + + + + + 75 + true + + + + + + + + + + + + + 234 + 54 + + + + + 11 + 75 + true + + + + Indicates whether OpenPilot is getting a signal from the RC receiver. + + + RC Receiver not connected or invalid input configuration (missing channels) + + + true + + + + + From 59352a2e9a5aaec116d0ac1a93f06ef1b45b60b6 Mon Sep 17 00:00:00 2001 From: zedamota Date: Tue, 21 Jun 2011 19:08:55 +0100 Subject: [PATCH 065/241] OP-537 Fix UI bug --- .../openpilotgcs/src/plugins/config/input.ui | 2046 +++++++---------- 1 file changed, 862 insertions(+), 1184 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui index 712ac6109..c4986955b 100644 --- a/ground/openpilotgcs/src/plugins/config/input.ui +++ b/ground/openpilotgcs/src/plugins/config/input.ui @@ -23,1310 +23,988 @@ RC Input - - - - 9 - 97 - 69 - 20 - - - - - MS Shell Dlg 2 - 8 - - - - - - - 133 - 97 - 32 - 16 - - - - - FreeSans - 10 - 75 - true - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + + + + 75 + true + + + + Receiver Type: + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + Select the receiver type here: +- PWM is the most usual type +- PPM is connected to input XXX +- Spektrum is used with Spektrum 'satellite' receivers + + + + + + + + + + 234 + 54 + + + + + 11 + 75 + true + + + + Indicates whether OpenPilot is getting a signal from the RC receiver. + + + RC Receiver not connected or invalid input configuration (missing channels) + + + true + + + + + + + + + Rev. + + + + + + + + MS Shell Dlg 2 + 8 + + + + + 16 + 16 + + + + true + + + + + + + + FreeSans + 10 + 75 + true + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - 256 - 97 - 24 - 16 - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1500 + + + + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - 313 - 97 - 84 - 19 - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - 475 - 97 - 24 - 16 - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1000 + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + true + + + 1000 + + + 2000 + + + 1500 + + + Qt::Horizontal + + + + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - 505 - 100 - 16 - 16 - - - - Check this to reverse the channel. + + + 2000 + + + + + + + Check this to reverse the channel. (Useful for transmitters without channel reversal capabilities). - - - - - - - - - 9 - 123 - 69 - 20 - - - - - MS Shell Dlg 2 - 8 - - - - - - - 133 - 123 - 32 - 16 - - - - - FreeSans - 10 - 75 - true - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + + + + + + + + + MS Shell Dlg 2 + 8 + + + + + + + + + FreeSans + 10 + 75 + true + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - 256 - 123 - 24 - 16 - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1500 + + + + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - 313 - 123 - 84 - 19 - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - 475 - 123 - 24 - 16 - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1000 + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + true + + + 1000 + + + 2000 + + + 1500 + + + Qt::Horizontal + + + + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - 505 - 126 - 16 - 16 - - - - Check this to reverse the channel. + + + 2000 + + + + + + + Check this to reverse the channel. (Useful for transmitters without channel reversal capabilities). - - - - - - - - - 9 - 149 - 69 - 20 - - - - - MS Shell Dlg 2 - 8 - - - - - - - 133 - 149 - 32 - 16 - - - - - FreeSans - 10 - 75 - true - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + + + + + + + + + MS Shell Dlg 2 + 8 + + + + + + + + + FreeSans + 10 + 75 + true + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - 256 - 149 - 24 - 16 - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1500 + + + + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - 313 - 149 - 84 - 19 - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - 475 - 149 - 24 - 16 - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1000 + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + true + + + 1000 + + + 2000 + + + 1500 + + + Qt::Horizontal + + + + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - 505 - 152 - 16 - 16 - - - - Check this to reverse the channel. + + + 2000 + + + + + + + Check this to reverse the channel. (Useful for transmitters without channel reversal capabilities). - - - - - - - - - 9 - 175 - 69 - 20 - - - - - MS Shell Dlg 2 - 8 - - - - - - - 133 - 175 - 32 - 16 - - - - - FreeSans - 10 - 75 - true - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + + + + + + + + + MS Shell Dlg 2 + 8 + + + + + + + + + FreeSans + 10 + 75 + true + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - 256 - 175 - 24 - 16 - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1500 + + + + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - 313 - 175 - 84 - 19 - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - 475 - 175 - 24 - 16 - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1000 + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + true + + + 1000 + + + 2000 + + + 1500 + + + Qt::Horizontal + + + + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - 505 - 178 - 16 - 16 - - - - Check this to reverse the channel. + + + 2000 + + + + + + + Check this to reverse the channel. (Useful for transmitters without channel reversal capabilities). - - - - - - - - - 9 - 201 - 69 - 20 - - - - - MS Shell Dlg 2 - 8 - - - - - - - 133 - 201 - 32 - 16 - - - - - FreeSans - 10 - 75 - true - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + + + + + + + + + MS Shell Dlg 2 + 8 + + + + + + + + + FreeSans + 10 + 75 + true + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - 256 - 201 - 24 - 16 - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1500 + + + + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - 313 - 201 - 84 - 19 - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - 475 - 201 - 24 - 16 - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1000 + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + true + + + 1000 + + + 2000 + + + 1500 + + + Qt::Horizontal + + + + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - 505 - 204 - 16 - 16 - - - - Check this to reverse the channel. + + + 2000 + + + + + + + Check this to reverse the channel. (Useful for transmitters without channel reversal capabilities). - - - - - - - - - 9 - 227 - 69 - 20 - - - - - MS Shell Dlg 2 - 8 - - - - - - - 133 - 227 - 32 - 16 - - - - - FreeSans - 10 - 75 - true - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + + + + + + + + + MS Shell Dlg 2 + 8 + + + + + + + + + FreeSans + 10 + 75 + true + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - 256 - 227 - 24 - 16 - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1500 + + + + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - 313 - 227 - 84 - 19 - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - 475 - 227 - 24 - 16 - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1000 + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + true + + + 1000 + + + 2000 + + + 1500 + + + Qt::Horizontal + + + + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - 505 - 230 - 16 - 16 - - - - Check this to reverse the channel. + + + 2000 + + + + + + + Check this to reverse the channel. (Useful for transmitters without channel reversal capabilities). - - - - - - - - - 9 - 253 - 69 - 20 - - - - - MS Shell Dlg 2 - 8 - - - - - - - 133 - 253 - 32 - 16 - - - - - FreeSans - 10 - 75 - true - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + + + + + + + + + MS Shell Dlg 2 + 8 + + + + + + + + + FreeSans + 10 + 75 + true + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - 256 - 253 - 24 - 16 - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1500 + + + + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - 313 - 253 - 84 - 19 - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - 475 - 253 - 24 - 16 - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + 1000 + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + true + + + 1000 + + + 2000 + + + 1500 + + + Qt::Horizontal + + + + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - 505 - 256 - 16 - 16 - - - - Check this to reverse the channel. + + + 2000 + + + + + + + Check this to reverse the channel. (Useful for transmitters without channel reversal capabilities). - - - - - - - - - 9 - 279 - 109 - 17 - - - - - 75 - true - - - - Start calibrating the RC Inputs. + + + + + + + + + + + MS Shell Dlg 2 + 8 + + + + + + + + + FreeSans + 10 + 75 + true + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> + + + 1500 + + + + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> + + + 1000 + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + true + + + 1000 + + + 2000 + + + 1500 + + + Qt::Horizontal + + + + + + + + FreeSans + 8 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> + + + 2000 + + + + + + + Check this to reverse the channel. +(Useful for transmitters without channel +reversal capabilities). + + + + + + + + + + + 75 + true + + + + Start calibrating the RC Inputs. Uncheck/Check to restart calibration. During calibration: move your RC controls over their whole range, then leave them on Neutral, uncheck calibration and save. Neutral should be put at the bottom of the slider for the throttle. - - - Run Calibration - - - - - - 9 - 341 - 511 - 16 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + Run Calibration + + + + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:10pt; font-weight:600; color:#ff0000;">BEWARE: make sure your engines are not connected when running calibration!</span></p></body></html> - - - - - - 505 - 9 - 22 - 16 - - - - Rev. - - - - - - 505 - 74 - 16 - 16 - - - - Check this to reverse the channel. -(Useful for transmitters without channel -reversal capabilities). - - - - - - - - - 475 - 71 - 24 - 16 - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - 313 - 71 - 84 - 19 - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - 256 - 71 - 24 - 16 - - - - - FreeSans - 8 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - 133 - 71 - 32 - 16 - - - - - FreeSans - 10 - 75 - true - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - 9 - 71 - 69 - 20 - - - - - MS Shell Dlg 2 - 8 - - - - - 16 - 16 - - - - true - - - - - - 133 - 27 - 69 - 20 - - - - Select the receiver type here: -- PWM is the most usual type -- PPM is connected to input XXX -- Spektrum is used with Spektrum 'satellite' receivers - - - - - - 9 - 9 - 84 - 16 - - - - - 75 - true - - - - Receiver Type: - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - 9 - 302 - 141 - 33 - - - - - 75 - true - - - - - - - - - - - - - 234 - 54 - - - - - 11 - 75 - true - - - - Indicates whether OpenPilot is getting a signal from the RC receiver. - - - RC Receiver not connected or invalid input configuration (missing channels) - - - true - - - - - + + + + + + + + 75 + true + + + + + + + + From 61956d1ed2c3f9ed35c5ad23abdca48cf933c92e Mon Sep 17 00:00:00 2001 From: zedamota Date: Tue, 21 Jun 2011 19:14:39 +0100 Subject: [PATCH 066/241] OP-537 Fixed tooltips info --- ground/openpilotgcs/src/plugins/config/configinputwidget.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp index 73efdb3bb..f4b7f79ee 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp @@ -179,7 +179,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent) // Connect the help button connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp())); - + updateTips(Qt::Unchecked); } From fba201c8b320a696b0d4bacc344087f94b4daf8c Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Wed, 22 Jun 2011 01:32:18 +0300 Subject: [PATCH 067/241] usart: move default port numbers from pios_config.h to pios_board.c --- flight/CopterControl/System/inc/pios_config.h | 32 ------------------- flight/CopterControl/System/pios_board.c | 32 +++++++++++++++++++ 2 files changed, 32 insertions(+), 32 deletions(-) diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h index 0e9baf9d1..67b7e7836 100644 --- a/flight/CopterControl/System/inc/pios_config.h +++ b/flight/CopterControl/System/inc/pios_config.h @@ -43,38 +43,6 @@ #define PIOS_INCLUDE_IRQ #define PIOS_INCLUDE_LED -/* - * Serial port configuration. - * TODO: This should be dynamic in the future. - * But for now define any compatile combination of: - * USE_I2C (shared with USART3) - * USE_TELEMETRY - * USE_GPS - * USE_SPEKTRUM - * USE_SBUS (USART1 only, it needs an invertor) - * and optionally define PIOS_PORT_* to USART port numbers - */ - -/* Serial telemetry: USART1 or USART3 */ -#if !defined(PIOS_PORT_TELEMETRY) -#define PIOS_PORT_TELEMETRY 1 -#endif - -/* GPS receiver: USART1 or USART3 */ -#if !defined(PIOS_PORT_GPS) -#define PIOS_PORT_GPS 3 -#endif - -/* Spektrum satellite receiver: USART1 or USART3 */ -#if !defined(PIOS_PORT_SPEKTRUM) -#define PIOS_PORT_SPEKTRUM 3 -#endif - -/* Futaba S.Bus receiver: USART1 only (needs invertor) */ -#if !defined(PIOS_PORT_SBUS) -#define PIOS_PORT_SBUS 1 -#endif - /* Receiver interfaces - only one allowed */ #if !defined(USE_SPEKTRUM) && !defined(USE_SBUS) //#define PIOS_INCLUDE_PPM diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index 0a9d32740..cd1e7952a 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -199,6 +199,38 @@ void PIOS_ADC_handler() { #include "pios_usart_priv.h" +/* + * Serial port configuration. + * TODO: This should be dynamic in the future. + * But for now define any compatile combination of: + * USE_I2C (shared with USART3) + * USE_TELEMETRY + * USE_GPS + * USE_SPEKTRUM + * USE_SBUS (USART1 only, it needs an invertor) + * and optionally define PIOS_PORT_* to USART port numbers + */ + +/* Serial telemetry: USART1 or USART3 */ +#if !defined(PIOS_PORT_TELEMETRY) +#define PIOS_PORT_TELEMETRY 1 +#endif + +/* GPS receiver: USART1 or USART3 */ +#if !defined(PIOS_PORT_GPS) +#define PIOS_PORT_GPS 3 +#endif + +/* Spektrum satellite receiver: USART1 or USART3 */ +#if !defined(PIOS_PORT_SPEKTRUM) +#define PIOS_PORT_SPEKTRUM 3 +#endif + +/* Futaba S.Bus receiver: USART1 only (needs invertor) */ +#if !defined(PIOS_PORT_SBUS) +#define PIOS_PORT_SBUS 1 +#endif + /* * Define USART port configurations and check for conflicts * making sure they do not conflict with each other and with I2C. From 9c1e52326099c5cb4fd32e0778ff1b0e308a6e6c Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sun, 19 Jun 2011 11:12:54 -0500 Subject: [PATCH 068/241] Drop 8 bytes per PID of unecessary information. Also trying to compute integral in ms instead of seconds to avoid rounding errors. --- flight/Modules/Stabilization/stabilization.c | 20 +++++++------------- 1 file changed, 7 insertions(+), 13 deletions(-) diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c index 702020966..3e4a43243 100644 --- a/flight/Modules/Stabilization/stabilization.c +++ b/flight/Modules/Stabilization/stabilization.c @@ -66,10 +66,8 @@ enum {ROLL,PITCH,YAW,MAX_AXES}; typedef struct { float p; float i; - float d; float iLim; float iAccumulator; - float lastErr; } pid_type; // Private variables @@ -287,17 +285,14 @@ static void stabilizationTask(void* parameters) float ApplyPid(pid_type * pid, const float err) { - float diff = (err - pid->lastErr); - pid->lastErr = err; - pid->iAccumulator += err * pid->i * dT; - if(fabs(pid->iAccumulator) > pid->iLim) { - if(pid->iAccumulator >0) { - pid->iAccumulator = pid->iLim; - } else { - pid->iAccumulator = -pid->iLim; - } + // Scale up accumulator by 1000 while computing to avoid losing precision + pid->iAccumulator += err * (pid->i * dT * 1000); + if(pid->iAccumulator > (pid->iLim * 1000)) { + pid->iAccumulator = pid->iLim * 1000; + } else if (pid->iAccumulator < -(pid->iLim * 1000)) { + pid->iAccumulator = -pid->iLim * 1000; } - return ((err * pid->p) + pid->iAccumulator + (diff * pid->d / dT)); + return (err * pid->p) + pid->iAccumulator / 1000; } @@ -305,7 +300,6 @@ static void ZeroPids(void) { for(int8_t ct = 0; ct < PID_MAX; ct++) { pids[ct].iAccumulator = 0; - pids[ct].lastErr = 0; } } From 56050b05365061a7111b49648f557f3dc6e477c5 Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Wed, 22 Jun 2011 00:38:53 -0400 Subject: [PATCH 069/241] OP-532 Implemented scalling of swashplate image in GUI --- .../openpilotgcs/src/plugins/config/ccpm.ui | 18 ++++----- .../src/plugins/config/configccpmwidget.cpp | 37 +++++++++++++++---- 2 files changed, 38 insertions(+), 17 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/ccpm.ui b/ground/openpilotgcs/src/plugins/config/ccpm.ui index 9c5c8b3e1..51a0e09f5 100644 --- a/ground/openpilotgcs/src/plugins/config/ccpm.ui +++ b/ground/openpilotgcs/src/plugins/config/ccpm.ui @@ -70,7 +70,7 @@ - 400 + 300 300 @@ -1105,14 +1105,14 @@ - 200 - 200 + 10 + 10 - 500 - 500 + 1000 + 1000 @@ -2469,14 +2469,14 @@ - 200 - 200 + 10 + 10 - 500 - 500 + 1000 + 1000 diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index 5d49e00e0..e4ab25e90 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -58,12 +58,12 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) m_ccpm->SwashplateImage->setScene(new QGraphicsScene(this)); m_ccpm->SwashLvlSwashplateImage->setScene(m_ccpm->SwashplateImage->scene()); - m_ccpm->SwashLvlSwashplateImage->setSceneRect(-50,-30,500,500); - m_ccpm->SwashLvlSwashplateImage->scale(.85,.85); + m_ccpm->SwashLvlSwashplateImage->setSceneRect(-50,-50,500,500); + //m_ccpm->SwashLvlSwashplateImage->scale(.85,.85); //m_ccpm->SwashplateImage->setSceneRect(SwashplateImg->boundingRect()); m_ccpm->SwashplateImage->setSceneRect(-50,-30,500,500); - m_ccpm->SwashplateImage->scale(.85,.85); + //m_ccpm->SwashplateImage->scale(.85,.85); @@ -251,7 +251,7 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) - + ccpmSwashplateRedraw(); // connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestccpmUpdate())); } @@ -433,7 +433,7 @@ void ConfigccpmWidget::UpdateType() //update UI ccpmSwashplateUpdate(); - + } /** @@ -730,13 +730,33 @@ void ConfigccpmWidget::ccpmSwashplateRedraw() { double angle[CCPM_MAX_SWASH_SERVOS],CorrectionAngle,x,y,w,h,radius,CenterX,CenterY; int used[CCPM_MAX_SWASH_SERVOS],defined[CCPM_MAX_SWASH_SERVOS],i; + + QRect size; + double scale,xscale,yscale; + + size = m_ccpm->SwashplateImage->rect(); + xscale=size.width(); + yscale=size.height(); + scale=xscale; + if (yscaleSwashplateImage->resetTransform (); + m_ccpm->SwashplateImage->scale(scale,scale); + + size = m_ccpm->SwashLvlSwashplateImage->rect(); + xscale=size.width(); + yscale=size.height(); + scale=xscale; + if (yscaleSwashLvlSwashplateImage->resetTransform (); + m_ccpm->SwashLvlSwashplateImage->scale(scale,scale); + CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value(); - //CenterX=m_ccpm->SwashplateImage->scene()->sceneRect().center().x(); - // CenterY=m_ccpm->SwashplateImage->scene()->sceneRect().center().y(); CenterX=200; - CenterY=220; + CenterY=200; SwashplateImg->setPos(CenterX-200,CenterY-200); @@ -1563,6 +1583,7 @@ void ConfigccpmWidget::showEvent(QShowEvent *event) m_ccpm->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_ccpm->ccpmAdvancedSettingsTable->width()- m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6); } + ccpmSwashplateRedraw(); } From 0d7393a8b3af086ddba9d93f3fcfc896d0702211 Mon Sep 17 00:00:00 2001 From: zedamota Date: Wed, 22 Jun 2011 10:11:19 +0100 Subject: [PATCH 070/241] OP-537 Move space to after the coma. --- .../openpilotgcs/src/plugins/config/configinputwidget.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp index f4b7f79ee..88579c78c 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp @@ -679,7 +679,7 @@ void ConfigInputWidget::receiverHelp() if(field->getValue().toString()=="None") { if(unassigned.length()>0) - unassigned.append(" ,"); + unassigned.append(", "); unassigned.append("Pitch"); } @@ -687,7 +687,7 @@ void ConfigInputWidget::receiverHelp() if(field->getValue().toString()=="None") { if(unassigned.length()>0) - unassigned.append(" ,"); + unassigned.append(", "); unassigned.append("Yaw"); } @@ -695,7 +695,7 @@ void ConfigInputWidget::receiverHelp() if(field->getValue().toString()=="None") { if(unassigned.length()>0) - unassigned.append(" ,"); + unassigned.append(", "); unassigned.append("Throttle"); } @@ -703,7 +703,7 @@ void ConfigInputWidget::receiverHelp() if(field->getValue().toString()=="None") { if(unassigned.length()>0) - unassigned.append(" ,"); + unassigned.append(", "); unassigned.append("FlightMode"); } if(unassigned.length()>0) From 703919daf48a9300af16bee86ec0e8d835159bbb Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Wed, 22 Jun 2011 06:32:27 -0700 Subject: [PATCH 071/241] OP-423 Reduce IRQ stack limits (CC onlyt) --- flight/CopterControl/System/inc/pios_config.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h index 63334a9d0..7c6d127b7 100644 --- a/flight/CopterControl/System/inc/pios_config.h +++ b/flight/CopterControl/System/inc/pios_config.h @@ -96,8 +96,8 @@ /* Alarm Thresholds */ #define HEAP_LIMIT_WARNING 220 #define HEAP_LIMIT_CRITICAL 150 -#define IRQSTACK_LIMIT_WARNING 150 -#define IRQSTACK_LIMIT_CRITICAL 80 +#define IRQSTACK_LIMIT_WARNING 100 +#define IRQSTACK_LIMIT_CRITICAL 60 #define CPULOAD_LIMIT_WARNING 80 #define CPULOAD_LIMIT_CRITICAL 95 From eb5d2c43b9670c1bbb0d0ad40f901e919419a320 Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Wed, 22 Jun 2011 06:43:11 -0700 Subject: [PATCH 072/241] OP-423: update installer (top level makefile) to pick up new QT and new compiler. The new compiler: - buy us 200 bytes on stacks (good optimization) - reduce code size - more smart on strict aliasing and does not cause us headeach --- Makefile | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/Makefile b/Makefile index 60c918cd4..0bd0d0c2f 100644 --- a/Makefile +++ b/Makefile @@ -160,10 +160,10 @@ $(BUILD_DIR): ############################################################### # Set up QT toolchain -QT_SDK_DIR := $(TOOLS_DIR)/qtsdk-2010.02 +QT_SDK_DIR := $(TOOLS_DIR)/qtsdk-2010.05 .PHONY: qt_sdk_install -qt_sdk_install: QT_SDK_URL := http://get.qt.nokia.com/qtsdk/qt-sdk-linux-x86-opensource-2010.02.bin +qt_sdk_install: QT_SDK_URL := http://get.qt.nokia.com/qtsdk/qt-sdk-linux-x86-opensource-2010.05.bin qt_sdk_install: QT_SDK_FILE := $(notdir $(QT_SDK_URL)) # order-only prereq on directory existance: qt_sdk_install : | $(DL_DIR) $(TOOLS_DIR) @@ -180,10 +180,10 @@ qt_sdk_clean: $(V1) [ ! -d "$(QT_SDK_DIR)" ] || $(RM) -rf $(QT_SDK_DIR) # Set up ARM (STM32) SDK -ARM_SDK_DIR := $(TOOLS_DIR)/arm-2009q3 +ARM_SDK_DIR := $(TOOLS_DIR)/arm-2011.03 .PHONY: arm_sdk_install -arm_sdk_install: ARM_SDK_URL := http://www.codesourcery.com/sgpp/lite/arm/portal/package5353/public/arm-none-eabi/arm-2009q3-68-arm-none-eabi-i686-pc-linux-gnu.tar.bz2 +arm_sdk_install: ARM_SDK_URL := http://www.codesourcery.com/sgpp/lite/arm/portal/package5353/public/arm-none-eabi/arm-2011.03-42-arm-none-eabi-i686-pc-linux-gnu.tar.bz2 arm_sdk_install: ARM_SDK_FILE := $(notdir $(ARM_SDK_URL)) # order-only prereq on directory existance: arm_sdk_install: | $(DL_DIR) $(TOOLS_DIR) From b67b6221d1223d680668646d0334199469a911d1 Mon Sep 17 00:00:00 2001 From: zedamota Date: Thu, 23 Jun 2011 17:42:54 +0100 Subject: [PATCH 073/241] OP-515 took CPU serial from the devices screen --- .../openpilotgcs/src/plugins/uploader/devicewidget.cpp | 4 ---- ground/openpilotgcs/src/plugins/uploader/devicewidget.ui | 9 +-------- 2 files changed, 1 insertion(+), 12 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp index 5e24f55e2..7751ee416 100644 --- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp @@ -143,10 +143,6 @@ void deviceWidget::populate() myDevice->lblMaxCode->setText(QString("Max code size: ") +QString::number(m_dfu->devices[deviceID].SizeOfCode)); myDevice->lblCRC->setText(QString("Firmware CRC: ") + QString::number(m_dfu->devices[deviceID].FW_CRC)); myDevice->lblBLVer->setText(QString("BL version: ") + QString::number(m_dfu->devices[deviceID].BL_Version)); - ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - UAVObjectUtilManager* utilMngr = pm->getObject(); - QString serial = utilMngr->getBoardCPUSerial().toHex(); - myDevice->lblCPU->setText(QString("CPU serial number: "+serial)); int size=((OP_DFU::device)m_dfu->devices[deviceID]).SizeOfDesc; m_dfu->enterDFU(deviceID); QByteArray desc = m_dfu->DownloadDescriptionAsBA(size); diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui b/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui index 679599d64..0543bcbc9 100644 --- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui +++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui @@ -7,7 +7,7 @@ 0 0 516 - 507 + 582 @@ -58,13 +58,6 @@ - - - - lblCPU - - - From caf3c08ea2dea2f5d99f4cbab7a05c61e091585d Mon Sep 17 00:00:00 2001 From: Andrew Thoms Date: Fri, 24 Jun 2011 01:38:29 -0400 Subject: [PATCH 074/241] OP-532 Improved visibility abd contrast of servo numbers on the swashplate image --- .../src/plugins/config/configccpmwidget.cpp | 71 +++++++++++++++---- .../src/plugins/config/configccpmwidget.h | 2 + 2 files changed, 58 insertions(+), 15 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index e4ab25e90..dae67cfce 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -33,6 +33,7 @@ #include #include #include +#include #include #include @@ -42,6 +43,7 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) { int i; + m_ccpm = new Ui_ccpmWidget(); m_ccpm->setupUi(this); SwashLvlConfigurationInProgress=0; @@ -75,9 +77,10 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) SwashplateImg->setSharedRenderer(renderer); SwashplateImg->setElementId("Swashplate"); SwashplateImg->setObjectName("Swashplate"); + //SwashplateImg->setScale(0.75); m_ccpm->SwashplateImage->scene()->addItem(SwashplateImg); - QFont serifFont("Times", 16, QFont::Bold); + QFont serifFont("Times", 24, QFont::Bold); QPen pen; // creates a default pen pen.setStyle(Qt::DotLine); @@ -86,6 +89,19 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) pen.setCapStyle(Qt::RoundCap); pen.setJoinStyle(Qt::RoundJoin); + + QBrush brush(Qt::darkBlue); + QPen pen2; // creates a default pen + + //pen2.setStyle(Qt::DotLine); + pen2.setWidth(1); + pen2.setBrush(Qt::blue); + //pen2.setCapStyle(Qt::RoundCap); + //pen2.setJoinStyle(Qt::RoundJoin); + + + //brush.setStyle(Qt::RadialGradientPattern); + QList ServoNames; ServoNames << "ServoW" << "ServoX" << "ServoY" << "ServoZ" ; @@ -99,10 +115,16 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) m_ccpm->SwashplateImage->scene()->addItem(Servos[i]); ServosText[i] = new QGraphicsTextItem(); - ServosText[i]->setDefaultTextColor(Qt::red); + ServosText[i]->setDefaultTextColor(Qt::yellow); ServosText[i]->setPlainText(QString("-")); ServosText[i]->setFont(serifFont); + + ServosTextCircles[i] = new QGraphicsEllipseItem(1,1,30,30); + ServosTextCircles[i]->setBrush(brush); + ServosTextCircles[i]->setPen(pen2); + m_ccpm->SwashplateImage->scene()->addItem(ServosTextCircles[i]); m_ccpm->SwashplateImage->scene()->addItem(ServosText[i]); + SwashLvlSpinBoxes[i] = new QSpinBox(m_ccpm->SwashLvlSwashplateImage); // use QGraphicsView @@ -282,7 +304,7 @@ void ConfigccpmWidget::UpdateType() m_ccpm->ccpmAngleX->setEnabled(TypeInt==1); m_ccpm->ccpmAngleY->setEnabled(TypeInt==1); m_ccpm->ccpmAngleZ->setEnabled(TypeInt==1); - m_ccpm->ccpmCorrectionAngle->setEnabled(TypeInt==1); + m_ccpm->ccpmCorrectionAngle->setEnabled(TypeInt!=0); m_ccpm->ccpmServoWChannel->setEnabled(TypeInt>0); m_ccpm->ccpmServoXChannel->setEnabled(TypeInt>0); @@ -305,7 +327,7 @@ void ConfigccpmWidget::UpdateType() //m_ccpm->customThrottleCurve2Value->setVisible(1); //m_ccpm->label_41->setVisible(1); - NumServosDefined=1; + NumServosDefined=4; //set values for pre defined heli types if (TypeText.compare(QString("CCPM 2 Servo 90º"), Qt::CaseInsensitive)==0) { @@ -319,7 +341,7 @@ void ConfigccpmWidget::UpdateType() m_ccpm->ccpmServoZChannel->setCurrentIndex(8); m_ccpm->ccpmServoYChannel->setEnabled(0); m_ccpm->ccpmServoZChannel->setEnabled(0); - m_ccpm->ccpmCorrectionAngle->setValue(0); + //m_ccpm->ccpmCorrectionAngle->setValue(0); NumServosDefined=2; } @@ -332,7 +354,7 @@ void ConfigccpmWidget::UpdateType() m_ccpm->ccpmAngleZ->setEnabled(0); m_ccpm->ccpmServoZChannel->setCurrentIndex(8); m_ccpm->ccpmServoZChannel->setEnabled(0); - m_ccpm->ccpmCorrectionAngle->setValue(0); + //m_ccpm->ccpmCorrectionAngle->setValue(0); NumServosDefined=3; } @@ -342,7 +364,7 @@ void ConfigccpmWidget::UpdateType() m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360)); m_ccpm->ccpmAngleZ->setValue(fmod(AdjustmentAngle + 270,360)); - m_ccpm->ccpmCorrectionAngle->setValue(0); + //m_ccpm->ccpmCorrectionAngle->setValue(0); m_ccpm->ccpmSingleServo->setEnabled(0); m_ccpm->ccpmSingleServo->setCurrentIndex(0); NumServosDefined=4; @@ -357,7 +379,7 @@ void ConfigccpmWidget::UpdateType() m_ccpm->ccpmAngleZ->setEnabled(0); m_ccpm->ccpmServoZChannel->setCurrentIndex(8); m_ccpm->ccpmServoZChannel->setEnabled(0); - m_ccpm->ccpmCorrectionAngle->setValue(0); + //m_ccpm->ccpmCorrectionAngle->setValue(0); NumServosDefined=3; } @@ -370,7 +392,7 @@ void ConfigccpmWidget::UpdateType() m_ccpm->ccpmAngleZ->setEnabled(0); m_ccpm->ccpmServoZChannel->setCurrentIndex(8); m_ccpm->ccpmServoZChannel->setEnabled(0); - m_ccpm->ccpmCorrectionAngle->setValue(0); + //m_ccpm->ccpmCorrectionAngle->setValue(0); NumServosDefined=3; } @@ -386,7 +408,7 @@ void ConfigccpmWidget::UpdateType() m_ccpm->ccpmServoZChannel->setCurrentIndex(8); m_ccpm->ccpmServoYChannel->setEnabled(0); m_ccpm->ccpmServoZChannel->setEnabled(0); - m_ccpm->ccpmCorrectionAngle->setValue(0); + //m_ccpm->ccpmCorrectionAngle->setValue(0); m_ccpm->ccpmCollectivespinBox->setEnabled(0); m_ccpm->ccpmCollectiveSlider->setEnabled(0); @@ -730,7 +752,7 @@ void ConfigccpmWidget::ccpmSwashplateRedraw() { double angle[CCPM_MAX_SWASH_SERVOS],CorrectionAngle,x,y,w,h,radius,CenterX,CenterY; int used[CCPM_MAX_SWASH_SERVOS],defined[CCPM_MAX_SWASH_SERVOS],i; - + QRectF bounds; QRect size; double scale,xscale,yscale; @@ -758,7 +780,9 @@ void ConfigccpmWidget::ccpmSwashplateRedraw() CenterX=200; CenterY=200; - SwashplateImg->setPos(CenterX-200,CenterY-200); + bounds=SwashplateImg->boundingRect(); + + SwashplateImg->setPos(CenterX-bounds.width()/2,CenterY-bounds.height()/2); defined[0]=(m_ccpm->ccpmServoWChannel->isEnabled()); defined[1]=(m_ccpm->ccpmServoXChannel->isEnabled()); @@ -782,11 +806,28 @@ void ConfigccpmWidget::ccpmSwashplateRedraw() Servos[i]->setPos(x, y); Servos[i]->setVisible(used[i]!=0); - radius=170; - x=CenterX-(radius*sin(angle[i]))-10.00; - y=CenterY+(radius*cos(angle[i]))-10.00; + radius=150; + bounds=ServosText[i]->boundingRect(); + x=CenterX-(radius*sin(angle[i]))-bounds.width()/2; + y=CenterY+(radius*cos(angle[i]))-bounds.height()/2; + ServosText[i]->setPos(x, y); ServosText[i]->setVisible(used[i]!=0); + + if (bounds.width()>bounds.height()) + { + bounds.setHeight(bounds.width()); + } + else + { + bounds.setWidth(bounds.height()); + } + x=CenterX-(radius*sin(angle[i]))-bounds.width()/2; + y=CenterY+(radius*cos(angle[i]))-bounds.height()/2; + + ServosTextCircles[i]->setRect(bounds); + ServosTextCircles[i]->setPos(x, y); + ServosTextCircles[i]->setVisible(used[i]!=0); w=SwashLvlSpinBoxes[i]->width()/2; h=SwashLvlSpinBoxes[i]->height()/2; diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h index cb44b4f16..d07da53c8 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h @@ -34,6 +34,7 @@ #include "uavobject.h" #include #include +#include #include #include @@ -96,6 +97,7 @@ private: QGraphicsSvgItem *Servos[CCPM_MAX_SWASH_SERVOS]; QGraphicsTextItem *ServosText[CCPM_MAX_SWASH_SERVOS]; QGraphicsLineItem *ServoLines[CCPM_MAX_SWASH_SERVOS]; + QGraphicsEllipseItem *ServosTextCircles[CCPM_MAX_SWASH_SERVOS]; QSpinBox *SwashLvlSpinBoxes[CCPM_MAX_SWASH_SERVOS]; bool SwashLvlConfigurationInProgress; From dcd27741030f3109c33c77d9a61c90392b716e62 Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Fri, 24 Jun 2011 06:59:51 -0700 Subject: [PATCH 075/241] OP-423 Fix some comment from code review: - update example module - use module init macro for POSIX and WIN to make code cleaner. --- flight/CopterControl/System/coptercontrol.c | 9 ----- flight/Modules/Example/example.c | 9 +++-- flight/OpenPilot/System/openpilot.c | 37 ++++----------------- flight/PiOS.posix/inc/pios_initcall.h | 15 +++++++++ flight/PiOS.win32/inc/pios_initcall.h | 15 +++++++++ 5 files changed, 43 insertions(+), 42 deletions(-) diff --git a/flight/CopterControl/System/coptercontrol.c b/flight/CopterControl/System/coptercontrol.c index e41da2aa8..821406f9e 100644 --- a/flight/CopterControl/System/coptercontrol.c +++ b/flight/CopterControl/System/coptercontrol.c @@ -79,15 +79,6 @@ int main() /* Initialize modules */ MODULE_INITIALISE_ALL(); -#if defined(ARCH_POSIX) || defined(ARCH_WIN32) - /* Start the FreeRTOS scheduler which never returns.*/ - /* only do this for posix and win32 since the caller will take care - * of starting the scheduler and increase the heap and swith back to - * MSP stack. (all arch specific is hidden from here and take care by reset handler) - */ - vTaskStartScheduler(); -#endif - return 0; } diff --git a/flight/Modules/Example/example.c b/flight/Modules/Example/example.c index add8e3540..5de6821a2 100644 --- a/flight/Modules/Example/example.c +++ b/flight/Modules/Example/example.c @@ -49,9 +49,14 @@ #include "examplemodperiodic.h" #include "examplemodthread.h" -void ExampleInitialize(void) +void ExampleStart(void) { - ExampleModEventInitialize(); ExampleModPeriodicInitialize(); ExampleModThreadInitialize(); } + +void ExampleInitialize(void) +{ + ExampleModEventInitialize(); +} +module_initcall(ExampleInitialize, 0, ExampleStart, 0, MODULE_EXEC_NOORDER_FLAG); diff --git a/flight/OpenPilot/System/openpilot.c b/flight/OpenPilot/System/openpilot.c index b08c392d1..4866c4d8e 100644 --- a/flight/OpenPilot/System/openpilot.c +++ b/flight/OpenPilot/System/openpilot.c @@ -91,42 +91,17 @@ int main() * */ PIOS_Board_Init(); -#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) - /* Initialize modules */ MODULE_INITIALISE_ALL(); +#if INCLUDE_TEST_TASKS /* Create test tasks */ - /* keep this just because it was there */ - //xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL); - //xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL); - //xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL); - //xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL); - -#else - /* only do this for posix and win32 since the caller will take care - * of starting the scheduler and increase the heap and swith back to - * MSP stack. (all arch specific is hidden from here and take care by reset handler) - * LED blinking in case of scheduler returning back should be handled in NMI or other - * appropriate handlers like mem manager. - */ - - /* Initialize modules */ - InitModules(); - - /* Start the FreeRTOS scheduler which never returns.*/ - vTaskStartScheduler(); - - /* If all is well we will never reach here as the scheduler will now be running. */ - /* If we do get here, it will most likely be because we ran out of heap space. */ - PIOS_LED_Off(LED1); - PIOS_LED_Off(LED2); - for(;;) { - PIOS_LED_Toggle(LED1); - PIOS_LED_Toggle(LED2); - PIOS_DELAY_WaitmS(100); - } + xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL); + xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL); + xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL); + xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL); #endif + return 0; } diff --git a/flight/PiOS.posix/inc/pios_initcall.h b/flight/PiOS.posix/inc/pios_initcall.h index d60c91b3f..538d43daa 100644 --- a/flight/PiOS.posix/inc/pios_initcall.h +++ b/flight/PiOS.posix/inc/pios_initcall.h @@ -43,6 +43,21 @@ #define MODULE_TASKCREATE_ALL(); +#define MODULE_INITIALISE_ALL(); \ + /* Initialize modules */ \ + InitModules(); \ + /* Start the FreeRTOS scheduler which never returns.*/ \ + vTaskStartScheduler(); \ + /* If all is well we will never reach here as the scheduler will now be running. */ \ + /* If we do get here, it will most likely be because we ran out of heap space. */ \ + PIOS_LED_Off(LED1); \ + PIOS_LED_Off(LED2); \ + for(;;) { \ + PIOS_LED_Toggle(LED1); \ + PIOS_LED_Toggle(LED2); \ + PIOS_DELAY_WaitmS(100); \ + } + #endif /* PIOS_INITCALL_H */ /** diff --git a/flight/PiOS.win32/inc/pios_initcall.h b/flight/PiOS.win32/inc/pios_initcall.h index e47515f81..5c1c31c66 100644 --- a/flight/PiOS.win32/inc/pios_initcall.h +++ b/flight/PiOS.win32/inc/pios_initcall.h @@ -43,6 +43,21 @@ #define MODULE_TASKCREATE_ALL(); +#define MODULE_INITIALISE_ALL(); \ + /* Initialize modules */ \ + InitModules(); \ + /* Start the FreeRTOS scheduler which never returns.*/ \ + vTaskStartScheduler(); \ + /* If all is well we will never reach here as the scheduler will now be running. */ \ + /* If we do get here, it will most likely be because we ran out of heap space. */ \ + PIOS_LED_Off(LED1); \ + PIOS_LED_Off(LED2); \ + for(;;) { \ + PIOS_LED_Toggle(LED1); \ + PIOS_LED_Toggle(LED2); \ + PIOS_DELAY_WaitmS(100); \ + } + #endif /* PIOS_INITCALL_H */ From d1104d3fdce26ffaa9f23808fd2bb01d4fcbf605 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Mon, 20 Jun 2011 22:31:05 -0400 Subject: [PATCH 076/241] alarms: lower heap warning and critical thresholds for CC Free heap on CC is currently 160 bytes so the current thresholds were causing a continual alarm condition, thus preventing arming. --- flight/CopterControl/System/inc/pios_config.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h index 4d9fee769..809ad27ce 100644 --- a/flight/CopterControl/System/inc/pios_config.h +++ b/flight/CopterControl/System/inc/pios_config.h @@ -94,8 +94,8 @@ #define AUXUART_BAUDRATE 19200 /* Alarm Thresholds */ -#define HEAP_LIMIT_WARNING 220 -#define HEAP_LIMIT_CRITICAL 150 +#define HEAP_LIMIT_WARNING 156 +#define HEAP_LIMIT_CRITICAL 130 #define CPULOAD_LIMIT_WARNING 80 #define CPULOAD_LIMIT_CRITICAL 95 From 373689207a7dd5a8e39f7e4ca60a53c987a26185 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Tue, 21 Jun 2011 19:49:20 -0500 Subject: [PATCH 077/241] Add a 1-tap IIR filter into the gyros in the feedback path. This will make the stabilization output a bit more resilient to the high frequency noise from gyros. However this value shouldn't be too high as it will increase the phase delay of the feedback loop and decrease stability. Default is 5 ms. Note: this resests the stabilizationsettings object. Sorry guys. --- flight/Modules/Stabilization/stabilization.c | 20 ++++++++++++++++++- .../stabilizationsettings.xml | 4 +++- 2 files changed, 22 insertions(+), 2 deletions(-) diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c index 702020966..eb72391dc 100644 --- a/flight/Modules/Stabilization/stabilization.c +++ b/flight/Modules/Stabilization/stabilization.c @@ -77,6 +77,8 @@ static xTaskHandle taskHandle; static StabilizationSettingsData settings; static xQueueHandle queue; float dT = 1; +float gyro_alpha = 0; +float gyro_filtered[3] = {0,0,0}; pid_type pids[PID_MAX]; // Private functions @@ -193,6 +195,11 @@ static void stabilizationTask(void* parameters) local_error[2] = fmod(local_error[2] + 180, 360) - 180; #endif + + for(uint8_t i = 0; i < MAX_AXES; i++) { + gyro_filtered[i] = gyro_filtered[i] * gyro_alpha + attitudeRaw.gyros[i] * (1 - gyro_alpha); + } + float *attitudeDesiredAxis = &stabDesired.Roll; float *actuatorDesiredAxis = &actuatorDesired.Roll; float *rateDesiredAxis = &rateDesired.Roll; @@ -234,7 +241,7 @@ static void stabilizationTask(void* parameters) case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE: case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE: { - float command = ApplyPid(&pids[PID_RATE_ROLL + ct], rateDesiredAxis[ct]-attitudeRaw.gyros[ct]); + float command = ApplyPid(&pids[PID_RATE_ROLL + ct], rateDesiredAxis[ct] - gyro_filtered[ct]); actuatorDesiredAxis[ct] = bound(command); break; } @@ -336,6 +343,17 @@ static void SettingsUpdatedCb(UAVObjEvent * ev) pids[pid].i = *data++; pids[pid].iLim = *data++; } + + // The dT has some jitter iteration to iteration that we don't want to + // make thie result unpredictable. Still, it's nicer to specify the constant + // based on a time (in ms) rather than a fixed multiplier. The error between + // update rates on OP (~300 Hz) and CC (~475 Hz) is negligible for this + // calculation + const float fakeDt = 0.0025; + if(settings.GyroTau < 0.0001) + gyro_alpha = 0; // not trusting this to resolve to 0 + else + gyro_alpha = exp(-fakeDt / settings.GyroTau); } diff --git a/shared/uavobjectdefinition/stabilizationsettings.xml b/shared/uavobjectdefinition/stabilizationsettings.xml index 991673d14..4eac63d93 100644 --- a/shared/uavobjectdefinition/stabilizationsettings.xml +++ b/shared/uavobjectdefinition/stabilizationsettings.xml @@ -13,7 +13,9 @@ - + + + From a09642675cf66650f1cccaf7567878d2f514822b Mon Sep 17 00:00:00 2001 From: James Cotton Date: Wed, 22 Jun 2011 18:51:25 -0500 Subject: [PATCH 078/241] Tweak the integral calculation so it is scaled in ms internally. This avoids a loss of precision on the accumulation. --- flight/Modules/Stabilization/stabilization.c | 84 ++++++++++---------- 1 file changed, 42 insertions(+), 42 deletions(-) diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c index eb72391dc..581cbe747 100644 --- a/flight/Modules/Stabilization/stabilization.c +++ b/flight/Modules/Stabilization/stabilization.c @@ -94,21 +94,21 @@ static void SettingsUpdatedCb(UAVObjEvent * ev); int32_t StabilizationInitialize() { // Initialize variables - + // Create object queue queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent)); - + // Listen for updates. // AttitudeActualConnectQueue(queue); AttitudeRawConnectQueue(queue); - + StabilizationSettingsConnectCallback(SettingsUpdatedCb); SettingsUpdatedCb(StabilizationSettingsHandle()); // Start main task xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); TaskMonitorAdd(TASKINFO_RUNNING_STABILIZATION, taskHandle); PIOS_WDG_RegisterFlag(PIOS_WDG_STABILIZATION); - + return 0; } @@ -120,8 +120,8 @@ static void stabilizationTask(void* parameters) portTickType lastSysTime; portTickType thisSysTime; UAVObjEvent ev; - - + + ActuatorDesiredData actuatorDesired; StabilizationDesiredData stabDesired; RateDesiredData rateDesired; @@ -129,28 +129,28 @@ static void stabilizationTask(void* parameters) AttitudeRawData attitudeRaw; SystemSettingsData systemSettings; FlightStatusData flightStatus; - + SettingsUpdatedCb((UAVObjEvent *) NULL); - + // Main task loop lastSysTime = xTaskGetTickCount(); ZeroPids(); while(1) { PIOS_WDG_UpdateFlag(PIOS_WDG_STABILIZATION); - + // Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE ) { AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION,SYSTEMALARMS_ALARM_WARNING); continue; - } - + } + // Check how long since last update thisSysTime = xTaskGetTickCount(); if(thisSysTime > lastSysTime) // reuse dt in case of wraparound dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f; lastSysTime = thisSysTime; - + FlightStatusGet(&flightStatus); StabilizationDesiredGet(&stabDesired); AttitudeActualGet(&attitudeActual); @@ -164,11 +164,11 @@ static void stabilizationTask(void* parameters) float q_desired[4]; float q_error[4]; float local_error[3]; - + // Essentially zero errors for anything in rate or none if(stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) - rpy_desired[0] = stabDesired.Roll; - else + rpy_desired[0] = stabDesired.Roll; + else rpy_desired[0] = attitudeActual.Roll; if(stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) @@ -180,13 +180,13 @@ static void stabilizationTask(void* parameters) rpy_desired[2] = stabDesired.Yaw; else rpy_desired[2] = attitudeActual.Yaw; - + RPY2Quaternion(rpy_desired, q_desired); quat_inverse(q_desired); quat_mult(q_desired, &attitudeActual.q1, q_error); quat_inverse(q_error); Quaternion2RPY(q_error, local_error); - + #else // Simpler algorithm for CC, less memory float local_error[3] = {stabDesired.Roll - attitudeActual.Roll, @@ -194,16 +194,16 @@ static void stabilizationTask(void* parameters) stabDesired.Yaw - attitudeActual.Yaw}; local_error[2] = fmod(local_error[2] + 180, 360) - 180; #endif - - + + for(uint8_t i = 0; i < MAX_AXES; i++) { gyro_filtered[i] = gyro_filtered[i] * gyro_alpha + attitudeRaw.gyros[i] * (1 - gyro_alpha); } - + float *attitudeDesiredAxis = &stabDesired.Roll; float *actuatorDesiredAxis = &actuatorDesired.Roll; float *rateDesiredAxis = &rateDesired.Roll; - + //Calculate desired rate for(int8_t ct=0; ct< MAX_AXES; ct++) { @@ -212,13 +212,13 @@ static void stabilizationTask(void* parameters) case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE: rateDesiredAxis[ct] = attitudeDesiredAxis[ct]; break; - + case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE: rateDesiredAxis[ct] = ApplyPid(&pids[PID_ROLL + ct], local_error[ct]); break; } } - + uint8_t shouldUpdate = 1; RateDesiredSet(&rateDesired); ActuatorDesiredGet(&actuatorDesired); @@ -234,7 +234,7 @@ static void stabilizationTask(void* parameters) { rateDesiredAxis[ct] = -settings.MaximumRate[ct]; } - + } switch(stabDesired.StabilizationMode[ct]) { @@ -262,16 +262,16 @@ static void stabilizationTask(void* parameters) break; } break; - + } } - + // Save dT actuatorDesired.UpdateTime = dT * 1000; - + if(PARSE_FLIGHT_MODE(flightStatus.FlightMode) == FLIGHTMODE_MANUAL) shouldUpdate = 0; - + if(shouldUpdate) { actuatorDesired.Throttle = stabDesired.Throttle; @@ -279,16 +279,16 @@ static void stabilizationTask(void* parameters) actuatorDesired.NumLongUpdates++; ActuatorDesiredSet(&actuatorDesired); } - + if(flightStatus.Armed != FLIGHTSTATUS_ARMED_ARMED || !shouldUpdate || (stabDesired.Throttle < 0)) { ZeroPids(); } - - + + // Clear alarms - AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION); + AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION); } } @@ -296,15 +296,15 @@ float ApplyPid(pid_type * pid, const float err) { float diff = (err - pid->lastErr); pid->lastErr = err; - pid->iAccumulator += err * pid->i * dT; - if(fabs(pid->iAccumulator) > pid->iLim) { - if(pid->iAccumulator >0) { - pid->iAccumulator = pid->iLim; - } else { - pid->iAccumulator = -pid->iLim; - } + + // Scale up accumulator by 1000 while computing to avoid losing precision + pid->iAccumulator += err * (pid->i * dT * 1000); + if(pid->iAccumulator > (pid->iLim * 1000)) { + pid->iAccumulator = pid->iLim * 1000; + } else if (pid->iAccumulator < -(pid->iLim * 1000)) { + pid->iAccumulator = -pid->iLim * 1000; } - return ((err * pid->p) + pid->iAccumulator + (diff * pid->d / dT)); + return ((err * pid->p) + pid->iAccumulator / 1000 + (diff * pid->d / dT)); } @@ -335,7 +335,7 @@ static void SettingsUpdatedCb(UAVObjEvent * ev) { memset(pids,0,sizeof (pid_type) * PID_MAX); StabilizationSettingsGet(&settings); - + float * data = settings.RollRatePI; for(int8_t pid=0; pid < PID_MAX; pid++) { @@ -346,7 +346,7 @@ static void SettingsUpdatedCb(UAVObjEvent * ev) // The dT has some jitter iteration to iteration that we don't want to // make thie result unpredictable. Still, it's nicer to specify the constant - // based on a time (in ms) rather than a fixed multiplier. The error between + // based on a time (in ms) rather than a fixed multiplier. The error between // update rates on OP (~300 Hz) and CC (~475 Hz) is negligible for this // calculation const float fakeDt = 0.0025; From 28501842c3174bf0d5fcc636536e75cca120f90d Mon Sep 17 00:00:00 2001 From: James Cotton Date: Wed, 22 Jun 2011 19:06:39 -0500 Subject: [PATCH 079/241] Expose the rate D term which in simulations seems to help damp oscillations for high RateKp terms. However it might be sensitive to gyro noise (vibrations). In addition it is mathematically similar to lead shapign so probably only use one or the other. --- flight/Modules/Stabilization/stabilization.c | 39 +++++++++++++++---- .../config/configstabilizationwidget.cpp | 36 ++++++++--------- .../stabilizationsettings.xml | 6 +-- 3 files changed, 53 insertions(+), 28 deletions(-) diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c index 581cbe747..ef93e961d 100644 --- a/flight/Modules/Stabilization/stabilization.c +++ b/flight/Modules/Stabilization/stabilization.c @@ -336,13 +336,38 @@ static void SettingsUpdatedCb(UAVObjEvent * ev) memset(pids,0,sizeof (pid_type) * PID_MAX); StabilizationSettingsGet(&settings); - float * data = settings.RollRatePI; - for(int8_t pid=0; pid < PID_MAX; pid++) - { - pids[pid].p = *data++; - pids[pid].i = *data++; - pids[pid].iLim = *data++; - } + // Set the roll rate PID constants + pids[0].p = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP]; + pids[0].i = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI]; + pids[0].d = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD]; + pids[0].iLim = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT]; + + // Set the pitch rate PID constants + pids[1].p = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP]; + pids[1].i = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI]; + pids[1].d = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD]; + pids[1].iLim = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT]; + + // Set the yaw rate PID constants + pids[2].p = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KP]; + pids[2].i = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KI]; + pids[2].d = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KD]; + pids[2].iLim = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_ILIMIT]; + + // Set the roll attitude PI constants + pids[3].p = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP]; + pids[3].i = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI]; + pids[3].iLim = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT]; + + // Set the pitch attitude PI constants + pids[4].p = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP]; + pids[4].i = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI]; + pids[4].iLim = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT]; + + // Set the yaw attitude PI constants + pids[5].p = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KP]; + pids[5].i = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KI]; + pids[5].iLim = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT]; // The dT has some jitter iteration to iteration that we don't want to // make thie result unpredictable. Still, it's nicer to specify the constant diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp index f691cc22f..83ac65523 100644 --- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp @@ -194,17 +194,17 @@ void ConfigStabilizationWidget::refreshValues() // stabSettings->requestUpdate(); StabilizationSettings::DataFields stabData = stabSettings->getData(); // Now fill in all the fields, this is fairly tedious: - m_stabilization->rateRollKp->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KP]); - m_stabilization->rateRollKi->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KI]); - m_stabilization->rateRollILimit->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_ILIMIT]); + m_stabilization->rateRollKp->setValue(stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_KP]); + m_stabilization->rateRollKi->setValue(stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_KI]); + m_stabilization->rateRollILimit->setValue(stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_ILIMIT]); - m_stabilization->ratePitchKp->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KP]); - m_stabilization->ratePitchKi->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KI]); - m_stabilization->ratePitchILimit->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_ILIMIT]); + m_stabilization->ratePitchKp->setValue(stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_KP]); + m_stabilization->ratePitchKi->setValue(stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_KI]); + m_stabilization->ratePitchILimit->setValue(stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_ILIMIT]); - m_stabilization->rateYawKp->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KP]); - m_stabilization->rateYawKi->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KI]); - m_stabilization->rateYawILimit->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_ILIMIT]); + m_stabilization->rateYawKp->setValue(stabData.YawRatePID[StabilizationSettings::YAWRATEPID_KP]); + m_stabilization->rateYawKi->setValue(stabData.YawRatePID[StabilizationSettings::YAWRATEPID_KI]); + m_stabilization->rateYawILimit->setValue(stabData.YawRatePID[StabilizationSettings::YAWRATEPID_ILIMIT]); m_stabilization->rollKp->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_KP]); m_stabilization->rollKi->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_KI]); @@ -241,17 +241,17 @@ void ConfigStabilizationWidget::sendStabilizationUpdate() { StabilizationSettings::DataFields stabData = stabSettings->getData(); - stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KP] = m_stabilization->rateRollKp->value(); - stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KI] = m_stabilization->rateRollKi->value(); - stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_ILIMIT] = m_stabilization->rateRollILimit->value(); + stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_KP] = m_stabilization->rateRollKp->value(); + stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_KI] = m_stabilization->rateRollKi->value(); + stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_ILIMIT] = m_stabilization->rateRollILimit->value(); - stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KP] = m_stabilization->ratePitchKp->value(); - stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KI] = m_stabilization->ratePitchKi->value(); - stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_ILIMIT] = m_stabilization->ratePitchILimit->value(); + stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_KP] = m_stabilization->ratePitchKp->value(); + stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_KI] = m_stabilization->ratePitchKi->value(); + stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_ILIMIT] = m_stabilization->ratePitchILimit->value(); - stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KP] = m_stabilization->rateYawKp->value(); - stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KI] = m_stabilization->rateYawKi->value(); - stabData.YawRatePI[StabilizationSettings::YAWRATEPI_ILIMIT] = m_stabilization->rateYawILimit->value(); + stabData.YawRatePID[StabilizationSettings::YAWRATEPID_KP] = m_stabilization->rateYawKp->value(); + stabData.YawRatePID[StabilizationSettings::YAWRATEPID_KI] = m_stabilization->rateYawKi->value(); + stabData.YawRatePID[StabilizationSettings::YAWRATEPID_ILIMIT] = m_stabilization->rateYawILimit->value(); stabData.RollPI[StabilizationSettings::ROLLPI_KP] = m_stabilization->rollKp->value(); stabData.RollPI[StabilizationSettings::ROLLPI_KI] = m_stabilization->rollKi->value(); diff --git a/shared/uavobjectdefinition/stabilizationsettings.xml b/shared/uavobjectdefinition/stabilizationsettings.xml index 4eac63d93..39183f372 100644 --- a/shared/uavobjectdefinition/stabilizationsettings.xml +++ b/shared/uavobjectdefinition/stabilizationsettings.xml @@ -7,9 +7,9 @@ - - - + + + From 0a4bbcc12ebe6f5b695d00b1b23512e0447efa9d Mon Sep 17 00:00:00 2001 From: James Cotton Date: Thu, 23 Jun 2011 09:35:55 -0500 Subject: [PATCH 080/241] Added a field for initial gyro bias to speed up initialization. --- flight/Modules/Attitude/attitude.c | 129 ++++++++++-------- .../uavobjectdefinition/attitudesettings.xml | 2 + 2 files changed, 71 insertions(+), 60 deletions(-) diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c index d05ae1152..b22b7ec58 100644 --- a/flight/Modules/Attitude/attitude.c +++ b/flight/Modules/Attitude/attitude.c @@ -3,7 +3,7 @@ * @addtogroup OpenPilotModules OpenPilot Modules * @{ * @addtogroup Attitude Copter Control Attitude Estimation - * @brief Acquires sensor data and computes attitude estimate + * @brief Acquires sensor data and computes attitude estimate * Specifically updates the the @ref AttitudeActual "AttitudeActual" and @ref AttitudeRaw "AttitudeRaw" settings objects * @{ * @@ -89,6 +89,7 @@ static float q[4] = {1,0,0,0}; static float R[3][3]; static int8_t rotate = 0; static bool zero_during_arming = false; +static bool bias_correct_gyro = true; /** * Initialise the module, called on startup @@ -104,15 +105,15 @@ int32_t AttitudeInitialize(void) attitude.q3 = 0; attitude.q4 = 0; AttitudeActualSet(&attitude); - + // Create queue for passing gyro data, allow 2 back samples in case gyro_queue = xQueueCreate(1, sizeof(float) * 4); - if(gyro_queue == NULL) + if(gyro_queue == NULL) return -1; PIOS_ADC_SetQueue(gyro_queue); - + AttitudeSettingsConnectCallback(&settingsUpdatedCb); - + // Start main task xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle); @@ -132,13 +133,13 @@ static void AttitudeTask(void *parameters) PIOS_ADC_Config((PIOS_ADC_RATE / 1000.0f) * UPDATE_RATE); // Keep flash CS pin high while talking accel - PIOS_FLASH_DISABLE; + PIOS_FLASH_DISABLE; PIOS_ADXL345_Init(); - + zero_during_arming = false; // Main task loop while (1) { - + FlightStatusData flightStatus; FlightStatusGet(&flightStatus); @@ -150,45 +151,45 @@ static void AttitudeTask(void *parameters) accelKi = 0.9; yawBiasRate = 0.23; init = 0; - } + } else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) { accelKp = 1; accelKi = 0.9; yawBiasRate = 0.23; - init = 0; + init = 0; } else if (init == 0) { settingsUpdatedCb(AttitudeSettingsHandle()); init = 1; - } - + } + PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE); - + AttitudeRawData attitudeRaw; - AttitudeRawGet(&attitudeRaw); - updateSensors(&attitudeRaw); + AttitudeRawGet(&attitudeRaw); + updateSensors(&attitudeRaw); updateAttitude(&attitudeRaw); - AttitudeRawSet(&attitudeRaw); + AttitudeRawSet(&attitudeRaw); } } -static void updateSensors(AttitudeRawData * attitudeRaw) -{ +static void updateSensors(AttitudeRawData * attitudeRaw) +{ struct pios_adxl345_data accel_data; float gyro[4]; - + // Only wait the time for two nominal updates before setting an alarm if(xQueueReceive(gyro_queue, (void * const) gyro, UPDATE_RATE * 2) == errQUEUE_EMPTY) { AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR); return; } - - + + // First sample is temperature attitudeRaw->gyros[ATTITUDERAW_GYROS_X] = -(gyro[1] - GYRO_NEUTRAL) * gyroGain; attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] = (gyro[2] - GYRO_NEUTRAL) * gyroGain; attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] = -(gyro[3] - GYRO_NEUTRAL) * gyroGain; - + int32_t x = 0; int32_t y = 0; int32_t z = 0; @@ -203,9 +204,9 @@ static void updateSensors(AttitudeRawData * attitudeRaw) } while ( (i < 32) && (samples_remaining > 0) ); attitudeRaw->gyrotemp[0] = samples_remaining; attitudeRaw->gyrotemp[1] = i; - + float accel[3] = {(float) x / i, (float) y / i, (float) z / i}; - + if(rotate) { // TODO: rotate sensors too so stabilization is well behaved float vec_out[3]; @@ -221,68 +222,71 @@ static void updateSensors(AttitudeRawData * attitudeRaw) attitudeRaw->accels[0] = accel[0]; attitudeRaw->accels[1] = accel[1]; attitudeRaw->accels[2] = accel[2]; - } - + } + // Scale accels and correct bias attitudeRaw->accels[ATTITUDERAW_ACCELS_X] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_X] - accelbias[0]) * 0.004f * 9.81f; attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] - accelbias[1]) * 0.004f * 9.81f; attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] - accelbias[2]) * 0.004f * 9.81f; - - // Applying integral component here so it can be seen on the gyros and correct bias - attitudeRaw->gyros[ATTITUDERAW_GYROS_X] += gyro_correct_int[0]; - attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] += gyro_correct_int[1]; - - // Because most crafts wont get enough information from gravity to zero yaw gyro - attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] += gyro_correct_int[2]; - gyro_correct_int[2] += - attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] * yawBiasRate; + + if(bias_correct_gyro) { + // Applying integral component here so it can be seen on the gyros and correct bias + attitudeRaw->gyros[ATTITUDERAW_GYROS_X] += gyro_correct_int[0]; + attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] += gyro_correct_int[1]; + attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] += gyro_correct_int[2]; + } + + // Because most crafts wont get enough information from gravity to zero yaw gyro, we try + // and make it average zero (weakly) + gyro_correct_int[2] += - attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] * yawBiasRate; } static void updateAttitude(AttitudeRawData * attitudeRaw) { static portTickType lastSysTime = 0; static portTickType thisSysTime; - + static float dT = 0; - + thisSysTime = xTaskGetTickCount(); if(thisSysTime > lastSysTime) // reuse dt in case of wraparound dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f; lastSysTime = thisSysTime; - + // Bad practice to assume structure order, but saves memory float gyro[3]; gyro[0] = attitudeRaw->gyros[0]; gyro[1] = attitudeRaw->gyros[1]; gyro[2] = attitudeRaw->gyros[2]; - + { float * accels = attitudeRaw->accels; float grot[3]; float accel_err[3]; - + // Rotate gravity to body frame and cross with accels grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2])); grot[1] = -(2 * (q[2] * q[3] + q[0] * q[1])); grot[2] = -(q[0] * q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]); CrossProduct((const float *) accels, (const float *) grot, accel_err); - - // Account for accel magnitude + + // Account for accel magnitude float accel_mag = sqrt(accels[0]*accels[0] + accels[1]*accels[1] + accels[2]*accels[2]); accel_err[0] /= accel_mag; accel_err[1] /= accel_mag; accel_err[2] /= accel_mag; - + // Accumulate integral of error. Scale here so that units are (rad/s) but Ki has units of s gyro_correct_int[0] += accel_err[0] * accelKi; gyro_correct_int[1] += accel_err[1] * accelKi; //gyro_correct_int[2] += accel_err[2] * settings.AccelKI * dT; - + // Correct rates based on error, integral component dealt with in updateSensors gyro[0] += accel_err[0] * accelKp / dT; gyro[1] += accel_err[1] * accelKp / dT; gyro[2] += accel_err[2] * accelKp / dT; } - + { // scoping variables to save memory // Work out time derivative from INSAlgo writeup // Also accounts for the fact that gyros are in deg/s @@ -291,28 +295,28 @@ static void updateAttitude(AttitudeRawData * attitudeRaw) qdot[1] = (q[0] * gyro[0] - q[3] * gyro[1] + q[2] * gyro[2]) * dT * M_PI / 180 / 2; qdot[2] = (q[3] * gyro[0] + q[0] * gyro[1] - q[1] * gyro[2]) * dT * M_PI / 180 / 2; qdot[3] = (-q[2] * gyro[0] + q[1] * gyro[1] + q[0] * gyro[2]) * dT * M_PI / 180 / 2; - + // Take a time step q[0] = q[0] + qdot[0]; q[1] = q[1] + qdot[1]; q[2] = q[2] + qdot[2]; q[3] = q[3] + qdot[3]; } - + // Renomalize float qmag = sqrt(q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]); q[0] = q[0] / qmag; q[1] = q[1] / qmag; q[2] = q[2] / qmag; q[3] = q[3] / qmag; - + AttitudeActualData attitudeActual; AttitudeActualGet(&attitudeActual); - + quat_copy(q, &attitudeActual.q1); - + // Convert into eueler degrees (makes assumptions about RPY order) - Quaternion2RPY(&attitudeActual.q1,&attitudeActual.Roll); + Quaternion2RPY(&attitudeActual.q1,&attitudeActual.Roll); AttitudeActualSet(&attitudeActual); } @@ -320,36 +324,41 @@ static void updateAttitude(AttitudeRawData * attitudeRaw) static void settingsUpdatedCb(UAVObjEvent * objEv) { AttitudeSettingsData attitudeSettings; AttitudeSettingsGet(&attitudeSettings); - - + + accelKp = attitudeSettings.AccelKp; - accelKi = attitudeSettings.AccelKi; + accelKi = attitudeSettings.AccelKi; yawBiasRate = attitudeSettings.YawBiasRate; gyroGain = attitudeSettings.GyroGain; - + zero_during_arming = attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE; - + bias_correct_gyro = attitudeSettings.BiasCorrectGyro == ATTITUDESETTINGS_BIASCORRECTGYRO_TRUE; + accelbias[0] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_X]; accelbias[1] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Y]; accelbias[2] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Z]; - + + gyro_correct_int[0] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_X]; + gyro_correct_int[1] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Y]; + gyro_correct_int[2] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Z]; + // Indicates not to expend cycles on rotation if(attitudeSettings.BoardRotation[0] == 0 && attitudeSettings.BoardRotation[1] == 0 && attitudeSettings.BoardRotation[2] == 0) { rotate = 0; - + // Shouldn't be used but to be safe float rotationQuat[4] = {1,0,0,0}; Quaternion2R(rotationQuat, R); } else { float rotationQuat[4]; - const float rpy[3] = {attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_ROLL], - attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_PITCH], + const float rpy[3] = {attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_ROLL], + attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_PITCH], attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_YAW]}; RPY2Quaternion(rpy, rotationQuat); Quaternion2R(rotationQuat, R); rotate = 1; - } + } } /** * @} diff --git a/shared/uavobjectdefinition/attitudesettings.xml b/shared/uavobjectdefinition/attitudesettings.xml index e0007bbeb..45e64b57d 100644 --- a/shared/uavobjectdefinition/attitudesettings.xml +++ b/shared/uavobjectdefinition/attitudesettings.xml @@ -2,12 +2,14 @@ Settings for the @ref Attitude module used on CopterControl + + From c0eff41dc6dfd774a68d0078190583a65466152f Mon Sep 17 00:00:00 2001 From: James Cotton Date: Thu, 23 Jun 2011 14:51:18 -0500 Subject: [PATCH 081/241] OP-410 OP-333: Created an Axis-lock setting for stabilization --- flight/Modules/ManualControl/manualcontrol.c | 94 ++++++++++--------- .../manualcontrolsettings.xml | 12 +-- .../stabilizationdesired.xml | 2 +- 3 files changed, 55 insertions(+), 53 deletions(-) diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c index 0a673f6da..4f191813d 100644 --- a/flight/Modules/ManualControl/manualcontrol.c +++ b/flight/Modules/ManualControl/manualcontrol.c @@ -147,7 +147,7 @@ static bool validInputRange(int16_t min, int16_t max, uint16_t value); int32_t ManualControlInitialize() { /* Check the assumptions about uavobject enum's are correct */ - if(!assumptions) + if(!assumptions) return -1; // Start main task xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); @@ -302,14 +302,14 @@ static void manualControlTask(void *parameters) ManualControlCommandSet(&cmd); } - + } else { ManualControlCommandGet(&cmd); /* Under GCS control */ } FlightStatusGet(&flightStatus); - + // Depending on the mode update the Stabilization or Actuator objects switch(PARSE_FLIGHT_MODE(flightStatus.FlightMode)) { case FLIGHTMODE_UNDEFINED: @@ -325,11 +325,11 @@ static void manualControlTask(void *parameters) case FLIGHTMODE_GUIDANCE: // TODO: Implement break; - } + } } } -static void updateActuatorDesired(ManualControlCommandData * cmd) +static void updateActuatorDesired(ManualControlCommandData * cmd) { ActuatorDesiredData actuator; ActuatorDesiredGet(&actuator); @@ -337,17 +337,17 @@ static void updateActuatorDesired(ManualControlCommandData * cmd) actuator.Pitch = cmd->Pitch; actuator.Yaw = cmd->Yaw; actuator.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle; - ActuatorDesiredSet(&actuator); + ActuatorDesiredSet(&actuator); } static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings) { StabilizationDesiredData stabilization; StabilizationDesiredGet(&stabilization); - + StabilizationSettingsData stabSettings; StabilizationSettingsGet(&stabSettings); - + uint8_t * stab_settings; FlightStatusData flightStatus; FlightStatusGet(&flightStatus); @@ -364,30 +364,32 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon default: // Major error, this should not occur because only enter this block when one of these is true AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); - return; + return; } - + // TOOD: Add assumption about order of stabilization desired and manual control stabilization mode fields having same order stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = stab_settings[0]; stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = stab_settings[1]; stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = stab_settings[2]; - + stabilization.Roll = (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll : - (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] : - (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax : + (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] : + (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax : + (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.RollMax : 0; // this is an invalid mode ; stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch : - (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] : - (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax : - 0; // this is an invalid mode + (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] : + (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax : + (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.PitchMax : + 0; // this is an invalid mode stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw : - (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] : - (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? fmod(cmd->Yaw * 180.0, 360) : - 0; // this is an invalid mode - - stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle; + (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] : + (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? fmod(cmd->Yaw * 180.0, 360) : + 0; // this is an invalid mode + + stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle; StabilizationDesiredSet(&stabilization); } @@ -473,11 +475,11 @@ static void setArmedIfChanged(uint8_t val) { * @param[out] cmd The structure to set the armed in * @param[in] settings Settings indicating the necessary position */ -static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings) -{ +static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings) +{ bool lowThrottle = cmd->Throttle <= 0; - + if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) { // In this configuration we always disarm setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED); @@ -485,7 +487,7 @@ static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData // Not really needed since this function not called when disconnected if (cmd->Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE) return; - + // The throttle is not low, in case we where arming or disarming, abort if (!lowThrottle) { switch(armState) { @@ -502,20 +504,20 @@ static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData } return; } - + // The rest of these cases throttle is low if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSARMED) { // In this configuration, we go into armed state as soon as the throttle is low, never disarm setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMED); return; } - - + + // When the configuration is not "Always armed" and no "Always disarmed", // the state will not be changed when the throttle is not low static portTickType armedDisarmStart; float armingInputLevel = 0; - + // Calc channel see assumptions7 int8_t sign = ((settings->Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2) ? -1 : 1; switch ( (settings->Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 ) { @@ -523,26 +525,26 @@ static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData case ARMING_CHANNEL_PITCH: armingInputLevel = sign * cmd->Pitch; break; case ARMING_CHANNEL_YAW: armingInputLevel = sign * cmd->Yaw; break; } - + bool manualArm = false; bool manualDisarm = false; - + if (armingInputLevel <= -ARMED_THRESHOLD) manualArm = true; else if (armingInputLevel >= +ARMED_THRESHOLD) manualDisarm = true; - + switch(armState) { case ARM_STATE_DISARMED: setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED); - + // only allow arming if it's OK too if (manualArm && okToArm()) { armedDisarmStart = lastSysTime; armState = ARM_STATE_ARMING_MANUAL; } break; - + case ARM_STATE_ARMING_MANUAL: setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMING); @@ -551,7 +553,7 @@ static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData else if (!manualArm) armState = ARM_STATE_DISARMED; break; - + case ARM_STATE_ARMED: // When we get here, the throttle is low, // we go immediately to disarming due to timeout, also when the disarming mechanism is not enabled @@ -559,19 +561,19 @@ static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData armState = ARM_STATE_DISARMING_TIMEOUT; setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMED); break; - + case ARM_STATE_DISARMING_TIMEOUT: // We get here when armed while throttle low, even when the arming timeout is not enabled if ((settings->ArmedTimeout != 0) && (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings->ArmedTimeout)) armState = ARM_STATE_DISARMED; - + // Switch to disarming due to manual control when needed if (manualDisarm) { armedDisarmStart = lastSysTime; armState = ARM_STATE_DISARMING_MANUAL; } break; - + case ARM_STATE_DISARMING_MANUAL: if (manualDisarm &&(timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)) armState = ARM_STATE_DISARMED; @@ -588,25 +590,25 @@ static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * @param[in] settings The settings which indicate which position is which mode * @param[in] flightMode the value of the switch position */ -static void processFlightMode(ManualControlSettingsData * settings, float flightMode) +static void processFlightMode(ManualControlSettingsData * settings, float flightMode) { FlightStatusData flightStatus; FlightStatusGet(&flightStatus); - + uint8_t newMode; // Note here the code is ass - if (flightMode < -FLIGHT_MODE_LIMIT) + if (flightMode < -FLIGHT_MODE_LIMIT) newMode = settings->FlightModePosition[0]; - else if (flightMode > FLIGHT_MODE_LIMIT) + else if (flightMode > FLIGHT_MODE_LIMIT) newMode = settings->FlightModePosition[2]; - else - newMode = settings->FlightModePosition[1]; - + else + newMode = settings->FlightModePosition[1]; + if(flightStatus.FlightMode != newMode) { flightStatus.FlightMode = newMode; FlightStatusSet(&flightStatus); } - + } /** diff --git a/shared/uavobjectdefinition/manualcontrolsettings.xml b/shared/uavobjectdefinition/manualcontrolsettings.xml index 95423a3f5..375de146b 100644 --- a/shared/uavobjectdefinition/manualcontrolsettings.xml +++ b/shared/uavobjectdefinition/manualcontrolsettings.xml @@ -11,15 +11,15 @@ - + - - - - + + + + - + diff --git a/shared/uavobjectdefinition/stabilizationdesired.xml b/shared/uavobjectdefinition/stabilizationdesired.xml index c3bda9a2b..f8e6e173d 100644 --- a/shared/uavobjectdefinition/stabilizationdesired.xml +++ b/shared/uavobjectdefinition/stabilizationdesired.xml @@ -6,7 +6,7 @@ - + From ab7ff56d96ec02ce8b96b042e3dda535373ad949 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Thu, 23 Jun 2011 19:03:35 -0500 Subject: [PATCH 082/241] Compute initial gyro bias while calibrating to speed up convergence --- flight/Modules/Attitude/attitude.c | 2 +- .../plugins/config/configccattitudewidget.cpp | 24 +++++++++++++++---- .../plugins/config/configccattitudewidget.h | 1 + 3 files changed, 22 insertions(+), 5 deletions(-) diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c index b22b7ec58..49cc54f8b 100644 --- a/flight/Modules/Attitude/attitude.c +++ b/flight/Modules/Attitude/attitude.c @@ -276,7 +276,7 @@ static void updateAttitude(AttitudeRawData * attitudeRaw) accel_err[1] /= accel_mag; accel_err[2] /= accel_mag; - // Accumulate integral of error. Scale here so that units are (rad/s) but Ki has units of s + // Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s gyro_correct_int[0] += accel_err[0] * accelKi; gyro_correct_int[1] += accel_err[1] * accelKi; //gyro_correct_int[2] += accel_err[2] * settings.AccelKI * dT; diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp index 52488da19..72e59d236 100644 --- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp @@ -79,7 +79,10 @@ void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) { x_accum.append(field->getDouble(0)); y_accum.append(field->getDouble(1)); z_accum.append(field->getDouble(2)); - qDebug("update %d: %f, %f, %f\n",updates,field->getDouble(0),field->getDouble(1),field->getDouble(2)); + field = obj->getField(QString("gyros")); + x_gyro_accum.append(field->getDouble(0)); + y_gyro_accum.append(field->getDouble(1)); + z_gyro_accum.append(field->getDouble(2));; } else if ( updates == NUM_ACCEL_UPDATES ) { updates++; timer.stop(); @@ -90,6 +93,9 @@ void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) { float y_bias = listMean(y_accum) / ACCEL_SCALE; float z_bias = (listMean(z_accum) + 9.81) / ACCEL_SCALE; + float x_gyro_bias = listMean(x_gyro_accum); + float y_gyro_bias = listMean(y_gyro_accum); + float z_gyro_bias = listMean(z_gyro_accum); obj->setMetadata(initialMdata); UAVDataObject * settings = dynamic_cast(getObjectManager()->getObject(QString("AttitudeSettings"))); @@ -97,9 +103,11 @@ void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) { field->setDouble(field->getDouble(0) + x_bias,0); field->setDouble(field->getDouble(1) + y_bias,1); field->setDouble(field->getDouble(2) + z_bias,2); - qDebug("New X bias: %f\n", field->getDouble(0)+x_bias); - qDebug("New Y bias: %f\n", field->getDouble(1)+y_bias); - qDebug("New Z bias: %f\n", field->getDouble(2)+z_bias); + field = settings->getField("GyroBias"); + field->setDouble(x_gyro_bias,0); + field->setDouble(y_gyro_bias,1); + field->setDouble(z_gyro_bias,2); + settings->getField("BiasCorrectedGyro")->setValue("True"); settings->updated(); ui->status->setText("Calibration done."); } else { @@ -159,9 +167,17 @@ void ConfigCCAttitudeWidget::startAccelCalibration() { x_accum.clear(); y_accum.clear(); z_accum.clear(); + x_gyro_accum.clear(); + y_gyro_accum.clear(); + z_gyro_accum.clear(); ui->status->setText(tr("Calibrating...")); + // Disable gyro bias correction to see raw data + UAVDataObject * settings = dynamic_cast(getObjectManager()->getObject(QString("AttitudeSettings"))); + settings->getField("BiasCorrectedGyro")->setValue("False"); + settings->updated(); + // Set up to receive updates UAVDataObject * obj = dynamic_cast(getObjectManager()->getObject(QString("AttitudeRaw"))); connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(attitudeRawUpdated(UAVObject*))); diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h index 1dee369f7..54497880d 100644 --- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h +++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h @@ -64,6 +64,7 @@ private: int updates; QList x_accum, y_accum, z_accum; + QList x_gyro_accum, y_gyro_accum, z_gyro_accum; static const int NUM_ACCEL_UPDATES = 60; static const float ACCEL_SCALE = 0.004f * 9.81f; From 0dc541cbaa518e721f6d438c1b705f029f8c9759 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Thu, 23 Jun 2011 19:19:11 -0500 Subject: [PATCH 083/241] Reformat attitude configuration gadget to use static access methods for AttitudeSettings. This helps compiler catch errors. --- .../plugins/config/configccattitudewidget.cpp | 68 ++++++++----------- .../plugins/config/configccattitudewidget.h | 1 + 2 files changed, 31 insertions(+), 38 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp index 72e59d236..067743833 100644 --- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp @@ -27,6 +27,7 @@ #include "configccattitudewidget.h" #include "ui_ccattitude.h" #include "utils/coordinateconversions.h" +#include "attitudesettings.h" #include #include #include @@ -48,7 +49,7 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) : enableControls(true); refreshValues(); // The 1st time this panel is instanciated, the autopilot is already connected. - UAVObject * settings = getObjectManager()->getObject(QString("AttitudeSettings")); + UAVObject * settings = AttitudeSettings::GetInstance(getObjectManager()); connect(settings,SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshValues())); // Connect the help button @@ -98,17 +99,17 @@ void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) { float z_gyro_bias = listMean(z_gyro_accum); obj->setMetadata(initialMdata); - UAVDataObject * settings = dynamic_cast(getObjectManager()->getObject(QString("AttitudeSettings"))); - UAVObjectField * field = settings->getField("AccelBias"); - field->setDouble(field->getDouble(0) + x_bias,0); - field->setDouble(field->getDouble(1) + y_bias,1); - field->setDouble(field->getDouble(2) + z_bias,2); - field = settings->getField("GyroBias"); - field->setDouble(x_gyro_bias,0); - field->setDouble(y_gyro_bias,1); - field->setDouble(z_gyro_bias,2); - settings->getField("BiasCorrectedGyro")->setValue("True"); - settings->updated(); + AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData(); + // We offset the gyro bias by current bias to help precision + attitudeSettingsData.AccelBias[0] += x_bias; + attitudeSettingsData.AccelBias[1] += y_bias; + attitudeSettingsData.AccelBias[2] += z_bias; + attitudeSettingsData.GyroBias[0] = -x_gyro_bias; + attitudeSettingsData.GyroBias[1] = -y_gyro_bias; + attitudeSettingsData.GyroBias[2] = -z_gyro_bias; + attitudeSettingsData.BiasCorrectGyro = initialBiasCorrected; + AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData); + ui->status->setText("Calibration done."); } else { // Possible to get here if weird threading stuff happens. Just ignore updates. @@ -131,32 +132,22 @@ void ConfigCCAttitudeWidget::timeout() { } void ConfigCCAttitudeWidget::applyAttitudeSettings() { - UAVDataObject * settings = dynamic_cast(getObjectManager()->getObject(QString("AttitudeSettings"))); - UAVObjectField * field = settings->getField("BoardRotation"); - - field->setValue(ui->rollBias->value(),0); - field->setValue(ui->pitchBias->value(),1); - field->setValue(ui->yawBias->value(),2); - - field = settings->getField("ZeroDuringArming"); - // Handling of boolean values is done through enums on - // uavobjects... - field->setValue((ui->zeroGyroBiasOnArming->isChecked()) ? "TRUE": "FALSE"); - - settings->updated(); + AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData(); + attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = ui->rollBias->value(); + attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = ui->pitchBias->value(); + attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_YAW] = ui->yawBias->value(); + attitudeSettingsData.ZeroDuringArming = ui->zeroGyroBiasOnArming->isChecked() ? AttitudeSettings::ZERODURINGARMING_TRUE : + AttitudeSettings::ZERODURINGARMING_FALSE; + AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData); } void ConfigCCAttitudeWidget::refreshValues() { - UAVDataObject * settings = dynamic_cast(getObjectManager()->getObject(QString("AttitudeSettings"))); - UAVObjectField * field = settings->getField("BoardRotation"); - ui->rollBias->setValue(field->getDouble(0)); - ui->pitchBias->setValue(field->getDouble(1)); - ui->yawBias->setValue(field->getDouble(2)); - field = settings->getField("ZeroDuringArming"); - // Handling of boolean values is done through enums on - // uavobjects... - bool enabled = (field->getValue().toString() == "FALSE") ? false : true; - ui->zeroGyroBiasOnArming->setChecked(enabled); + AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData(); + + ui->rollBias->setValue(attitudeSettingsData.BoardRotation[0]); + ui->pitchBias->setValue(attitudeSettingsData.BoardRotation[1]); + ui->yawBias->setValue(attitudeSettingsData.BoardRotation[2]); + ui->zeroGyroBiasOnArming->setChecked(attitudeSettingsData.ZeroDuringArming == AttitudeSettings::ZERODURINGARMING_TRUE); } @@ -174,9 +165,10 @@ void ConfigCCAttitudeWidget::startAccelCalibration() { ui->status->setText(tr("Calibrating...")); // Disable gyro bias correction to see raw data - UAVDataObject * settings = dynamic_cast(getObjectManager()->getObject(QString("AttitudeSettings"))); - settings->getField("BiasCorrectedGyro")->setValue("False"); - settings->updated(); + AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData(); + initialBiasCorrected = attitudeSettingsData.BiasCorrectGyro; + attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE; + AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData); // Set up to receive updates UAVDataObject * obj = dynamic_cast(getObjectManager()->getObject(QString("AttitudeRaw"))); diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h index 54497880d..27176b22f 100644 --- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h +++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h @@ -60,6 +60,7 @@ private: Ui_ccattitude *ui; QTimer timer; UAVObject::Metadata initialMdata; + quint8 initialBiasCorrected; int updates; From 038f955cb1f1c7579719bf80401f600390904411 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Fri, 24 Jun 2011 01:57:12 -0500 Subject: [PATCH 084/241] OP-410 OP-333: Axis lock (heading hold) implemented --- flight/Modules/Stabilization/stabilization.c | 43 +++++++++++++------ .../stabilizationsettings.xml | 1 + 2 files changed, 30 insertions(+), 14 deletions(-) diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c index ef93e961d..05aacd52a 100644 --- a/flight/Modules/Stabilization/stabilization.c +++ b/flight/Modules/Stabilization/stabilization.c @@ -79,6 +79,8 @@ static xQueueHandle queue; float dT = 1; float gyro_alpha = 0; float gyro_filtered[3] = {0,0,0}; +float axis_lock_accum[3] = {0,0,0}; +uint8_t max_axis_lock = 0; pid_type pids[PID_MAX]; // Private functions @@ -203,18 +205,32 @@ static void stabilizationTask(void* parameters) float *attitudeDesiredAxis = &stabDesired.Roll; float *actuatorDesiredAxis = &actuatorDesired.Roll; float *rateDesiredAxis = &rateDesired.Roll; + float *actualRateAxis = &attitudeRaw.gyros[0]; //Calculate desired rate - for(int8_t ct=0; ct< MAX_AXES; ct++) + for(uint8_t i=0; i< MAX_AXES; i++) { - switch(stabDesired.StabilizationMode[ct]) + switch(stabDesired.StabilizationMode[i]) { case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE: - rateDesiredAxis[ct] = attitudeDesiredAxis[ct]; + rateDesiredAxis[i] = attitudeDesiredAxis[i]; + axis_lock_accum[i] = 0; break; case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE: - rateDesiredAxis[ct] = ApplyPid(&pids[PID_ROLL + ct], local_error[ct]); + rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i]); + axis_lock_accum[i] = 0; + break; + + case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK: + // Track accumulated error between axis lock + axis_lock_accum[i] += (attitudeDesiredAxis[i] - actualRateAxis[i]) * dT; + if(axis_lock_accum[i] > max_axis_lock) + axis_lock_accum[i] = max_axis_lock; + else if(axis_lock_accum[i] < -max_axis_lock) + axis_lock_accum[i] = -max_axis_lock; + + rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i]); break; } } @@ -225,17 +241,11 @@ static void stabilizationTask(void* parameters) //Calculate desired command for(int8_t ct=0; ct< MAX_AXES; ct++) { - if(fabs(rateDesiredAxis[ct]) > settings.MaximumRate[ct]) - { - if(rateDesiredAxis[ct] > 0) - { - rateDesiredAxis[ct] = settings.MaximumRate[ct]; - }else - { - rateDesiredAxis[ct] = -settings.MaximumRate[ct]; - } + if(rateDesiredAxis[ct] > settings.MaximumRate[ct]) + rateDesiredAxis[ct] = settings.MaximumRate[ct]; + else if(rateDesiredAxis[ct] < settings.MaximumRate[ct]) + rateDesiredAxis[ct] = -settings.MaximumRate[ct]; - } switch(stabDesired.StabilizationMode[ct]) { case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE: @@ -314,6 +324,8 @@ static void ZeroPids(void) pids[ct].iAccumulator = 0; pids[ct].lastErr = 0; } + for(uint8_t i = 0; i < 3; i++) + axis_lock_accum[i] = 0; } @@ -369,6 +381,9 @@ static void SettingsUpdatedCb(UAVObjEvent * ev) pids[5].i = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KI]; pids[5].iLim = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT]; + // Maximum deviation to accumulate for axis lock + max_axis_lock = settings.MaxAxisLock; + // The dT has some jitter iteration to iteration that we don't want to // make thie result unpredictable. Still, it's nicer to specify the constant // based on a time (in ms) rather than a fixed multiplier. The error between diff --git a/shared/uavobjectdefinition/stabilizationsettings.xml b/shared/uavobjectdefinition/stabilizationsettings.xml index 39183f372..73fe8074b 100644 --- a/shared/uavobjectdefinition/stabilizationsettings.xml +++ b/shared/uavobjectdefinition/stabilizationsettings.xml @@ -15,6 +15,7 @@ + From eb3f3d790fbb2b961f7aeb8574f29b2b74e40cfc Mon Sep 17 00:00:00 2001 From: James Cotton Date: Fri, 24 Jun 2011 10:36:11 -0500 Subject: [PATCH 085/241] Zero during arming on by default since we're changing these objects --- shared/uavobjectdefinition/attitudesettings.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/shared/uavobjectdefinition/attitudesettings.xml b/shared/uavobjectdefinition/attitudesettings.xml index 45e64b57d..99f1919ed 100644 --- a/shared/uavobjectdefinition/attitudesettings.xml +++ b/shared/uavobjectdefinition/attitudesettings.xml @@ -8,7 +8,7 @@ - + From 5127d1e7ba069849c39ee04d46789ba3cc575f62 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Fri, 24 Jun 2011 10:49:36 -0500 Subject: [PATCH 086/241] Change actuator memory to 900 bytes since it uses less now. --- flight/CopterControl/System/inc/pios_config.h | 28 +++++++++---------- 1 file changed, 14 insertions(+), 14 deletions(-) diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h index 809ad27ce..7f3b10426 100644 --- a/flight/CopterControl/System/inc/pios_config.h +++ b/flight/CopterControl/System/inc/pios_config.h @@ -5,28 +5,28 @@ * @addtogroup OpenPilotCore OpenPilot Core * @{ * - * @file pios_config.h + * @file pios_config.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @brief PiOS configuration header. + * @brief PiOS configuration header. * Central compile time config for the project. * In particular, pios_config.h is where you define which PiOS libraries * and features are included in the firmware. * @see The GNU Public License (GPL) Version 3 * *****************************************************************************/ -/* - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 3 of the License, or +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License * for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ @@ -100,7 +100,7 @@ #define CPULOAD_LIMIT_CRITICAL 95 /* Task stack sizes */ -#define PIOS_ACTUATOR_STACK_SIZE 1020 +#define PIOS_ACTUATOR_STACK_SIZE 900 #define PIOS_MANUAL_STACK_SIZE 724 #define PIOS_SYSTEM_STACK_SIZE 560 #define PIOS_STABILIZATION_STACK_SIZE 524 From e6ad21d881e6795e440fc97a0b24d7029090c1aa Mon Sep 17 00:00:00 2001 From: James Cotton Date: Fri, 24 Jun 2011 10:51:07 -0500 Subject: [PATCH 087/241] Make gyro bias in deg/s * 100 to calibrate more precisely. --- flight/Modules/Attitude/attitude.c | 6 +++--- .../src/plugins/config/configccattitudewidget.cpp | 6 +++--- shared/uavobjectdefinition/attitudesettings.xml | 2 +- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c index 49cc54f8b..ea0c8e96a 100644 --- a/flight/Modules/Attitude/attitude.c +++ b/flight/Modules/Attitude/attitude.c @@ -338,9 +338,9 @@ static void settingsUpdatedCb(UAVObjEvent * objEv) { accelbias[1] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Y]; accelbias[2] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Z]; - gyro_correct_int[0] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_X]; - gyro_correct_int[1] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Y]; - gyro_correct_int[2] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Z]; + gyro_correct_int[0] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_X] / 100.0f; + gyro_correct_int[1] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Y] / 100.0f; + gyro_correct_int[2] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Z] / 100.0f; // Indicates not to expend cycles on rotation if(attitudeSettings.BoardRotation[0] == 0 && attitudeSettings.BoardRotation[1] == 0 && diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp index 067743833..add5106a9 100644 --- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp @@ -94,9 +94,9 @@ void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) { float y_bias = listMean(y_accum) / ACCEL_SCALE; float z_bias = (listMean(z_accum) + 9.81) / ACCEL_SCALE; - float x_gyro_bias = listMean(x_gyro_accum); - float y_gyro_bias = listMean(y_gyro_accum); - float z_gyro_bias = listMean(z_gyro_accum); + float x_gyro_bias = listMean(x_gyro_accum) * 100.0f; + float y_gyro_bias = listMean(y_gyro_accum) * 100.0f; + float z_gyro_bias = listMean(z_gyro_accum) * 100.0f; obj->setMetadata(initialMdata); AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData(); diff --git a/shared/uavobjectdefinition/attitudesettings.xml b/shared/uavobjectdefinition/attitudesettings.xml index 99f1919ed..522fd6f3a 100644 --- a/shared/uavobjectdefinition/attitudesettings.xml +++ b/shared/uavobjectdefinition/attitudesettings.xml @@ -2,7 +2,7 @@ Settings for the @ref Attitude module used on CopterControl - + From dedbcbfceb327ebdf0782412af71da98cc0c61e8 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Fri, 24 Jun 2011 11:30:28 -0500 Subject: [PATCH 088/241] Correct nasty bug on range checking for max rate and use the axis lock rate desired when in that mode. --- flight/Modules/Stabilization/stabilization.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c index 05aacd52a..90e41f218 100644 --- a/flight/Modules/Stabilization/stabilization.c +++ b/flight/Modules/Stabilization/stabilization.c @@ -205,7 +205,6 @@ static void stabilizationTask(void* parameters) float *attitudeDesiredAxis = &stabDesired.Roll; float *actuatorDesiredAxis = &actuatorDesired.Roll; float *rateDesiredAxis = &rateDesired.Roll; - float *actualRateAxis = &attitudeRaw.gyros[0]; //Calculate desired rate for(uint8_t i=0; i< MAX_AXES; i++) @@ -224,7 +223,7 @@ static void stabilizationTask(void* parameters) case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK: // Track accumulated error between axis lock - axis_lock_accum[i] += (attitudeDesiredAxis[i] - actualRateAxis[i]) * dT; + axis_lock_accum[i] += (attitudeDesiredAxis[i] - gyro_filtered[i]) * dT; if(axis_lock_accum[i] > max_axis_lock) axis_lock_accum[i] = max_axis_lock; else if(axis_lock_accum[i] < -max_axis_lock) @@ -243,13 +242,14 @@ static void stabilizationTask(void* parameters) { if(rateDesiredAxis[ct] > settings.MaximumRate[ct]) rateDesiredAxis[ct] = settings.MaximumRate[ct]; - else if(rateDesiredAxis[ct] < settings.MaximumRate[ct]) + else if(rateDesiredAxis[ct] < -settings.MaximumRate[ct]) rateDesiredAxis[ct] = -settings.MaximumRate[ct]; switch(stabDesired.StabilizationMode[ct]) { case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE: case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE: + case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK: { float command = ApplyPid(&pids[PID_RATE_ROLL + ct], rateDesiredAxis[ct] - gyro_filtered[ct]); actuatorDesiredAxis[ct] = bound(command); From de55c56427a6cd235c9ccfef3474c129280e4efb Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Fri, 24 Jun 2011 22:03:03 -0700 Subject: [PATCH 089/241] OP-423: Change capital on macro to be uppercase for consistency. --- flight/Modules/AHRSComms/ahrs_comms.c | 2 +- flight/Modules/Actuator/actuator.c | 2 +- flight/Modules/Altitude/altitude.c | 2 +- flight/Modules/Attitude/attitude.c | 2 +- flight/Modules/Battery/battery.c | 2 +- flight/Modules/Example/example.c | 2 +- flight/Modules/FirmwareIAP/firmwareiap.c | 2 +- flight/Modules/FlightPlan/flightplan.c | 2 +- flight/Modules/GPS/GPS.c | 2 +- flight/Modules/Guidance/guidance.c | 2 +- flight/Modules/ManualControl/manualcontrol.c | 2 +- flight/Modules/Stabilization/stabilization.c | 2 +- flight/Modules/System/systemmod.c | 2 +- flight/Modules/Telemetry/telemetry.c | 2 +- flight/PiOS.posix/inc/pios_initcall.h | 4 ++-- flight/PiOS.win32/inc/pios_initcall.h | 4 ++-- flight/PiOS/inc/pios_initcall.h | 4 ++-- flight/UAVObjects/uavobjecttemplate.c | 2 +- 18 files changed, 21 insertions(+), 21 deletions(-) diff --git a/flight/Modules/AHRSComms/ahrs_comms.c b/flight/Modules/AHRSComms/ahrs_comms.c index d080a9b4d..18fe81642 100644 --- a/flight/Modules/AHRSComms/ahrs_comms.c +++ b/flight/Modules/AHRSComms/ahrs_comms.c @@ -88,7 +88,7 @@ int32_t AHRSCommsInitialize(void) return 0; } -module_initcall(AHRSCommsInitialize, 0, AHRSCommsStart, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(AHRSCommsInitialize, 0, AHRSCommsStart, 0, MODULE_EXEC_NOORDER_FLAG); /** * Module thread, should not return. diff --git a/flight/Modules/Actuator/actuator.c b/flight/Modules/Actuator/actuator.c index a9bf40ebf..a203a1b74 100644 --- a/flight/Modules/Actuator/actuator.c +++ b/flight/Modules/Actuator/actuator.c @@ -116,7 +116,7 @@ int32_t ActuatorInitialize() return 0; } -module_initcall(ActuatorInitialize, 0, ActuatorStart, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(ActuatorInitialize, 0, ActuatorStart, 0, MODULE_EXEC_NOORDER_FLAG); /** * @brief Main Actuator module task diff --git a/flight/Modules/Altitude/altitude.c b/flight/Modules/Altitude/altitude.c index 6167d7d25..b81c3e3c3 100644 --- a/flight/Modules/Altitude/altitude.c +++ b/flight/Modules/Altitude/altitude.c @@ -90,7 +90,7 @@ int32_t AltitudeInitialize() return 0; } -module_initcall(AltitudeInitialize, 0, AltitudeStart, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(AltitudeInitialize, 0, AltitudeStart, 0, MODULE_EXEC_NOORDER_FLAG); /** * Module thread, should not return. */ diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c index bc2983877..c0bd9e204 100644 --- a/flight/Modules/Attitude/attitude.c +++ b/flight/Modules/Attitude/attitude.c @@ -131,7 +131,7 @@ int32_t AttitudeInitialize(void) return 0; } -module_initcall(AttitudeInitialize, 0, AttitudeStart, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(AttitudeInitialize, 0, AttitudeStart, 0, MODULE_EXEC_NOORDER_FLAG); /** * Module thread, should not return. diff --git a/flight/Modules/Battery/battery.c b/flight/Modules/Battery/battery.c index 3da96080d..9d892c3a8 100644 --- a/flight/Modules/Battery/battery.c +++ b/flight/Modules/Battery/battery.c @@ -75,7 +75,7 @@ static void onTimer(UAVObjEvent* ev); * Initialise the module, called on startup * \returns 0 on success or -1 if initialisation failed */ -module_initcall(BatteryInitialize, 0); +MODULE_INITCALL(BatteryInitialize, 0, 0, 0, MODULE_EXEC_NOORDER_FLAG); int32_t BatteryInitialize(void) { static UAVObjEvent ev; diff --git a/flight/Modules/Example/example.c b/flight/Modules/Example/example.c index 5de6821a2..3df8e912c 100644 --- a/flight/Modules/Example/example.c +++ b/flight/Modules/Example/example.c @@ -59,4 +59,4 @@ void ExampleInitialize(void) { ExampleModEventInitialize(); } -module_initcall(ExampleInitialize, 0, ExampleStart, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(ExampleInitialize, 0, ExampleStart, 0, MODULE_EXEC_NOORDER_FLAG); diff --git a/flight/Modules/FirmwareIAP/firmwareiap.c b/flight/Modules/FirmwareIAP/firmwareiap.c index 696157630..bcd8a7f71 100644 --- a/flight/Modules/FirmwareIAP/firmwareiap.c +++ b/flight/Modules/FirmwareIAP/firmwareiap.c @@ -88,7 +88,7 @@ static void resetTask(UAVObjEvent *); * \note * */ -module_initcall(FirmwareIAPInitialize, 0, 0, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(FirmwareIAPInitialize, 0, 0, 0, MODULE_EXEC_NOORDER_FLAG); int32_t FirmwareIAPInitialize() { const struct pios_board_info * bdinfo = &pios_board_info_blob; diff --git a/flight/Modules/FlightPlan/flightplan.c b/flight/Modules/FlightPlan/flightplan.c index a9a0ac203..894399946 100644 --- a/flight/Modules/FlightPlan/flightplan.c +++ b/flight/Modules/FlightPlan/flightplan.c @@ -86,7 +86,7 @@ int32_t FlightPlanInitialize() return 0; } -module_initcall(FlightPlanInitialize, 0, FlightPlanStart, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(FlightPlanInitialize, 0, FlightPlanStart, 0, MODULE_EXEC_NOORDER_FLAG); /** * Module task */ diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c index 04cf87d07..8fd4723aa 100644 --- a/flight/Modules/GPS/GPS.c +++ b/flight/Modules/GPS/GPS.c @@ -129,7 +129,7 @@ int32_t GPSInitialize(void) return 0; } -module_initcall(GPSInitialize, 0, GPSStart, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(GPSInitialize, 0, GPSStart, 0, MODULE_EXEC_NOORDER_FLAG); // **************** /** diff --git a/flight/Modules/Guidance/guidance.c b/flight/Modules/Guidance/guidance.c index d95a0c972..488d192c2 100644 --- a/flight/Modules/Guidance/guidance.c +++ b/flight/Modules/Guidance/guidance.c @@ -105,7 +105,7 @@ int32_t GuidanceInitialize() return 0; } -module_initcall(GuidanceInitialize, 0, GuidanceStart, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(GuidanceInitialize, 0, GuidanceStart, 0, MODULE_EXEC_NOORDER_FLAG); static float northVelIntegral = 0; static float eastVelIntegral = 0; diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c index f71e3ed2f..b95b2a1e6 100644 --- a/flight/Modules/ManualControl/manualcontrol.c +++ b/flight/Modules/ManualControl/manualcontrol.c @@ -170,7 +170,7 @@ int32_t ManualControlInitialize() //ManualControlStart(); return 0; } -module_initcall(ManualControlInitialize, 0, ManualControlStart, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(ManualControlInitialize, 0, ManualControlStart, 0, MODULE_EXEC_NOORDER_FLAG); /** * Module task diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c index 0043f61ab..dae2ac687 100644 --- a/flight/Modules/Stabilization/stabilization.c +++ b/flight/Modules/Stabilization/stabilization.c @@ -121,7 +121,7 @@ int32_t StabilizationInitialize() return 0; } -module_initcall(StabilizationInitialize, 0, StabilizationStart, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(StabilizationInitialize, 0, StabilizationStart, 0, MODULE_EXEC_NOORDER_FLAG); /** * Module task diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c index fb9d9cc50..b9deb8590 100644 --- a/flight/Modules/System/systemmod.c +++ b/flight/Modules/System/systemmod.c @@ -111,7 +111,7 @@ int32_t SystemModInitialize(void) return 0; } -module_initcall(SystemModInitialize, 0, 0, 0, MODULE_EXEC_FIRST_FLAG); +MODULE_INITCALL(SystemModInitialize, 0, 0, 0, MODULE_EXEC_FIRST_FLAG); /** * System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS */ diff --git a/flight/Modules/Telemetry/telemetry.c b/flight/Modules/Telemetry/telemetry.c index b5da66d90..9b738e4d8 100644 --- a/flight/Modules/Telemetry/telemetry.c +++ b/flight/Modules/Telemetry/telemetry.c @@ -143,7 +143,7 @@ int32_t TelemetryInitialize(void) return 0; } -module_initcall(TelemetryInitialize, 0, TelemetryStart, 0, MODULE_EXEC_LAST_FLAG); +MODULE_INITCALL(TelemetryInitialize, 0, TelemetryStart, 0, MODULE_EXEC_LAST_FLAG); /** * Register a new object, adds object to local list and connects the queue depending on the object's diff --git a/flight/PiOS.posix/inc/pios_initcall.h b/flight/PiOS.posix/inc/pios_initcall.h index 538d43daa..c83b6d77c 100644 --- a/flight/PiOS.posix/inc/pios_initcall.h +++ b/flight/PiOS.posix/inc/pios_initcall.h @@ -38,8 +38,8 @@ * and we cannot define a linker script for each of them atm */ -#define uavobj_initcall(fn) -#define module_initcall(ifn, iparam, sfn, sparam, flags) +#define UAVOBJ_INITCALL(fn) +#define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags) #define MODULE_TASKCREATE_ALL(); diff --git a/flight/PiOS.win32/inc/pios_initcall.h b/flight/PiOS.win32/inc/pios_initcall.h index 5c1c31c66..aebf64b29 100644 --- a/flight/PiOS.win32/inc/pios_initcall.h +++ b/flight/PiOS.win32/inc/pios_initcall.h @@ -38,8 +38,8 @@ * and we cannot define a linker script for each of them atm */ -#define uavobj_initcall(fn) -#define module_initcall(ifn, iparam, sfn, sparam, flags) +#define UAVOBJ_INITCALL(fn) +#define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags) #define MODULE_TASKCREATE_ALL(); diff --git a/flight/PiOS/inc/pios_initcall.h b/flight/PiOS/inc/pios_initcall.h index b7cf00535..3c71d892d 100644 --- a/flight/PiOS/inc/pios_initcall.h +++ b/flight/PiOS/inc/pios_initcall.h @@ -73,8 +73,8 @@ extern initmodule_t __module_initcall_start[], __module_initcall_end[]; static initmodule_t __initcall_##fn __attribute__((__used__)) \ __attribute__((__section__(".initcall" level ".init"))) = { .flag = param, .param_minit = iparam, .fn_minit = ifn, .param_tinit = sparam, .fn_tinit = sfn } -#define uavobj_initcall(fn) __define_initcall("uavobj",fn,1) -#define module_initcall(ifn, iparam, sfn, sparam, flags) __define_module_initcall("module", ifn, iparam, sfn, sparam, flags) +#define UAVOBJ_INITCALL(fn) __define_initcall("uavobj",fn,1) +#define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags) __define_module_initcall("module", ifn, iparam, sfn, sparam, flags) #define MODULE_INITIALISE_ALL(); for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \ if (fn->fn_minit && ( (fn->flag & MODULE_EXEC_FIRST_FLAG) == MODULE_EXEC_FIRST_FLAG) ) \ diff --git a/flight/UAVObjects/uavobjecttemplate.c b/flight/UAVObjects/uavobjecttemplate.c index 3fd1517eb..9dd45b09f 100644 --- a/flight/UAVObjects/uavobjecttemplate.c +++ b/flight/UAVObjects/uavobjecttemplate.c @@ -64,7 +64,7 @@ int32_t $(NAME)Initialize(void) } } -uavobj_initcall($(NAME)Initialize); +UAVOBJ_INITCALL($(NAME)Initialize); /** * Initialize object fields and metadata with the default values. From 4c0245281df9f3470655a3cd34dc3e0295596a59 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sat, 25 Jun 2011 10:38:37 -0500 Subject: [PATCH 090/241] Now we store the gyro bias avoid quashing the initialization correction. --- flight/Modules/Attitude/attitude.c | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c index ea0c8e96a..686c36d19 100644 --- a/flight/Modules/Attitude/attitude.c +++ b/flight/Modules/Attitude/attitude.c @@ -158,7 +158,10 @@ static void AttitudeTask(void *parameters) yawBiasRate = 0.23; init = 0; } else if (init == 0) { - settingsUpdatedCb(AttitudeSettingsHandle()); + // Reload settings (all the rates) + AttitudeSettingsAccelKiGet(&accelKi); + AttitudeSettingsAccelKpGet(&accelKp); + AttitudeSettingsYawBiasRateGet(&yawBiasRate); init = 1; } From 6683ce85706cc4d7732a38c7d154fac47bdc9e92 Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Sat, 25 Jun 2011 11:40:01 -0700 Subject: [PATCH 091/241] OP-423: Make it more obvious that MODULE_TASKCREATE_ALL and MODULE_INITIALIZE_ALL are macro (for now): - remove the ; - also encapsulate the macro by {} in his own scope. --- flight/CopterControl/System/coptercontrol.c | 2 +- flight/Modules/System/systemmod.c | 2 +- flight/OpenPilot/System/openpilot.c | 2 +- flight/PiOS.posix/inc/pios_initcall.h | 6 +++--- flight/PiOS.win32/inc/pios_initcall.h | 6 +++--- flight/PiOS/inc/pios_initcall.h | 8 ++++---- 6 files changed, 13 insertions(+), 13 deletions(-) diff --git a/flight/CopterControl/System/coptercontrol.c b/flight/CopterControl/System/coptercontrol.c index 821406f9e..4e8837ed8 100644 --- a/flight/CopterControl/System/coptercontrol.c +++ b/flight/CopterControl/System/coptercontrol.c @@ -77,7 +77,7 @@ int main() #endif /* Initialize modules */ - MODULE_INITIALISE_ALL(); + MODULE_INITIALISE_ALL return 0; } diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c index b9deb8590..ce0d61444 100644 --- a/flight/Modules/System/systemmod.c +++ b/flight/Modules/System/systemmod.c @@ -120,7 +120,7 @@ static void systemTask(void *parameters) portTickType lastSysTime; /* create all modules thread */ - MODULE_TASKCREATE_ALL(); + MODULE_TASKCREATE_ALL // Initialize vars idleCounter = 0; diff --git a/flight/OpenPilot/System/openpilot.c b/flight/OpenPilot/System/openpilot.c index 4866c4d8e..ec3aae5f8 100644 --- a/flight/OpenPilot/System/openpilot.c +++ b/flight/OpenPilot/System/openpilot.c @@ -92,7 +92,7 @@ int main() PIOS_Board_Init(); /* Initialize modules */ - MODULE_INITIALISE_ALL(); + MODULE_INITIALISE_ALL #if INCLUDE_TEST_TASKS /* Create test tasks */ diff --git a/flight/PiOS.posix/inc/pios_initcall.h b/flight/PiOS.posix/inc/pios_initcall.h index c83b6d77c..eacbbeaab 100644 --- a/flight/PiOS.posix/inc/pios_initcall.h +++ b/flight/PiOS.posix/inc/pios_initcall.h @@ -41,9 +41,9 @@ #define UAVOBJ_INITCALL(fn) #define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags) -#define MODULE_TASKCREATE_ALL(); +#define MODULE_TASKCREATE_ALL -#define MODULE_INITIALISE_ALL(); \ +#define MODULE_INITIALISE_ALL { \ /* Initialize modules */ \ InitModules(); \ /* Start the FreeRTOS scheduler which never returns.*/ \ @@ -56,7 +56,7 @@ PIOS_LED_Toggle(LED1); \ PIOS_LED_Toggle(LED2); \ PIOS_DELAY_WaitmS(100); \ - } + }; } #endif /* PIOS_INITCALL_H */ diff --git a/flight/PiOS.win32/inc/pios_initcall.h b/flight/PiOS.win32/inc/pios_initcall.h index aebf64b29..a71f64e03 100644 --- a/flight/PiOS.win32/inc/pios_initcall.h +++ b/flight/PiOS.win32/inc/pios_initcall.h @@ -41,9 +41,9 @@ #define UAVOBJ_INITCALL(fn) #define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags) -#define MODULE_TASKCREATE_ALL(); +#define MODULE_TASKCREATE_ALL -#define MODULE_INITIALISE_ALL(); \ +#define MODULE_INITIALISE_ALL { \ /* Initialize modules */ \ InitModules(); \ /* Start the FreeRTOS scheduler which never returns.*/ \ @@ -56,7 +56,7 @@ PIOS_LED_Toggle(LED1); \ PIOS_LED_Toggle(LED2); \ PIOS_DELAY_WaitmS(100); \ - } + }; } #endif /* PIOS_INITCALL_H */ diff --git a/flight/PiOS/inc/pios_initcall.h b/flight/PiOS/inc/pios_initcall.h index 3c71d892d..06c8b2ec0 100644 --- a/flight/PiOS/inc/pios_initcall.h +++ b/flight/PiOS/inc/pios_initcall.h @@ -76,7 +76,7 @@ extern initmodule_t __module_initcall_start[], __module_initcall_end[]; #define UAVOBJ_INITCALL(fn) __define_initcall("uavobj",fn,1) #define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags) __define_module_initcall("module", ifn, iparam, sfn, sparam, flags) -#define MODULE_INITIALISE_ALL(); for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \ +#define MODULE_INITIALISE_ALL { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \ if (fn->fn_minit && ( (fn->flag & MODULE_EXEC_FIRST_FLAG) == MODULE_EXEC_FIRST_FLAG) ) \ (fn->fn_minit)(); \ for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \ @@ -84,11 +84,11 @@ extern initmodule_t __module_initcall_start[], __module_initcall_end[]; (fn->fn_minit)(); \ for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \ if (fn->fn_minit && ( (fn->flag & MODULE_EXEC_LAST_FLAG) == MODULE_EXEC_LAST_FLAG) ) \ - (fn->fn_minit)(); + (fn->fn_minit)(); } -#define MODULE_TASKCREATE_ALL(); for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \ +#define MODULE_TASKCREATE_ALL { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \ if (fn->fn_tinit) \ - (fn->fn_tinit)(); + (fn->fn_tinit)(); } #endif /* PIOS_INITCALL_H */ From fc62f6e522ec396d2cb587d3e33e0c0e18eff134 Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Sun, 26 Jun 2011 00:25:06 +0200 Subject: [PATCH 092/241] Module initialisation rework ported to PiOS.posix --- flight/CopterControl/System/coptercontrol.c | 3 --- flight/OpenPilot/Makefile.posix | 4 ++++ flight/OpenPilot/System/openpilot.c | 5 +---- flight/PiOS.posix/inc/pios_initcall.h | 10 +++++++++- 4 files changed, 14 insertions(+), 8 deletions(-) diff --git a/flight/CopterControl/System/coptercontrol.c b/flight/CopterControl/System/coptercontrol.c index 4e8837ed8..3a5f31d45 100644 --- a/flight/CopterControl/System/coptercontrol.c +++ b/flight/CopterControl/System/coptercontrol.c @@ -42,9 +42,6 @@ /* Global Variables */ -/* Prototype of generated InitModules() function */ -extern void InitModules(void); - /* Prototype of PIOS_Board_Init() function */ extern void PIOS_Board_Init(void); diff --git a/flight/OpenPilot/Makefile.posix b/flight/OpenPilot/Makefile.posix index 050323721..e349f368f 100644 --- a/flight/OpenPilot/Makefile.posix +++ b/flight/OpenPilot/Makefile.posix @@ -441,9 +441,13 @@ ${OUTDIR}/InitMods.c: Makefile.posix @echo ${MSG_MODINIT} @echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c @echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c + @echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Start(void);}${quote} >> ${OUTDIR}/InitMods.c @echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c @echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c @echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c + @echo ${quote}void StartModules() {${quote} >> ${OUTDIR}/InitMods.c + @echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Start();}${quote} >> ${OUTDIR}/InitMods.c + @echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c # Generate code for PyMite ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py) diff --git a/flight/OpenPilot/System/openpilot.c b/flight/OpenPilot/System/openpilot.c index ec3aae5f8..29e4ca797 100644 --- a/flight/OpenPilot/System/openpilot.c +++ b/flight/OpenPilot/System/openpilot.c @@ -62,9 +62,6 @@ static void TaskSDCard(void *pvParameters); int32_t CONSOLE_Parse(uint8_t port, char c); void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value); -/* Prototype of generated InitModules() function */ -extern void InitModules(void); - /* Prototype of PIOS_Board_Init() function */ extern void PIOS_Board_Init(void); @@ -321,5 +318,5 @@ static void TaskSDCard(void *pvParameters) /** * @} * @} - */ + */ diff --git a/flight/PiOS.posix/inc/pios_initcall.h b/flight/PiOS.posix/inc/pios_initcall.h index eacbbeaab..2860d4bf6 100644 --- a/flight/PiOS.posix/inc/pios_initcall.h +++ b/flight/PiOS.posix/inc/pios_initcall.h @@ -38,14 +38,22 @@ * and we cannot define a linker script for each of them atm */ +extern void InitModules(); +extern void StartModules(); + #define UAVOBJ_INITCALL(fn) #define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags) -#define MODULE_TASKCREATE_ALL +#define MODULE_TASKCREATE_ALL { \ + /* Start all module threads */ \ + StartModules(); \ + } #define MODULE_INITIALISE_ALL { \ /* Initialize modules */ \ InitModules(); \ + /* Initialize the system thread */ \ + SystemModInitialize(); \ /* Start the FreeRTOS scheduler which never returns.*/ \ vTaskStartScheduler(); \ /* If all is well we will never reach here as the scheduler will now be running. */ \ From fbf0b021c70d34ce8a37ec4a5175601f9bbe8dea Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Sat, 25 Jun 2011 20:06:33 -0700 Subject: [PATCH 093/241] OP-423: Replace hardcoded value and get value from memory section (change from code review) --- flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld | 2 +- flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld index 3e84a1651..8d54fd4fd 100644 --- a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld +++ b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld @@ -12,7 +12,7 @@ PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO)); _estack = 0x20004FF0; /* there is probably a way to get that from the MEMORY section */ -_eram = 0x20005000; +_eram = ORIGIN(SRAM) + LENGTH(SRAM); /* Section Definitions */ SECTIONS diff --git a/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld b/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld index ffd9c7af6..669eb10e2 100644 --- a/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld +++ b/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld @@ -3,7 +3,7 @@ _irq_stack_size = 0x400; /* This is the size of the stack for early init: life span is until scheduler starts */ _init_stack_size = 0x400; /* there is probably a way to get that from the MEMORY section */ -_eram = 0x20010000; +_eram = ORIGIN(RAM) + LENGTH(RAM); /* Check valid alignment for VTOR */ ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table"); From d91ad178af98fd2dc57b54c5024b922fb16ed9ba Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Sat, 25 Jun 2011 20:14:13 -0700 Subject: [PATCH 094/241] OP-423: revert gcc and QT to version used by everybody for now until the new gcc works on MAC. --- Makefile | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/Makefile b/Makefile index 0bd0d0c2f..60c918cd4 100644 --- a/Makefile +++ b/Makefile @@ -160,10 +160,10 @@ $(BUILD_DIR): ############################################################### # Set up QT toolchain -QT_SDK_DIR := $(TOOLS_DIR)/qtsdk-2010.05 +QT_SDK_DIR := $(TOOLS_DIR)/qtsdk-2010.02 .PHONY: qt_sdk_install -qt_sdk_install: QT_SDK_URL := http://get.qt.nokia.com/qtsdk/qt-sdk-linux-x86-opensource-2010.05.bin +qt_sdk_install: QT_SDK_URL := http://get.qt.nokia.com/qtsdk/qt-sdk-linux-x86-opensource-2010.02.bin qt_sdk_install: QT_SDK_FILE := $(notdir $(QT_SDK_URL)) # order-only prereq on directory existance: qt_sdk_install : | $(DL_DIR) $(TOOLS_DIR) @@ -180,10 +180,10 @@ qt_sdk_clean: $(V1) [ ! -d "$(QT_SDK_DIR)" ] || $(RM) -rf $(QT_SDK_DIR) # Set up ARM (STM32) SDK -ARM_SDK_DIR := $(TOOLS_DIR)/arm-2011.03 +ARM_SDK_DIR := $(TOOLS_DIR)/arm-2009q3 .PHONY: arm_sdk_install -arm_sdk_install: ARM_SDK_URL := http://www.codesourcery.com/sgpp/lite/arm/portal/package5353/public/arm-none-eabi/arm-2011.03-42-arm-none-eabi-i686-pc-linux-gnu.tar.bz2 +arm_sdk_install: ARM_SDK_URL := http://www.codesourcery.com/sgpp/lite/arm/portal/package5353/public/arm-none-eabi/arm-2009q3-68-arm-none-eabi-i686-pc-linux-gnu.tar.bz2 arm_sdk_install: ARM_SDK_FILE := $(notdir $(ARM_SDK_URL)) # order-only prereq on directory existance: arm_sdk_install: | $(DL_DIR) $(TOOLS_DIR) From c55602a46657cb26adff230a7530af86b8ce7d67 Mon Sep 17 00:00:00 2001 From: elafargue Date: Sun, 26 Jun 2011 12:16:21 +0200 Subject: [PATCH 095/241] OP-538 Included fixes into ground codebase, thanks. --- .../src/libs/glc_lib/3rdparty/lib3ds/light.c | 2 -- .../openpilotgcs/src/plugins/config/ahrs.ui | 1 - .../src/plugins/hitlnew/hitlwidget.cpp | 23 ++++++++----------- .../plugins/notify/notifypluginoptionspage.ui | 2 +- 4 files changed, 11 insertions(+), 17 deletions(-) diff --git a/ground/openpilotgcs/src/libs/glc_lib/3rdparty/lib3ds/light.c b/ground/openpilotgcs/src/libs/glc_lib/3rdparty/lib3ds/light.c index 311f1d623..2eee44859 100644 --- a/ground/openpilotgcs/src/libs/glc_lib/3rdparty/lib3ds/light.c +++ b/ground/openpilotgcs/src/libs/glc_lib/3rdparty/lib3ds/light.c @@ -30,8 +30,6 @@ /*! * \defgroup light Lights */ -/*! - /*! * \ingroup light diff --git a/ground/openpilotgcs/src/plugins/config/ahrs.ui b/ground/openpilotgcs/src/plugins/config/ahrs.ui index e41c73afd..a9ad4ca32 100644 --- a/ground/openpilotgcs/src/plugins/config/ahrs.ui +++ b/ground/openpilotgcs/src/plugins/config/ahrs.ui @@ -110,7 +110,6 @@ - diff --git a/ground/openpilotgcs/src/plugins/hitlnew/hitlwidget.cpp b/ground/openpilotgcs/src/plugins/hitlnew/hitlwidget.cpp index 1678e64a5..f965b5ad3 100644 --- a/ground/openpilotgcs/src/plugins/hitlnew/hitlwidget.cpp +++ b/ground/openpilotgcs/src/plugins/hitlnew/hitlwidget.cpp @@ -46,23 +46,23 @@ HITLWidget::HITLWidget(QWidget *parent) : QWidget(parent), simulator(0) { - widget = new Ui_HITLWidget(); - widget->setupUi(this); + widget = new Ui_HITLWidget(); + widget->setupUi(this); widget->startButton->setEnabled(true); widget->stopButton->setEnabled(false); greenColor = "rgb(35, 221, 35)"; - strAutopilotDisconnected = " Autopilot disconnected "; - strSimulatorDisconnected = " Simulator disconnected "; - strAutopilotConnected = " Autopilot connected "; - strSimulatorConnected = " Simulator connected "; + strAutopilotDisconnected = " Autopilot OFF "; + strSimulatorDisconnected = " Simulator OFF "; + strAutopilotConnected = " Autopilot ON "; + strSimulatorConnected = " Simulator ON "; widget->apLabel->setText(strAutopilotDisconnected); widget->simLabel->setText(strSimulatorDisconnected); - connect(widget->startButton, SIGNAL(clicked()), this, SLOT(startButtonClicked())); - connect(widget->stopButton, SIGNAL(clicked()), this, SLOT(stopButtonClicked())); + connect(widget->startButton, SIGNAL(clicked()), this, SLOT(startButtonClicked())); + connect(widget->stopButton, SIGNAL(clicked()), this, SLOT(stopButtonClicked())); connect(widget->buttonClearLog, SIGNAL(clicked()), this, SLOT(buttonClearLogClicked())); } @@ -188,10 +188,9 @@ void HITLWidget::buttonClearLogClicked() void HITLWidget::onAutopilotConnect() { - widget->simLabel->setStyleSheet(QString::fromUtf8("QFrame{\n""background-color: %1; color: white}").arg(greenColor)); - + widget->apLabel->setStyleSheet(QString::fromUtf8("QFrame{\n""background-color: %1; color: white}").arg(greenColor)); widget->apLabel->setText(strAutopilotConnected); - qxtLog->info("HITL: Autopilot connected, initializing for HITL simulation"); + qxtLog->info("HITL: Autopilot connected, initializing for HITL simulation"); } void HITLWidget::onAutopilotDisconnect() @@ -214,5 +213,3 @@ void HITLWidget::onSimulatorDisconnect() widget->simLabel->setText(" " + simulator->Name() +" disconnected "); qxtLog->info(QString("HITL: %1 disconnected").arg(simulator->Name())); } - - diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.ui b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.ui index 3d6d77045..b3f48432a 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.ui +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.ui @@ -31,7 +31,7 @@ Sound Collection - + 10 From b729b67f33d87ea0b8923c03374114ada74127ce Mon Sep 17 00:00:00 2001 From: elafargue Date: Sun, 26 Jun 2011 12:18:00 +0200 Subject: [PATCH 096/241] Attempt at making the new uploader gadget a bit more compact for smaller screens, make warning icon consistent with the rest of the icons. --- artwork/GCS Icons/dialog-warning.svg | 35 ++ .../plugins/uploader/devicedescriptorstruct.h | 8 +- .../src/plugins/uploader/devicewidget.cpp | 36 +- .../src/plugins/uploader/devicewidget.ui | 481 ++++++++++-------- .../src/plugins/uploader/images/warning.svg | 135 ++--- .../plugins/uploader/runningdevicewidget.cpp | 10 +- .../plugins/uploader/runningdevicewidget.h | 2 +- .../plugins/uploader/runningdevicewidget.ui | 66 +-- 8 files changed, 407 insertions(+), 366 deletions(-) create mode 100644 artwork/GCS Icons/dialog-warning.svg diff --git a/artwork/GCS Icons/dialog-warning.svg b/artwork/GCS Icons/dialog-warning.svg new file mode 100644 index 000000000..8de454769 --- /dev/null +++ b/artwork/GCS Icons/dialog-warning.svg @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ground/openpilotgcs/src/plugins/uploader/devicedescriptorstruct.h b/ground/openpilotgcs/src/plugins/uploader/devicedescriptorstruct.h index 1304127e1..037ecede0 100644 --- a/ground/openpilotgcs/src/plugins/uploader/devicedescriptorstruct.h +++ b/ground/openpilotgcs/src/plugins/uploader/devicedescriptorstruct.h @@ -14,16 +14,16 @@ public: { switch (id | 0x0011) { case 0x0111://MB - return QString("Board name: OpenPilot MainBoard"); + return QString("OpenPilot MainBoard"); break; case 0x0311://PipX - return QString("Board name: PipXtreame"); + return QString("PipXtreame"); break; case 0x0411://Coptercontrol - return QString("Board name: CopterControl"); + return QString("CopterControl"); break; case 0x0211://INS - return QString("Board name: OpenPilot INS"); + return QString("OpenPilot INS"); break; default: return QString(""); diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp index 7751ee416..a679bbb1b 100644 --- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp @@ -82,16 +82,16 @@ QString deviceWidget::idToBoardName(int id) { switch (id | 0x0011) { case 0x0111://MB - return QString("Board name: OpenPilot MainBoard"); + return QString("OpenPilot MainBoard"); break; case 0x0311://PipX - return QString("Board name: PipXtreame"); + return QString("PipXtreme"); break; case 0x0411://Coptercontrol - return QString("Board name: CopterControl"); + return QString("CopterControl"); break; case 0x0211://INS - return QString("Board name: OpenPilot INS"); + return QString("OpenPilot INS"); break; default: return QString(""); @@ -141,7 +141,7 @@ void deviceWidget::populate() myDevice->lblAccess->setText(QString("Flash access: ") + QString(r ? "R" : "-") + QString(w ? "W" : "-")); myDevice->lblMaxCode->setText(QString("Max code size: ") +QString::number(m_dfu->devices[deviceID].SizeOfCode)); - myDevice->lblCRC->setText(QString("Firmware CRC: ") + QString::number(m_dfu->devices[deviceID].FW_CRC)); + myDevice->lblCRC->setText(QString::number(m_dfu->devices[deviceID].FW_CRC)); myDevice->lblBLVer->setText(QString("BL version: ") + QString::number(m_dfu->devices[deviceID].BL_Version)); int size=((OP_DFU::device)m_dfu->devices[deviceID]).SizeOfDesc; m_dfu->enterDFU(deviceID); @@ -182,8 +182,8 @@ bool deviceWidget::populateBoardStructuredDescription(QByteArray desc) { if(UploaderGadgetWidget::descriptionToStructure(desc,&onBoardDescrition)) { - myDevice->lblGitTag->setText("Git commit tag: "+onBoardDescrition.gitTag); - myDevice->lblBuildDate->setText(QString("Firmware date: ") + onBoardDescrition.buildDate); + myDevice->lblGitTag->setText(onBoardDescrition.gitTag); + myDevice->lblBuildDate->setText(onBoardDescrition.buildDate); if(onBoardDescrition.description.startsWith("release",Qt::CaseInsensitive)) { myDevice->lblDescription->setText(QString("Firmware tag: ")+onBoardDescrition.description); @@ -194,7 +194,7 @@ bool deviceWidget::populateBoardStructuredDescription(QByteArray desc) } else { - myDevice->lblDescription->setText(QString("Firmware tag: ")+onBoardDescrition.description+QString(" (beta or custom build)")); + myDevice->lblDescription->setText(onBoardDescrition.description); QPixmap pix = QPixmap(QString(":uploader/images/warning.svg")); myDevice->lblCertified->setPixmap(pix); myDevice->lblCertified->setToolTip(tr("Custom Firmware Build")); @@ -212,11 +212,11 @@ bool deviceWidget::populateLoadedStructuredDescription(QByteArray desc) { if(UploaderGadgetWidget::descriptionToStructure(desc,&LoadedDescrition)) { - myDevice->lblGitTagL->setText("Git commit tag: "+LoadedDescrition.gitTag); - myDevice->lblBuildDateL->setText(QString("Firmware date: ") + LoadedDescrition.buildDate); + myDevice->lblGitTagL->setText(LoadedDescrition.gitTag); + myDevice->lblBuildDateL->setText( LoadedDescrition.buildDate); if(LoadedDescrition.description.startsWith("release",Qt::CaseInsensitive)) { - myDevice->lblDescritpionL->setText(QString("Firmware tag: ")+LoadedDescrition.description); + myDevice->lblDescritpionL->setText(LoadedDescrition.description); myDevice->description->setText(LoadedDescrition.description); QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg")); myDevice->lblCertifiedL->setPixmap(pix); @@ -224,7 +224,7 @@ bool deviceWidget::populateLoadedStructuredDescription(QByteArray desc) } else { - myDevice->lblDescritpionL->setText(QString("Firmware tag: ")+LoadedDescrition.description+QString(" (beta or custom build)")); + myDevice->lblDescritpionL->setText(LoadedDescrition.description); myDevice->description->setText(LoadedDescrition.description); QPixmap pix = QPixmap(QString(":uploader/images/warning.svg")); myDevice->lblCertifiedL->setPixmap(pix); @@ -303,8 +303,8 @@ void deviceWidget::loadFirmware() myDevice->youdont->setChecked(false); QByteArray desc = loadedFW.right(100); QPixmap px; - myDevice->lblCRCL->setText(QString("FW CRC: ") + QString::number(DFUObject::CRCFromQBArray(loadedFW,m_dfu->devices[deviceID].SizeOfCode))); - myDevice->lblFirmwareSizeL->setText(QString("Firmware size: ")+QVariant(loadedFW.length()).toString()+ QString(" bytes")); + myDevice->lblCRCL->setText( QString::number(DFUObject::CRCFromQBArray(loadedFW,m_dfu->devices[deviceID].SizeOfCode))); + //myDevice->lblFirmwareSizeL->setText(QString("Firmware size: ")+QVariant(loadedFW.length()).toString()+ QString(" bytes")); if (populateLoadedStructuredDescription(desc)) { myDevice->youdont->setChecked(true); @@ -312,7 +312,7 @@ void deviceWidget::loadFirmware() myDevice->groupCustom->setVisible(false); if(myDevice->lblCRC->text()==myDevice->lblCRCL->text()) { - myDevice->statusLabel->setText(tr("The loaded firmware maches the firmware on the board. You shouldn't upload it")); + myDevice->statusLabel->setText(tr("The loaded firmware the same as on the board. You should not upload it")); px.load(QString(":/uploader/images/warning.svg")); } else if(myDevice->lblDevName->text()!=myDevice->lblBrdNameL->text()) @@ -322,7 +322,7 @@ void deviceWidget::loadFirmware() } else if(QDateTime::fromString(onBoardDescrition.buildDate)>QDateTime::fromString(LoadedDescrition.buildDate)) { - myDevice->statusLabel->setText(tr("The loaded firmware is older then the firmware on the board. You shouldn't upload it")); + myDevice->statusLabel->setText(tr("The loaded firmware is older than the firmware on the board. You should not upload it")); px.load(QString(":/uploader/images/warning.svg")); } else if(!LoadedDescrition.description.startsWith("release",Qt::CaseInsensitive)) @@ -332,13 +332,13 @@ void deviceWidget::loadFirmware() } else { - myDevice->statusLabel->setText(tr("Everything seems OK. You should upload the loaded firmware by pressing 'upload'")); + myDevice->statusLabel->setText(tr("Everything seems OK. You should upload the loaded firmware by pressing 'Flash'")); px.load(QString(":/uploader/images/gtk-info.svg")); } } else { - myDevice->statusLabel->setText(tr("The loaded firmware was not packaged with a compatible format. You shouldn't' upload it, if you know what you are doing and still want to upload it confirm it by checking the checkbox bellow")); + myDevice->statusLabel->setText(tr("The loaded firmware was not packaged with the OpenPilot format. You should not upload it unless you know what you are doing.")); px.load(QString(":/uploader/images/warning.svg")); myDevice->youdont->setChecked(false); myDevice->youdont->setVisible(true); diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui b/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui index 0543bcbc9..6f7ed132f 100644 --- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui +++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui @@ -6,8 +6,8 @@ 0 0 - 516 - 582 + 576 + 500 @@ -33,86 +33,114 @@ background: transparent + + QFrame::NoFrame + - + - - - lblDevName - - + + + + + + + lblDevName + + + + + + + DeviceID + + + + + + + lblHWRev + + + + + + + RW + + + + + + + BL Version + + + + + + + MaxCodeSize + + + + + + + + + + + Loads the firmware + + + Load... + + + + + + + I know what I'm doing + + + true + + + + + + + false + + + Update the firmware on this board. + + + Flash + + + + + + + Download the current board firmware to your computer + + + Retrieve... + + + + + + - - - DeviceID - - - - - - - lblHWRev - - - - - - - RW - - - - - - - BL Version - - - - - - - MaxCodeSize - - - - - - - - - - - Loads the firmware - - - Open - - - - - - - false - - - Update the firmware on this board. - - - Flash - - - - - - - Download the current board firmware to your computer - - - Retrieve... + + + 0 @@ -120,13 +148,6 @@ - - - - 0 - - - @@ -160,149 +181,211 @@ - - - - I know what I'm doing - - - true - - - - - - Firmware currently on the device - - - - + + + + + Firmware: + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + - + + + Board name: + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + Description: + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + Build date: + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + GIT Tag: + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + CRC: + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + + + + On Device + + + + - - - lblBrdName - - + + + + + lblBrdName + + + + + + + lblDescription + + + + + + + lblBuildDate + + + + + + + lblGitTag + + + + + + + lblCRC + + + + - + - lblDescription + lblCertified - - - - - - lblBuildDate - - - - - - - lblGitTag - - - - - - - lblCRC + + false - - - - lblCertified - - - false - - - - - - - - - - - true - - - Loaded Firmware - - - - + + + + + + true + + + Loaded + + - + - - - lblBrdName - - + + + + + lblBrdName + + + + + + + lblDescritpionL + + + + + + + lblBuildDate + + + + + + + lblGitTag + + + + + + + lblCRC + + + + - + - lblDescritpionL - - - - - - - lblBuildDate - - - - - - - lblGitTag - - - - - - - lblCRC - - - - - - - lblFirmwareSizeL + lblCertifiedL - - - - lblCertifiedL - - - - - - + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + diff --git a/ground/openpilotgcs/src/plugins/uploader/images/warning.svg b/ground/openpilotgcs/src/plugins/uploader/images/warning.svg index cd684c4e1..8de454769 100644 --- a/ground/openpilotgcs/src/plugins/uploader/images/warning.svg +++ b/ground/openpilotgcs/src/plugins/uploader/images/warning.svg @@ -1,102 +1,35 @@ - - -image/svg+xml - - - - - - - - - - - - - \ No newline at end of file + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp index 9b56f2dfb..e45dbad83 100644 --- a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp @@ -37,8 +37,10 @@ runningDeviceWidget::runningDeviceWidget(QWidget *parent) : // Initialization of the Device icon display myDevice->devicePicture->setScene(new QGraphicsScene(this)); + /* QPixmap pix = QPixmap(QString(":uploader/images/view-refresh.svg")); myDevice->statusIcon->setPixmap(pix); + */ } @@ -104,7 +106,7 @@ void runningDeviceWidget::populate() myDevice->devicePicture->fitInView(devicePic,Qt::KeepAspectRatio); QString serial = utilMngr->getBoardCPUSerial().toHex(); - myDevice->lblCPU->setText(QString("CPU serial number: "+serial)); + myDevice->CPUSerial->setText(serial); QByteArray description = utilMngr->getBoardDescription(); deviceDescriptorStruct devDesc; @@ -120,7 +122,7 @@ void runningDeviceWidget::populate() } else { - myDevice->lblFWTag->setText(QString("Firmware tag: ")+devDesc.description+QString(" (beta or custom build)")); + myDevice->lblFWTag->setText(QString("Firmware tag: ")+devDesc.description); QPixmap pix = QPixmap(QString(":uploader/images/warning.svg")); myDevice->lblCertified->setPixmap(pix); myDevice->lblCertified->setToolTip(tr("Custom Firmware Build")); @@ -138,13 +140,14 @@ void runningDeviceWidget::populate() myDevice->lblCertified->setPixmap(pix); myDevice->lblCertified->setToolTip(tr("Custom Firmware Build")); } - status("Ready...", STATUSICON_INFO); + //status("Ready...", STATUSICON_INFO); } /** Updates status message */ +/* void runningDeviceWidget::status(QString str, StatusIcon ic) { QPixmap px; @@ -164,3 +167,4 @@ void runningDeviceWidget::status(QString str, StatusIcon ic) } myDevice->statusIcon->setPixmap(px); } +*/ diff --git a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h index a1b77b3ba..05dd7f0dc 100644 --- a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h +++ b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h @@ -55,7 +55,7 @@ private: Ui_runningDeviceWidget *myDevice; int deviceID; QGraphicsSvgItem *devicePic; - void status(QString str, StatusIcon ic); + //void status(QString str, StatusIcon ic); signals: diff --git a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui index 1f69d407f..c01332629 100644 --- a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui +++ b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui @@ -7,7 +7,7 @@ 0 0 516 - 253 + 299 @@ -34,6 +34,15 @@ QFrame::NoFrame + + QFrame::Plain + + + Qt::ScrollBarAlwaysOff + + + Qt::ScrollBarAlwaysOff + @@ -60,11 +69,22 @@ - - - TextLabel - - + + + + + CPU Serial: + + + + + + + true + + + + @@ -119,40 +139,6 @@ - - - - - - - - ic - - - - - - - - 0 - 0 - - - - - 75 - true - - - - Status - - - - - - - From a7206361d2e18f26bff8de03a22b7aa12c19968b Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sat, 25 Jun 2011 10:38:37 -0500 Subject: [PATCH 097/241] Slightly different way to respond to sticks in axis lock that is much more responsive and avoids overshoot. --- flight/Modules/Stabilization/stabilization.c | 22 +++++++++++++------ .../stabilizationsettings.xml | 1 + 2 files changed, 16 insertions(+), 7 deletions(-) diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c index 90e41f218..459e3cf12 100644 --- a/flight/Modules/Stabilization/stabilization.c +++ b/flight/Modules/Stabilization/stabilization.c @@ -81,6 +81,7 @@ float gyro_alpha = 0; float gyro_filtered[3] = {0,0,0}; float axis_lock_accum[3] = {0,0,0}; uint8_t max_axis_lock = 0; +uint8_t max_axislock_rate = 0; pid_type pids[PID_MAX]; // Private functions @@ -222,14 +223,20 @@ static void stabilizationTask(void* parameters) break; case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK: - // Track accumulated error between axis lock - axis_lock_accum[i] += (attitudeDesiredAxis[i] - gyro_filtered[i]) * dT; - if(axis_lock_accum[i] > max_axis_lock) - axis_lock_accum[i] = max_axis_lock; - else if(axis_lock_accum[i] < -max_axis_lock) - axis_lock_accum[i] = -max_axis_lock; + if(fabs(attitudeDesiredAxis[i]) > max_axislock_rate) { + // While getting strong commands act like rate mode + rateDesiredAxis[i] = attitudeDesiredAxis[i]; + axis_lock_accum[i] = 0; + } else { + // For weaker commands or no command simply attitude lock (almost) on no gyro change + axis_lock_accum[i] += (attitudeDesiredAxis[i] - gyro_filtered[i]) * dT; + if(axis_lock_accum[i] > max_axis_lock) + axis_lock_accum[i] = max_axis_lock; + else if(axis_lock_accum[i] < -max_axis_lock) + axis_lock_accum[i] = -max_axis_lock; - rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i]); + rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i]); + } break; } } @@ -383,6 +390,7 @@ static void SettingsUpdatedCb(UAVObjEvent * ev) // Maximum deviation to accumulate for axis lock max_axis_lock = settings.MaxAxisLock; + max_axislock_rate = settings.MaxAxisLockRate; // The dT has some jitter iteration to iteration that we don't want to // make thie result unpredictable. Still, it's nicer to specify the constant diff --git a/shared/uavobjectdefinition/stabilizationsettings.xml b/shared/uavobjectdefinition/stabilizationsettings.xml index 73fe8074b..581817e7e 100644 --- a/shared/uavobjectdefinition/stabilizationsettings.xml +++ b/shared/uavobjectdefinition/stabilizationsettings.xml @@ -16,6 +16,7 @@ + From 567e3ffcad46b57f46cd0c9049bf019b5884071a Mon Sep 17 00:00:00 2001 From: zedamota Date: Thu, 30 Jun 2011 12:17:27 +0100 Subject: [PATCH 098/241] OP-542 Board resets with new Uploader IAP module now checks magic value --- flight/Modules/FirmwareIAP/firmwareiap.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/Modules/FirmwareIAP/firmwareiap.c b/flight/Modules/FirmwareIAP/firmwareiap.c index 395ed960f..cfb5d2e9a 100644 --- a/flight/Modules/FirmwareIAP/firmwareiap.c +++ b/flight/Modules/FirmwareIAP/firmwareiap.c @@ -100,7 +100,7 @@ int32_t FirmwareIAPInitialize() data.ArmReset=0; data.crc = 0; FirmwareIAPObjSet( &data ); - FirmwareIAPObjConnectCallback( &FirmwareIAPCallback ); + if(bdinfo->magic==PIOS_BOARD_INFO_BLOB_MAGIC) FirmwareIAPObjConnectCallback( &FirmwareIAPCallback ); return 0; } From 39e646ae1da61d1f183481e13cd5dcf7c9a77574 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Thu, 30 Jun 2011 19:38:52 -0500 Subject: [PATCH 099/241] Make the rates all work properly in axis lock --- flight/Modules/ManualControl/manualcontrol.c | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c index 4f191813d..e5e486f91 100644 --- a/flight/Modules/ManualControl/manualcontrol.c +++ b/flight/Modules/ManualControl/manualcontrol.c @@ -375,18 +375,19 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon stabilization.Roll = (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll : (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] : (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax : - (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.RollMax : + (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] : 0; // this is an invalid mode ; stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch : (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] : (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax : - (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.PitchMax : + (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] : 0; // this is an invalid mode stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw : (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] : - (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? fmod(cmd->Yaw * 180.0, 360) : + (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Yaw * stabSettings.YawMax : + (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] : 0; // this is an invalid mode stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle; From ed913f2a6d2dca7478f8fbd07f383e49074154d7 Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Sun, 3 Jul 2011 22:19:04 +0300 Subject: [PATCH 100/241] Update Milestones file for future milestones --- MILESTONES.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/MILESTONES.txt b/MILESTONES.txt index b8a01ddae..9888bbdb1 100644 --- a/MILESTONES.txt +++ b/MILESTONES.txt @@ -122,7 +122,7 @@ C: Michel Pet D: June 2011 V: http://www.youtube.com/watch?v=QsE2MQELPZY -M: First Height Hold using Sonar +M: First Altitude Hold using Sonar C: D: V: From b3740ec025a7d06f687d5521d2313fe81fe74d3b Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Sun, 3 Jul 2011 12:43:38 -0700 Subject: [PATCH 101/241] OP-423: Clean startup and add weak function call for stack swap. --- flight/CopterControl/System/coptercontrol.c | 21 +++++++--- flight/OpenPilot/System/openpilot.c | 17 +++++++++ flight/PiOS.posix/inc/pios_initcall.h | 13 +------ flight/PiOS.win32/inc/pios_initcall.h | 12 +----- .../PiOS/STM32F10x/startup_stm32f10x_HD_OP.S | 29 +++++++++----- .../PiOS/STM32F10x/startup_stm32f10x_MD_CC.S | 38 ++++++++++++------- 6 files changed, 80 insertions(+), 50 deletions(-) diff --git a/flight/CopterControl/System/coptercontrol.c b/flight/CopterControl/System/coptercontrol.c index 3a5f31d45..f66cf1cf5 100644 --- a/flight/CopterControl/System/coptercontrol.c +++ b/flight/CopterControl/System/coptercontrol.c @@ -44,6 +44,7 @@ /* Prototype of PIOS_Board_Init() function */ extern void PIOS_Board_Init(void); +extern void Stack_Change(void); /** * OpenPilot Main function: @@ -68,14 +69,24 @@ int main() * */ PIOS_Board_Init(); -#ifdef ERASE_FLASH - PIOS_Flash_W25X_EraseChip(); - while(TRUE){}; -#endif - /* Initialize modules */ MODULE_INITIALISE_ALL + /* swap the stack to use the IRQ stack */ + Stack_Change(); + + /* Start the FreeRTOS scheduler which should never returns.*/ + vTaskStartScheduler(); + + /* If all is well we will never reach here as the scheduler will now be running. */ + + /* Do some indication to user that something bad just happened */ + PIOS_LED_Off(LED1); \ + for(;;) { \ + PIOS_LED_Toggle(LED1); \ + PIOS_DELAY_WaitmS(100); \ + }; + return 0; } diff --git a/flight/OpenPilot/System/openpilot.c b/flight/OpenPilot/System/openpilot.c index 29e4ca797..81a8f17b1 100644 --- a/flight/OpenPilot/System/openpilot.c +++ b/flight/OpenPilot/System/openpilot.c @@ -64,6 +64,8 @@ void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value); /* Prototype of PIOS_Board_Init() function */ extern void PIOS_Board_Init(void); +extern void Stack_Change(void); +static void Stack_Change_Weak () __attribute__ ((weakref ("Stack_Change"))); /** * OpenPilot Main function: @@ -99,6 +101,21 @@ int main() xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL); #endif + /* swap the stack to use the IRQ stack (does nothing in sim mode) */ + Stack_Change_Weak(); + + /* Start the FreeRTOS scheduler which should never returns.*/ + vTaskStartScheduler(); + + /* If all is well we will never reach here as the scheduler will now be running. */ + + /* Do some indication to user that something bad just happened */ + PIOS_LED_Off(LED1); \ + for(;;) { \ + PIOS_LED_Toggle(LED1); \ + PIOS_DELAY_WaitmS(100); \ + }; + return 0; } diff --git a/flight/PiOS.posix/inc/pios_initcall.h b/flight/PiOS.posix/inc/pios_initcall.h index 2860d4bf6..32b3f7475 100644 --- a/flight/PiOS.posix/inc/pios_initcall.h +++ b/flight/PiOS.posix/inc/pios_initcall.h @@ -53,18 +53,7 @@ extern void StartModules(); /* Initialize modules */ \ InitModules(); \ /* Initialize the system thread */ \ - SystemModInitialize(); \ - /* Start the FreeRTOS scheduler which never returns.*/ \ - vTaskStartScheduler(); \ - /* If all is well we will never reach here as the scheduler will now be running. */ \ - /* If we do get here, it will most likely be because we ran out of heap space. */ \ - PIOS_LED_Off(LED1); \ - PIOS_LED_Off(LED2); \ - for(;;) { \ - PIOS_LED_Toggle(LED1); \ - PIOS_LED_Toggle(LED2); \ - PIOS_DELAY_WaitmS(100); \ - }; } + SystemModInitialize();} #endif /* PIOS_INITCALL_H */ diff --git a/flight/PiOS.win32/inc/pios_initcall.h b/flight/PiOS.win32/inc/pios_initcall.h index a71f64e03..f370f27ee 100644 --- a/flight/PiOS.win32/inc/pios_initcall.h +++ b/flight/PiOS.win32/inc/pios_initcall.h @@ -47,16 +47,8 @@ /* Initialize modules */ \ InitModules(); \ /* Start the FreeRTOS scheduler which never returns.*/ \ - vTaskStartScheduler(); \ - /* If all is well we will never reach here as the scheduler will now be running. */ \ - /* If we do get here, it will most likely be because we ran out of heap space. */ \ - PIOS_LED_Off(LED1); \ - PIOS_LED_Off(LED2); \ - for(;;) { \ - PIOS_LED_Toggle(LED1); \ - PIOS_LED_Toggle(LED2); \ - PIOS_DELAY_WaitmS(100); \ - }; } + /* Initialize the system thread */ \ + SystemModInitialize();} #endif /* PIOS_INITCALL_H */ diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S b/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S index 7e9964cb9..f6b6ba7a8 100644 --- a/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S +++ b/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S @@ -124,9 +124,25 @@ LoopFillZerobss: bcc FillZerobss /* Call the application's entry point.*/ bl main +/* will never return here */ + bx lr +.size Reset_Handler, .-Reset_Handler + +/** + * @brief This is the code that swaps stack (from end of heap to irq_stack). + * Also reclaim the heap that was used as a stack. + * @param None + * @retval : None +*/ + .section .text.Stack_Change + .weak Stack_Change + .type Stack_Change, %function +Stack_Change: + mov r4, lr /* Switches stack back momentarily to MSP */ - add r0, #0 + movs r0, #0 msr control, r0 +Heap_Reclaim: /* add heap_post_rtos to the heap (if the capability/function exist) */ /* Also claim the unused memory (between end of heap to end of memory */ /* CAREFULL: the heap section must be the last section in RAM in order this to work */ @@ -136,15 +152,8 @@ LoopFillZerobss: subs r2, r2, r1 adds r0, r0, r2 bl xPortIncreaseHeapSize -/* Start the FreeRTOS scheduler which never returns.*/ - bl vTaskStartScheduler -/* If all is well we will never reach here as the scheduler will now be running. */ -/* If we do get here, it will most likely be because we ran out of heap space. */ -/* let the Memory manager handler figure it out (at least for now, it will make it more obvious */ - bl MemManage_Handler -/* will never return here for now until mem manager give up */ - bx lr -.size Reset_Handler, .-Reset_Handler + bx r4 + .size Stack_Change, .-Stack_Change /** * @brief Dummy SystemInit_ExtMemCtl function diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S b/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S index 72cf5280f..9c511b5c3 100644 --- a/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S +++ b/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S @@ -35,6 +35,7 @@ .global Default_Handler .global vTaskStartScheduler .global xPortIncreaseHeapSize +.global Stack_Change /* start address for the initialization values of the .data section. defined in linker script */ @@ -49,6 +50,7 @@ defined in linker script */ .word _ebss .equ BootRAM, 0xF108F85F +.equ WWDG, 0x40002C00 /** * @brief This is the code that gets called when the processor first @@ -127,9 +129,25 @@ LoopFillZerobss: bcc FillZerobss /* Call the application's entry point.*/ bl main +/* will never return here */ + bx lr +.size Reset_Handler, .-Reset_Handler + +/** + * @brief This is the code that swaps stack (from end of heap to irq_stack). + * Also reclaim the heap that was used as a stack. + * @param None + * @retval : None +*/ + .section .text.Stack_Change + .weak Stack_Change + .type Stack_Change, %function +Stack_Change: + mov r4, lr /* Switches stack back momentarily to MSP */ - add r0, #0 + movs r0, #0 msr control, r0 +Heap_Reclaim: /* add heap_post_rtos to the heap (if the capability/function exist) */ /* Also claim the unused memory (between end of heap to end of memory */ /* CAREFULL: the heap section must be the last section in RAM in order this to work */ @@ -139,23 +157,17 @@ LoopFillZerobss: subs r2, r2, r1 adds r0, r0, r2 bl xPortIncreaseHeapSize -/* Start the FreeRTOS scheduler which never returns.*/ - bl vTaskStartScheduler -/* If all is well we will never reach here as the scheduler will now be running. */ -/* If we do get here, it will most likely be because we ran out of heap space. */ -/* let the Memory manager handler figure it out (at least for now, it will make it more obvious */ - bl MemManage_Handler -/* will never return here for now until mem manager give up */ - bx lr -.size Reset_Handler, .-Reset_Handler + bx r4 + .size Stack_Change, .-Stack_Change + /** - * @brief This is the code that gets called when the processor receives an + * @brief This is the code that gets called when the processor receives an * unexpected interrupt. This simply enters an infinite loop, preserving * the system state for examination by a debugger. * - * @param None - * @retval : None + * @param None + * @retval : None */ .section .text.Default_Handler,"ax",%progbits Default_Handler: From 2daa36aad9862b7b9abd7733e8f665ca0edbd27c Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Sun, 3 Jul 2011 13:14:42 -0700 Subject: [PATCH 102/241] OP-423: Remove *_BL.S --- flight/Bootloaders/CopterControl/Makefile | 2 +- flight/Bootloaders/OpenPilot/Makefile | 2 +- flight/INS/Makefile | 2 +- .../STM32F10x/startup_stm32f10x_HD_OP_BL.S | 485 ------------------ .../STM32F10x/startup_stm32f10x_MD_CC_BL.S | 357 ------------- 5 files changed, 3 insertions(+), 845 deletions(-) delete mode 100644 flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP_BL.S delete mode 100644 flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC_BL.S diff --git a/flight/Bootloaders/CopterControl/Makefile b/flight/Bootloaders/CopterControl/Makefile index 111be7772..4fc2f0f08 100644 --- a/flight/Bootloaders/CopterControl/Makefile +++ b/flight/Bootloaders/CopterControl/Makefile @@ -173,7 +173,7 @@ CPPSRCARM = # Even though the DOS/Win* filesystem matches both .s and .S the same, # it will preserve the spelling of the filenames, and gcc itself does # care about how the name is spelled on its command-line. -ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX)_BL.S +ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S # List Assembler source files here which must be assembled in ARM-Mode.. ASRCARM = diff --git a/flight/Bootloaders/OpenPilot/Makefile b/flight/Bootloaders/OpenPilot/Makefile index 5410831ea..e4285f7e0 100644 --- a/flight/Bootloaders/OpenPilot/Makefile +++ b/flight/Bootloaders/OpenPilot/Makefile @@ -176,7 +176,7 @@ CPPSRCARM = # Even though the DOS/Win* filesystem matches both .s and .S the same, # it will preserve the spelling of the filenames, and gcc itself does # care about how the name is spelled on its command-line. -ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX)_BL.S +ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S # List Assembler source files here which must be assembled in ARM-Mode.. ASRCARM = diff --git a/flight/INS/Makefile b/flight/INS/Makefile index ee6b6c3e6..bd3bb52a9 100644 --- a/flight/INS/Makefile +++ b/flight/INS/Makefile @@ -154,7 +154,7 @@ CPPSRCARM = # Even though the DOS/Win* filesystem matches both .s and .S the same, # it will preserve the spelling of the filenames, and gcc itself does # care about how the name is spelled on its command-line. -ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX)_BL.S +ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S # List Assembler source files here which must be assembled in ARM-Mode.. ASRCARM = diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP_BL.S b/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP_BL.S deleted file mode 100644 index c0c6c5ec2..000000000 --- a/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP_BL.S +++ /dev/null @@ -1,485 +0,0 @@ -/** - ****************************************************************************** - * @file startup_stm32f10x_hd.s - * @author MCD Application Team / David Ankers: Vector table for FreeRTOS - * @version V3.1.2 - * @date 09/28/2009 - * @brief STM32F10x High Density Devices vector table for RIDE7 toolchain. - * This module performs: - * - Set the initial SP - * - Set the initial PC == Reset_Handler, - * - Set the vector table entries with the exceptions ISR address, - * - Configure external SRAM mounted on STM3210E-EVAL board - * to be used as data memory (optional, to be enabled by user) - * - Branches to main in the C library (which eventually - * calls main()). - * After Reset the Cortex-M3 processor is in Thread mode, - * priority is Privileged, and the Stack is set to Main. - ****************************************************************************** - * @copy - * - * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS - * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE - * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY - * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING - * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE - * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. - * - *

© COPYRIGHT 2009 STMicroelectronics

- */ - - .syntax unified - .cpu cortex-m3 - .fpu softvfp - .thumb - -.global g_pfnVectors -.global SystemInit_ExtMemCtl_Dummy -.global Default_Handler -.global vTaskStartScheduler -.global xPortIncreaseHeapSize - -/* start address for the initialization values of the .data section. -defined in linker script */ -.word _sidata -/* start address for the .data section. defined in linker script */ -.word _sdata -/* end address for the .data section. defined in linker script */ -.word _edata -/* start address for the .bss section. defined in linker script */ -.word _sbss -/* end address for the .bss section. defined in linker script */ -.word _ebss -/* stack used for SystemInit_ExtMemCtl; always internal RAM used */ - -.equ BootRAM, 0xF1E0F85F -/** - * @brief This is the code that gets called when the processor first - * starts execution following a reset event. Only the absolutely - * necessary set is performed, after which the application - * supplied main() routine is called. - * @param None - * @retval : None -*/ - - .section .text.Reset_Handler - .weak Reset_Handler - .type Reset_Handler, %function -Reset_Handler: - -/* FSMC Bank1 NOR/SRAM3 is used for the STM3210E-EVAL, if another Bank is - required, then adjust the Register Addresses */ - bl SystemInit_ExtMemCtl -/* restore original stack pointer */ - LDR r0, =_irq_stack_top - MSR msp, r0 - -/* Copy the data segment initializers from flash to SRAM */ - movs r1, #0 - b LoopCopyDataInit - -CopyDataInit: - ldr r3, =_sidata - ldr r3, [r3, r1] - str r3, [r0, r1] - adds r1, r1, #4 - -LoopCopyDataInit: - ldr r0, =_sdata - ldr r3, =_edata - adds r2, r0, r1 - cmp r2, r3 - bcc CopyDataInit - ldr r2, =_sbss - b LoopFillZerobss -/* Zero fill the bss segment. */ -FillZerobss: - movs r3, #0 - str r3, [r2], #4 - -LoopFillZerobss: - ldr r3, = _ebss - cmp r2, r3 - bcc FillZerobss -/* Call the application's entry point.*/ - bl main - bx lr -.size Reset_Handler, .-Reset_Handler - -/** - * @brief Dummy SystemInit_ExtMemCtl function - * @param None - * @retval : None -*/ - .section .text.SystemInit_ExtMemCtl_Dummy,"ax",%progbits -SystemInit_ExtMemCtl_Dummy: - bx lr - .size SystemInit_ExtMemCtl_Dummy, .-SystemInit_ExtMemCtl_Dummy - -/** - * @brief This is the code that gets called when the processor receives an - * unexpected interrupt. This simply enters an infinite loop, preserving - * the system state for examination by a debugger. - * - * @param None - * @retval : None -*/ - .section .text.Default_Handler,"ax",%progbits -Default_Handler: -Infinite_Loop: - b Infinite_Loop - .size Default_Handler, .-Default_Handler -/****************************************************************************** -* -* The minimal vector table for a Cortex M3. Note that the proper constructs -* must be placed on this to ensure that it ends up at physical address -* 0x0000.0000. -* -******************************************************************************/ - .section .isr_vector,"a",%progbits - .type g_pfnVectors, %object - .size g_pfnVectors, .-g_pfnVectors - - -g_pfnVectors: - .word _irq_stack_top - .word Reset_Handler - .word NMI_Handler - .word HardFault_Handler - .word MemManage_Handler - .word BusFault_Handler - .word UsageFault_Handler - .word 0 - .word 0 - .word 0 - .word 0 - .word vPortSVCHandler - .word DebugMon_Handler - .word 0 - .word xPortPendSVHandler - .word xPortSysTickHandler - .word WWDG_IRQHandler - .word PVD_IRQHandler - .word TAMPER_IRQHandler - .word RTC_IRQHandler - .word FLASH_IRQHandler - .word RCC_IRQHandler - .word EXTI0_IRQHandler - .word EXTI1_IRQHandler - .word EXTI2_IRQHandler - .word EXTI3_IRQHandler - .word EXTI4_IRQHandler - .word DMA1_Channel1_IRQHandler - .word DMA1_Channel2_IRQHandler - .word DMA1_Channel3_IRQHandler - .word DMA1_Channel4_IRQHandler - .word DMA1_Channel5_IRQHandler - .word DMA1_Channel6_IRQHandler - .word DMA1_Channel7_IRQHandler - .word ADC1_2_IRQHandler - .word USB_HP_CAN1_TX_IRQHandler - .word USB_LP_CAN1_RX0_IRQHandler - .word CAN1_RX1_IRQHandler - .word CAN1_SCE_IRQHandler - .word EXTI9_5_IRQHandler - .word TIM1_BRK_IRQHandler - .word TIM1_UP_IRQHandler - .word TIM1_TRG_COM_IRQHandler - .word TIM1_CC_IRQHandler - .word TIM2_IRQHandler - .word TIM3_IRQHandler - .word TIM4_IRQHandler - .word I2C1_EV_IRQHandler - .word I2C1_ER_IRQHandler - .word I2C2_EV_IRQHandler - .word I2C2_ER_IRQHandler - .word SPI1_IRQHandler - .word SPI2_IRQHandler - .word USART1_IRQHandler - .word USART2_IRQHandler - .word USART3_IRQHandler - .word EXTI15_10_IRQHandler - .word RTCAlarm_IRQHandler - .word USBWakeUp_IRQHandler - .word TIM8_BRK_IRQHandler - .word TIM8_UP_IRQHandler - .word TIM8_TRG_COM_IRQHandler - .word TIM8_CC_IRQHandler - .word ADC3_IRQHandler - .word FSMC_IRQHandler - .word SDIO_IRQHandler - .word TIM5_IRQHandler - .word SPI3_IRQHandler - .word UART4_IRQHandler - .word UART5_IRQHandler - .word TIM6_IRQHandler - .word TIM7_IRQHandler - .word DMA2_Channel1_IRQHandler - .word DMA2_Channel2_IRQHandler - .word DMA2_Channel3_IRQHandler - .word DMA2_Channel4_5_IRQHandler - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word BootRAM /* @0x1E0. This is for boot in RAM mode for - STM32F10x High Density devices. */ - -/******************************************************************************* -* -* Provide weak aliases for each Exception handler to the Default_Handler. -* As they are weak aliases, any function with the same name will override -* this definition. -* -*******************************************************************************/ - - .weak NMI_Handler - .thumb_set NMI_Handler,Default_Handler - - .weak HardFault_Handler - .thumb_set HardFault_Handler,Default_Handler - - .weak MemManage_Handler - .thumb_set MemManage_Handler,Default_Handler - - .weak BusFault_Handler - .thumb_set BusFault_Handler,Default_Handler - - .weak UsageFault_Handler - .thumb_set UsageFault_Handler,Default_Handler - - .weak SVC_Handler - .thumb_set SVC_Handler,Default_Handler - - .weak DebugMon_Handler - .thumb_set DebugMon_Handler,Default_Handler - - .weak PendSV_Handler - .thumb_set PendSV_Handler,Default_Handler - - .weak SysTick_Handler - .thumb_set SysTick_Handler,Default_Handler - - .weak WWDG_IRQHandler - .thumb_set WWDG_IRQHandler,Default_Handler - - .weak PVD_IRQHandler - .thumb_set PVD_IRQHandler,Default_Handler - - .weak TAMPER_IRQHandler - .thumb_set TAMPER_IRQHandler,Default_Handler - - .weak RTC_IRQHandler - .thumb_set RTC_IRQHandler,Default_Handler - - .weak FLASH_IRQHandler - .thumb_set FLASH_IRQHandler,Default_Handler - - .weak RCC_IRQHandler - .thumb_set RCC_IRQHandler,Default_Handler - - .weak EXTI0_IRQHandler - .thumb_set EXTI0_IRQHandler,Default_Handler - - .weak EXTI1_IRQHandler - .thumb_set EXTI1_IRQHandler,Default_Handler - - .weak EXTI2_IRQHandler - .thumb_set EXTI2_IRQHandler,Default_Handler - - .weak EXTI3_IRQHandler - .thumb_set EXTI3_IRQHandler,Default_Handler - - .weak EXTI4_IRQHandler - .thumb_set EXTI4_IRQHandler,Default_Handler - - .weak DMA1_Channel1_IRQHandler - .thumb_set DMA1_Channel1_IRQHandler,Default_Handler - - .weak DMA1_Channel2_IRQHandler - .thumb_set DMA1_Channel2_IRQHandler,Default_Handler - - .weak DMA1_Channel3_IRQHandler - .thumb_set DMA1_Channel3_IRQHandler,Default_Handler - - .weak DMA1_Channel4_IRQHandler - .thumb_set DMA1_Channel4_IRQHandler,Default_Handler - - .weak DMA1_Channel5_IRQHandler - .thumb_set DMA1_Channel5_IRQHandler,Default_Handler - - .weak DMA1_Channel6_IRQHandler - .thumb_set DMA1_Channel6_IRQHandler,Default_Handler - - .weak DMA1_Channel7_IRQHandler - .thumb_set DMA1_Channel7_IRQHandler,Default_Handler - - .weak ADC1_2_IRQHandler - .thumb_set ADC1_2_IRQHandler,Default_Handler - - .weak USB_HP_CAN1_TX_IRQHandler - .thumb_set USB_HP_CAN1_TX_IRQHandler,Default_Handler - - .weak USB_LP_CAN1_RX0_IRQHandler - .thumb_set USB_LP_CAN1_RX0_IRQHandler,Default_Handler - - .weak CAN1_RX1_IRQHandler - .thumb_set CAN1_RX1_IRQHandler,Default_Handler - - .weak CAN1_SCE_IRQHandler - .thumb_set CAN1_SCE_IRQHandler,Default_Handler - - .weak EXTI9_5_IRQHandler - .thumb_set EXTI9_5_IRQHandler,Default_Handler - - .weak TIM1_BRK_IRQHandler - .thumb_set TIM1_BRK_IRQHandler,Default_Handler - - .weak TIM1_UP_IRQHandler - .thumb_set TIM1_UP_IRQHandler,Default_Handler - - .weak TIM1_TRG_COM_IRQHandler - .thumb_set TIM1_TRG_COM_IRQHandler,Default_Handler - - .weak TIM1_CC_IRQHandler - .thumb_set TIM1_CC_IRQHandler,Default_Handler - - .weak TIM2_IRQHandler - .thumb_set TIM2_IRQHandler,Default_Handler - - .weak TIM3_IRQHandler - .thumb_set TIM3_IRQHandler,Default_Handler - - .weak TIM4_IRQHandler - .thumb_set TIM4_IRQHandler,Default_Handler - - .weak I2C1_EV_IRQHandler - .thumb_set I2C1_EV_IRQHandler,Default_Handler - - .weak I2C1_ER_IRQHandler - .thumb_set I2C1_ER_IRQHandler,Default_Handler - - .weak I2C2_EV_IRQHandler - .thumb_set I2C2_EV_IRQHandler,Default_Handler - - .weak I2C2_ER_IRQHandler - .thumb_set I2C2_ER_IRQHandler,Default_Handler - - .weak SPI1_IRQHandler - .thumb_set SPI1_IRQHandler,Default_Handler - - .weak SPI2_IRQHandler - .thumb_set SPI2_IRQHandler,Default_Handler - - .weak USART1_IRQHandler - .thumb_set USART1_IRQHandler,Default_Handler - - .weak USART2_IRQHandler - .thumb_set USART2_IRQHandler,Default_Handler - - .weak USART3_IRQHandler - .thumb_set USART3_IRQHandler,Default_Handler - - .weak EXTI15_10_IRQHandler - .thumb_set EXTI15_10_IRQHandler,Default_Handler - - .weak RTCAlarm_IRQHandler - .thumb_set RTCAlarm_IRQHandler,Default_Handler - - .weak USBWakeUp_IRQHandler - .thumb_set USBWakeUp_IRQHandler,Default_Handler - - .weak TIM8_BRK_IRQHandler - .thumb_set TIM8_BRK_IRQHandler,Default_Handler - - .weak TIM8_UP_IRQHandler - .thumb_set TIM8_UP_IRQHandler,Default_Handler - - .weak TIM8_TRG_COM_IRQHandler - .thumb_set TIM8_TRG_COM_IRQHandler,Default_Handler - - .weak TIM8_CC_IRQHandler - .thumb_set TIM8_CC_IRQHandler,Default_Handler - - .weak ADC3_IRQHandler - .thumb_set ADC3_IRQHandler,Default_Handler - - .weak FSMC_IRQHandler - .thumb_set FSMC_IRQHandler,Default_Handler - - .weak SDIO_IRQHandler - .thumb_set SDIO_IRQHandler,Default_Handler - - .weak TIM5_IRQHandler - .thumb_set TIM5_IRQHandler,Default_Handler - - .weak SPI3_IRQHandler - .thumb_set SPI3_IRQHandler,Default_Handler - - .weak UART4_IRQHandler - .thumb_set UART4_IRQHandler,Default_Handler - - .weak UART5_IRQHandler - .thumb_set UART5_IRQHandler,Default_Handler - - .weak TIM6_IRQHandler - .thumb_set TIM6_IRQHandler,Default_Handler - - .weak TIM7_IRQHandler - .thumb_set TIM7_IRQHandler,Default_Handler - - .weak DMA2_Channel1_IRQHandler - .thumb_set DMA2_Channel1_IRQHandler,Default_Handler - - .weak DMA2_Channel2_IRQHandler - .thumb_set DMA2_Channel2_IRQHandler,Default_Handler - - .weak DMA2_Channel3_IRQHandler - .thumb_set DMA2_Channel3_IRQHandler,Default_Handler - - .weak DMA2_Channel4_5_IRQHandler - .thumb_set DMA2_Channel4_5_IRQHandler,Default_Handler - - .weak SystemInit_ExtMemCtl - .thumb_set SystemInit_ExtMemCtl,SystemInit_ExtMemCtl_Dummy - diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC_BL.S b/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC_BL.S deleted file mode 100644 index a5ac06727..000000000 --- a/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC_BL.S +++ /dev/null @@ -1,357 +0,0 @@ -/** - ****************************************************************************** - * @file startup_stm32f10x_md.s - * @author MCD Application Team / Angus Peart - * @version V3.1.2 - * @date 09/28/2009 - * @brief STM32F10x Medium Density Devices vector table for RIDE7 toolchain. - * This module performs: - * - Set the initial SP - * - Set the initial PC == Reset_Handler, - * - Set the vector table entries with the exceptions ISR address - * - Branches to main in the C library (which eventually - * calls main()). - * After Reset the Cortex-M3 processor is in Thread mode, - * priority is Privileged, and the Stack is set to Main. - ******************************************************************************* - * @copy - * - * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS - * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE - * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY - * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING - * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE - * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. - * - *

© COPYRIGHT 2009 STMicroelectronics

- */ - - .syntax unified - .cpu cortex-m3 - .fpu softvfp - .thumb - -.global g_pfnVectors -.global Default_Handler - - -/* start address for the initialization values of the .data section. -defined in linker script */ -.word _sidata -/* start address for the .data section. defined in linker script */ -.word _sdata -/* end address for the .data section. defined in linker script */ -.word _edata -/* start address for the .bss section. defined in linker script */ -.word _sbss -/* end address for the .bss section. defined in linker script */ -.word _ebss - -.equ BootRAM, 0xF108F85F - -/** - * @brief This is the code that gets called when the processor first - * starts execution following a reset event. Only the absolutely - * necessary set is performed, after which the application - * supplied main() routine is called. - * @param None - * @retval : None -*/ - - .section .text.Reset_Handler - .weak Reset_Handler - .type Reset_Handler, %function -Reset_Handler: - -/* Copy the data segment initializers from flash to SRAM */ - movs r1, #0 - b LoopCopyDataInit - -CopyDataInit: - ldr r3, =_sidata - ldr r3, [r3, r1] - str r3, [r0, r1] - adds r1, r1, #4 - -LoopCopyDataInit: - ldr r0, =_sdata - ldr r3, =_edata - adds r2, r0, r1 - cmp r2, r3 - bcc CopyDataInit - ldr r2, =_sbss - b LoopFillZerobss -/* Zero fill the bss segment. */ -FillZerobss: - movs r3, #0 - str r3, [r2], #4 - -LoopFillZerobss: - ldr r3, = _ebss - cmp r2, r3 - bcc FillZerobss -/* Call the application's entry point.*/ - bl main - bx lr -.size Reset_Handler, .-Reset_Handler - -/** - * @brief This is the code that gets called when the processor receives an - * unexpected interrupt. This simply enters an infinite loop, preserving - * the system state for examination by a debugger. - * - * @param None - * @retval : None -*/ - .section .text.Default_Handler,"ax",%progbits -Default_Handler: -Infinite_Loop: - b Infinite_Loop - .size Default_Handler, .-Default_Handler -/****************************************************************************** -* -* The minimal vector table for a Cortex M3. Note that the proper constructs -* must be placed on this to ensure that it ends up at physical address -* 0x0000.0000. -* -******************************************************************************/ - .section .isr_vector,"a",%progbits - .type g_pfnVectors, %object - .size g_pfnVectors, .-g_pfnVectors - - -g_pfnVectors: - .word _estack - .word Reset_Handler - .word NMI_Handler - .word HardFault_Handler - .word MemManage_Handler - .word BusFault_Handler - .word UsageFault_Handler - .word 0 - .word 0 - .word 0 - .word 0 - .word vPortSVCHandler - .word DebugMon_Handler - .word 0 - .word xPortPendSVHandler - .word xPortSysTickHandler - .word WWDG_IRQHandler - .word PVD_IRQHandler - .word TAMPER_IRQHandler - .word RTC_IRQHandler - .word FLASH_IRQHandler - .word RCC_IRQHandler - .word EXTI0_IRQHandler - .word EXTI1_IRQHandler - .word EXTI2_IRQHandler - .word EXTI3_IRQHandler - .word EXTI4_IRQHandler - .word DMA1_Channel1_IRQHandler - .word DMA1_Channel2_IRQHandler - .word DMA1_Channel3_IRQHandler - .word DMA1_Channel4_IRQHandler - .word DMA1_Channel5_IRQHandler - .word DMA1_Channel6_IRQHandler - .word DMA1_Channel7_IRQHandler - .word ADC1_2_IRQHandler - .word USB_HP_CAN1_TX_IRQHandler - .word USB_LP_CAN1_RX0_IRQHandler - .word CAN1_RX1_IRQHandler - .word CAN1_SCE_IRQHandler - .word EXTI9_5_IRQHandler - .word TIM1_BRK_IRQHandler - .word TIM1_UP_IRQHandler - .word TIM1_TRG_COM_IRQHandler - .word TIM1_CC_IRQHandler - .word TIM2_IRQHandler - .word TIM3_IRQHandler - .word TIM4_IRQHandler - .word I2C1_EV_IRQHandler - .word I2C1_ER_IRQHandler - .word I2C2_EV_IRQHandler - .word I2C2_ER_IRQHandler - .word SPI1_IRQHandler - .word SPI2_IRQHandler - .word USART1_IRQHandler - .word USART2_IRQHandler - .word USART3_IRQHandler - .word EXTI15_10_IRQHandler - .word RTCAlarm_IRQHandler - .word USBWakeUp_IRQHandler - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word 0 - .word BootRAM /* @0x108. This is for boot in RAM mode for - STM32F10x Medium Density devices. */ - -/******************************************************************************* -* -* Provide weak aliases for each Exception handler to the Default_Handler. -* As they are weak aliases, any function with the same name will override -* this definition. -* -*******************************************************************************/ - - .weak NMI_Handler - .thumb_set NMI_Handler,Default_Handler - - .weak HardFault_Handler - .thumb_set HardFault_Handler,Default_Handler - - .weak MemManage_Handler - .thumb_set MemManage_Handler,Default_Handler - - .weak BusFault_Handler - .thumb_set BusFault_Handler,Default_Handler - - .weak UsageFault_Handler - .thumb_set UsageFault_Handler,Default_Handler - - .weak SVC_Handler - .thumb_set SVC_Handler,Default_Handler - - .weak DebugMon_Handler - .thumb_set DebugMon_Handler,Default_Handler - - .weak PendSV_Handler - .thumb_set PendSV_Handler,Default_Handler - - .weak SysTick_Handler - .thumb_set SysTick_Handler,Default_Handler - - .weak WWDG_IRQHandler - .thumb_set WWDG_IRQHandler,Default_Handler - - .weak PVD_IRQHandler - .thumb_set PVD_IRQHandler,Default_Handler - - .weak TAMPER_IRQHandler - .thumb_set TAMPER_IRQHandler,Default_Handler - - .weak RTC_IRQHandler - .thumb_set RTC_IRQHandler,Default_Handler - - .weak FLASH_IRQHandler - .thumb_set FLASH_IRQHandler,Default_Handler - - .weak RCC_IRQHandler - .thumb_set RCC_IRQHandler,Default_Handler - - .weak EXTI0_IRQHandler - .thumb_set EXTI0_IRQHandler,Default_Handler - - .weak EXTI1_IRQHandler - .thumb_set EXTI1_IRQHandler,Default_Handler - - .weak EXTI2_IRQHandler - .thumb_set EXTI2_IRQHandler,Default_Handler - - .weak EXTI3_IRQHandler - .thumb_set EXTI3_IRQHandler,Default_Handler - - .weak EXTI4_IRQHandler - .thumb_set EXTI4_IRQHandler,Default_Handler - - .weak DMA1_Channel1_IRQHandler - .thumb_set DMA1_Channel1_IRQHandler,Default_Handler - - .weak DMA1_Channel2_IRQHandler - .thumb_set DMA1_Channel2_IRQHandler,Default_Handler - - .weak DMA1_Channel3_IRQHandler - .thumb_set DMA1_Channel3_IRQHandler,Default_Handler - - .weak DMA1_Channel4_IRQHandler - .thumb_set DMA1_Channel4_IRQHandler,Default_Handler - - .weak DMA1_Channel5_IRQHandler - .thumb_set DMA1_Channel5_IRQHandler,Default_Handler - - .weak DMA1_Channel6_IRQHandler - .thumb_set DMA1_Channel6_IRQHandler,Default_Handler - - .weak DMA1_Channel7_IRQHandler - .thumb_set DMA1_Channel7_IRQHandler,Default_Handler - - .weak ADC1_2_IRQHandler - .thumb_set ADC1_2_IRQHandler,Default_Handler - - .weak USB_HP_CAN1_TX_IRQHandler - .thumb_set USB_HP_CAN1_TX_IRQHandler,Default_Handler - - .weak USB_LP_CAN1_RX0_IRQHandler - .thumb_set USB_LP_CAN1_RX0_IRQHandler,Default_Handler - - .weak CAN1_RX1_IRQHandler - .thumb_set CAN1_RX1_IRQHandler,Default_Handler - - .weak CAN1_SCE_IRQHandler - .thumb_set CAN1_SCE_IRQHandler,Default_Handler - - .weak EXTI9_5_IRQHandler - .thumb_set EXTI9_5_IRQHandler,Default_Handler - - .weak TIM1_BRK_IRQHandler - .thumb_set TIM1_BRK_IRQHandler,Default_Handler - - .weak TIM1_UP_IRQHandler - .thumb_set TIM1_UP_IRQHandler,Default_Handler - - .weak TIM1_TRG_COM_IRQHandler - .thumb_set TIM1_TRG_COM_IRQHandler,Default_Handler - - .weak TIM1_CC_IRQHandler - .thumb_set TIM1_CC_IRQHandler,Default_Handler - - .weak TIM2_IRQHandler - .thumb_set TIM2_IRQHandler,Default_Handler - - .weak TIM3_IRQHandler - .thumb_set TIM3_IRQHandler,Default_Handler - - .weak TIM4_IRQHandler - .thumb_set TIM4_IRQHandler,Default_Handler - - .weak I2C1_EV_IRQHandler - .thumb_set I2C1_EV_IRQHandler,Default_Handler - - .weak I2C1_ER_IRQHandler - .thumb_set I2C1_ER_IRQHandler,Default_Handler - - .weak I2C2_EV_IRQHandler - .thumb_set I2C2_EV_IRQHandler,Default_Handler - - .weak I2C2_ER_IRQHandler - .thumb_set I2C2_ER_IRQHandler,Default_Handler - - .weak SPI1_IRQHandler - .thumb_set SPI1_IRQHandler,Default_Handler - - .weak SPI2_IRQHandler - .thumb_set SPI2_IRQHandler,Default_Handler - - .weak USART1_IRQHandler - .thumb_set USART1_IRQHandler,Default_Handler - - .weak USART2_IRQHandler - .thumb_set USART2_IRQHandler,Default_Handler - - .weak USART3_IRQHandler - .thumb_set USART3_IRQHandler,Default_Handler - - .weak EXTI15_10_IRQHandler - .thumb_set EXTI15_10_IRQHandler,Default_Handler - - .weak RTCAlarm_IRQHandler - .thumb_set RTCAlarm_IRQHandler,Default_Handler - - .weak USBWakeUp_IRQHandler - .thumb_set USBWakeUp_IRQHandler,Default_Handler - - From f864d723dd6117af76295f9b9cfb71ac6eebc499 Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Sun, 3 Jul 2011 18:45:02 -0700 Subject: [PATCH 103/241] OP-423: Cleanup and remove recently added *_BL.S startup file. --- flight/Bootloaders/BootloaderUpdater/Makefile | 4 ---- .../link_STM32103CB_CC_Rev1_BL_sections.ld | 21 ++++++++++++++++++- .../link_STM32103CB_CC_Rev1_sections.ld | 6 ++---- .../STM32F10x/link_STM3210E_INS_sections.ld | 1 + .../STM32F10x/link_STM3210E_OP_BL_sections.ld | 3 +-- .../PiOS/STM32F10x/startup_stm32f10x_HD_OP.S | 21 ++++++++++++------- .../PiOS/STM32F10x/startup_stm32f10x_MD_CC.S | 20 +++++++++++------- 7 files changed, 50 insertions(+), 26 deletions(-) diff --git a/flight/Bootloaders/BootloaderUpdater/Makefile b/flight/Bootloaders/BootloaderUpdater/Makefile index f16fdef52..81aa163ec 100644 --- a/flight/Bootloaders/BootloaderUpdater/Makefile +++ b/flight/Bootloaders/BootloaderUpdater/Makefile @@ -138,11 +138,7 @@ CPPSRCARM = # Even though the DOS/Win* filesystem matches both .s and .S the same, # it will preserve the spelling of the filenames, and gcc itself does # care about how the name is spelled on its command-line. -ifeq ($(MODEL_SUFFIX),) ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S -else -ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX)_BL.S -endif # List Assembler source files here which must be assembled in ARM-Mode.. ASRCARM = diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_BL_sections.ld b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_BL_sections.ld index c16bd7af9..f818fff42 100644 --- a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_BL_sections.ld +++ b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_BL_sections.ld @@ -3,7 +3,8 @@ PROVIDE ( vPortSVCHandler = 0 ) ; PROVIDE ( xPortPendSVHandler = 0 ) ; PROVIDE ( xPortSysTickHandler = 0 ) ; -_estack = 0x20004FF0; +/* This is the size of the stack for early init and for all FreeRTOS IRQs */ +_irq_stack_size = 0x400; /* Section Definitions */ SECTIONS @@ -59,6 +60,24 @@ SECTIONS _ebss = . ; } > SRAM + /* + * This stack is used both as the initial sp during early init as well as ultimately + * being used as the STM32's MSP (Main Stack Pointer) which is the same stack that + * is used for _all_ interrupt handlers. The end of this stack should be placed + * against the lowest address in RAM so that a stack overrun results in a hard fault + * at the first access beyond the end of the stack. + */ + .irq_stack : + { + . = ALIGN(4); + _irq_stack_end = . ; + . = . + _irq_stack_size ; + . = ALIGN(4); + _irq_stack_top = . - 4 ; + _init_stack_top = _irq_stack_top; + . = ALIGN(4); + } > SRAM + . = ALIGN(4); _end = . ; diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld index 8d54fd4fd..6f4fefaa0 100644 --- a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld +++ b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld @@ -2,6 +2,8 @@ _irq_stack_size = 0x180; /* This is the size of the stack for early init: life span is until scheduler starts */ _init_stack_size = 0x80; +/* there is probably a way to get that from the MEMORY section */ +_eram = ORIGIN(SRAM) + LENGTH(SRAM); /* Stub out these functions since we don't use them anyway */ PROVIDE ( vPortSVCHandler = 0 ) ; @@ -10,10 +12,6 @@ PROVIDE ( xPortSysTickHandler = 0 ) ; PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO)); -_estack = 0x20004FF0; -/* there is probably a way to get that from the MEMORY section */ -_eram = ORIGIN(SRAM) + LENGTH(SRAM); - /* Section Definitions */ SECTIONS { diff --git a/flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld b/flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld index 31e35b305..ef25c9344 100644 --- a/flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld +++ b/flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld @@ -250,6 +250,7 @@ SECTIONS . = . + _irq_stack_size ; . = ALIGN(4); _irq_stack_top = . - 4 ; + _init_stack_top = _irq_stack_top; . = ALIGN(4); } >RAM diff --git a/flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld b/flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld index fa01b6c41..7716ccbf2 100644 --- a/flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld +++ b/flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld @@ -223,6 +223,7 @@ SECTIONS . = . + _irq_stack_size ; . = ALIGN(4); _irq_stack_top = . - 4 ; + _init_stack_top = _irq_stack_top; . = ALIGN(4); } >RAM @@ -364,5 +365,3 @@ SECTIONS .debug_typenames 0 : { *(.debug_typenames) } .debug_varnames 0 : { *(.debug_varnames) } } - - diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S b/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S index f6b6ba7a8..159a9dd66 100644 --- a/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S +++ b/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S @@ -36,8 +36,8 @@ .global g_pfnVectors .global SystemInit_ExtMemCtl_Dummy .global Default_Handler -.global vTaskStartScheduler .global xPortIncreaseHeapSize +.global Stack_Change /* start address for the initialization values of the .data section. defined in linker script */ @@ -73,14 +73,19 @@ Reset_Handler: /* restore original stack pointer */ LDR r0, =_irq_stack_top MSR msp, r0 - LDR r0, =_init_stack_top - MSR psp, r0 + LDR r2, =_init_stack_top + MSR psp, r2 + /* check if irq and init stack are the same */ + /* if they are, we don't do stack swap */ + /* and lets bypass the monitoring as well for now */ + cmp r0, r2 + beq SectionBssInit /* DO * - stay in thread process mode * - stay in privilege level * - use process stack */ - add r0, #2 + movs r0, #2 MSR control, r0 ISB /* Fill IRQ stack for watermark monitoring */ @@ -95,6 +100,8 @@ LoopFillIRQStack: ldr r3, = _irq_stack_top cmp r2, r3 bcc FillIRQStack + +SectionBssInit: /* Copy the data segment initializers from flash to SRAM */ movs r1, #0 b LoopCopyDataInit @@ -166,12 +173,12 @@ SystemInit_ExtMemCtl_Dummy: .size SystemInit_ExtMemCtl_Dummy, .-SystemInit_ExtMemCtl_Dummy /** - * @brief This is the code that gets called when the processor receives an + * @brief This is the code that gets called when the processor receives an * unexpected interrupt. This simply enters an infinite loop, preserving * the system state for examination by a debugger. * - * @param None - * @retval : None + * @param None + * @retval : None */ .section .text.Default_Handler,"ax",%progbits Default_Handler: diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S b/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S index 9c511b5c3..828462ab6 100644 --- a/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S +++ b/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S @@ -33,7 +33,6 @@ .global g_pfnVectors .global Default_Handler -.global vTaskStartScheduler .global xPortIncreaseHeapSize .global Stack_Change @@ -50,8 +49,6 @@ defined in linker script */ .word _ebss .equ BootRAM, 0xF108F85F -.equ WWDG, 0x40002C00 - /** * @brief This is the code that gets called when the processor first * starts execution following a reset event. Only the absolutely @@ -78,14 +75,19 @@ Reset_Handler: /* Do set/reset the stack pointers */ LDR r0, =_irq_stack_top MSR msp, r0 - LDR r0, =_init_stack_top - MSR psp, r0 + LDR r2, =_init_stack_top + MSR psp, r2 + /* check if irq and init stack are the same */ + /* if they are, we don't do stack swap */ + /* and lets bypass the monitoring as well for now */ + cmp r0, r2 + beq SectionBssInit /* DO * - stay in thread process mode * - stay in privilege level * - use process stack */ - add r0, #2 + movs r0, #2 MSR control, r0 ISB /* Fill IRQ stack for watermark monitoring */ @@ -100,6 +102,8 @@ LoopFillIRQStack: ldr r3, = _irq_stack_top cmp r2, r3 bcc FillIRQStack + +SectionBssInit: /* Copy the data segment initializers from flash to SRAM */ movs r1, #0 b LoopCopyDataInit @@ -136,8 +140,8 @@ LoopFillZerobss: /** * @brief This is the code that swaps stack (from end of heap to irq_stack). * Also reclaim the heap that was used as a stack. - * @param None - * @retval : None + * @param None + * @retval : None */ .section .text.Stack_Change .weak Stack_Change From ad8876c62a2fd38a8c0a77e1860ece883e5b1155 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sun, 3 Jul 2011 10:45:01 -0500 Subject: [PATCH 104/241] OP-193: Weak leveling variant on rate mode. Slowly will return to level. --- .../Modules/ManualControl/inc/manualcontrol.h | 62 ++++++++++++++++++- flight/Modules/ManualControl/manualcontrol.c | 55 +--------------- flight/Modules/Stabilization/stabilization.c | 22 +++++++ .../manualcontrolsettings.xml | 6 +- .../stabilizationdesired.xml | 2 +- .../stabilizationsettings.xml | 4 ++ 6 files changed, 94 insertions(+), 57 deletions(-) diff --git a/flight/Modules/ManualControl/inc/manualcontrol.h b/flight/Modules/ManualControl/inc/manualcontrol.h index 608c12d1d..5cca1a623 100644 --- a/flight/Modules/ManualControl/inc/manualcontrol.h +++ b/flight/Modules/ManualControl/inc/manualcontrol.h @@ -1,7 +1,7 @@ /** ****************************************************************************** * @addtogroup OpenPilotModules OpenPilot Modules - * @{ + * @{ * @addtogroup ManualControlModule Manual Control Module * @{ * @@ -45,4 +45,64 @@ typedef enum {FLIGHTMODE_UNDEFINED = 0, FLIGHTMODE_MANUAL = 1, FLIGHTMODE_STABIL int32_t ManualControlInitialize(); + +/* + * These are assumptions we make in the flight code about the order of settings and their consistency between + * objects. Please keep this synchronized to the UAVObjects + */ +#define assumptions1 ( \ +((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \ +((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \ +((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \ +((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \ +((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \ +) + +#define assumptions3 ( \ +((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \ +((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \ +((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \ +((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \ +((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \ +) + +#define assumptions5 ( \ +((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \ +((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \ +((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \ +((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \ +((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \ +) + +#define ARMING_CHANNEL_ROLL 0 +#define ARMING_CHANNEL_PITCH 1 +#define ARMING_CHANNEL_YAW 2 + +#define assumptions7 ( \ +( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \ +( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \ +( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \ +( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \ +( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) && \ +( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) \ +) + +#define assumptions8 ( \ +( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \ +( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \ +( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \ +( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \ +( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \ +( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) \ +) + +#define assumptions_flightmode ( \ +( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int) FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \ +( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \ +( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \ +( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \ +( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int) FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) && \ +( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) \ +) + #endif // MANUALCONTROL_H diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c index e5e486f91..476ab6b6a 100644 --- a/flight/Modules/ManualControl/manualcontrol.c +++ b/flight/Modules/ManualControl/manualcontrol.c @@ -87,58 +87,6 @@ static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time) static bool okToArm(void); static bool validInputRange(int16_t min, int16_t max, uint16_t value); -#define assumptions1 ( \ - ((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \ - ((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \ - ((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \ - ) - -#define assumptions3 ( \ - ((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \ - ((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \ - ((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \ - ) - -#define assumptions5 ( \ - ((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \ - ((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \ - ((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \ - ) - - - -#define ARMING_CHANNEL_ROLL 0 -#define ARMING_CHANNEL_PITCH 1 -#define ARMING_CHANNEL_YAW 2 - -#define assumptions7 ( \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) && \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) \ - ) - -#define assumptions8 ( \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) \ - ) - - -#define assumptions_flightmode ( \ - ( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int) FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \ - ( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \ - ( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \ - ( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \ - ( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int) FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) && \ - ( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) \ - ) - #define assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode) /** @@ -374,18 +322,21 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon stabilization.Roll = (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll : (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] : + (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] : (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax : (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] : 0; // this is an invalid mode ; stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch : (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] : + (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] : (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax : (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] : 0; // this is an invalid mode stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw : (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] : + (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] : (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Yaw * stabSettings.YawMax : (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] : 0; // this is an invalid mode diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c index 459e3cf12..8d320c510 100644 --- a/flight/Modules/Stabilization/stabilization.c +++ b/flight/Modules/Stabilization/stabilization.c @@ -82,6 +82,9 @@ float gyro_filtered[3] = {0,0,0}; float axis_lock_accum[3] = {0,0,0}; uint8_t max_axis_lock = 0; uint8_t max_axislock_rate = 0; +float weak_leveling_kp = 0; +uint8_t weak_leveling_max = 0; + pid_type pids[PID_MAX]; // Private functions @@ -217,6 +220,20 @@ static void stabilizationTask(void* parameters) axis_lock_accum[i] = 0; break; + case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING: + { + float weak_leveling = local_error[i] * weak_leveling_kp; + + if(weak_leveling > weak_leveling_max) + weak_leveling = weak_leveling_max; + if(weak_leveling < -weak_leveling_max) + weak_leveling = -weak_leveling_max; + + rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling; + + axis_lock_accum[i] = 0; + break; + } case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE: rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i]); axis_lock_accum[i] = 0; @@ -257,6 +274,7 @@ static void stabilizationTask(void* parameters) case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE: case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE: case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK: + case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING: { float command = ApplyPid(&pids[PID_RATE_ROLL + ct], rateDesiredAxis[ct] - gyro_filtered[ct]); actuatorDesiredAxis[ct] = bound(command); @@ -392,6 +410,10 @@ static void SettingsUpdatedCb(UAVObjEvent * ev) max_axis_lock = settings.MaxAxisLock; max_axislock_rate = settings.MaxAxisLockRate; + // Settings for weak leveling + weak_leveling_kp = settings.WeakLevelingKp; + weak_leveling_max = settings.MaxWeakLevelingRate; + // The dT has some jitter iteration to iteration that we don't want to // make thie result unpredictable. Still, it's nicer to specify the constant // based on a time (in ms) rather than a fixed multiplier. The error between diff --git a/shared/uavobjectdefinition/manualcontrolsettings.xml b/shared/uavobjectdefinition/manualcontrolsettings.xml index 375de146b..c3e973a26 100644 --- a/shared/uavobjectdefinition/manualcontrolsettings.xml +++ b/shared/uavobjectdefinition/manualcontrolsettings.xml @@ -13,9 +13,9 @@ - - - + + + diff --git a/shared/uavobjectdefinition/stabilizationdesired.xml b/shared/uavobjectdefinition/stabilizationdesired.xml index f8e6e173d..c1e013be3 100644 --- a/shared/uavobjectdefinition/stabilizationdesired.xml +++ b/shared/uavobjectdefinition/stabilizationdesired.xml @@ -6,7 +6,7 @@ - + diff --git a/shared/uavobjectdefinition/stabilizationsettings.xml b/shared/uavobjectdefinition/stabilizationsettings.xml index 581817e7e..9176b125a 100644 --- a/shared/uavobjectdefinition/stabilizationsettings.xml +++ b/shared/uavobjectdefinition/stabilizationsettings.xml @@ -15,9 +15,13 @@ + + + + From 010f0255a4a100d08df7b36a2abfad354d94a986 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Mon, 4 Jul 2011 21:44:41 -0500 Subject: [PATCH 105/241] OP-543: When the magic header on file system is bad at init, read multiple times. It's not written as cleanly as I'd like but works for wiping when magic value changes. Testing will reveal if this stops the lost settings. --- flight/PiOS/Common/pios_flashfs_objlist.c | 136 ++++++++++++---------- 1 file changed, 76 insertions(+), 60 deletions(-) diff --git a/flight/PiOS/Common/pios_flashfs_objlist.c b/flight/PiOS/Common/pios_flashfs_objlist.c index 11a40822a..b56c14e87 100644 --- a/flight/PiOS/Common/pios_flashfs_objlist.c +++ b/flight/PiOS/Common/pios_flashfs_objlist.c @@ -12,19 +12,19 @@ * @see The GNU Public License (GPL) Version 3 * *****************************************************************************/ -/* - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 3 of the License, or +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License * for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ @@ -61,6 +61,7 @@ struct fileHeader { #define OBJECT_TABLE_START 0x00000010 #define OBJECT_TABLE_END 0x00001000 #define SECTOR_SIZE 0x00001000 +#define MAX_BADMAGIC 4 /** * @brief Initialize the flash object setting FS @@ -68,34 +69,49 @@ struct fileHeader { */ int32_t PIOS_FLASHFS_Init() { - + // Check for valid object table or create one uint32_t object_table_magic; - if (PIOS_Flash_W25X_ReadData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0) - return -1; - if(object_table_magic != OBJECT_TABLE_MAGIC) { - if(PIOS_FLASHFS_CleabObjectTableHeader() < 0) + uint8_t magic_fail_count = 0; + bool magic_good = 0; + + while(!magic_good) { + if (PIOS_Flash_W25X_ReadData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0) return -1; + if(object_table_magic != OBJECT_TABLE_MAGIC) { + if(magic_fail_count++ > MAX_BADMAGIC) { + if(PIOS_FLASHFS_CleabObjectTableHeader() < 0) + return -1; + magic_good = true; + } else { + PIOS_DELAY_WaituS(100); + } + + } + else { + magic_good = true; + } + } int32_t addr = OBJECT_TABLE_START; struct objectHeader header; numObjects = 0; - + // Loop through header area while objects detect to count how many saved while(addr < OBJECT_TABLE_END) { // Read the instance data if (PIOS_Flash_W25X_ReadData(addr, (uint8_t *)&header, sizeof(header)) != 0) return -1; - - // Counting number of valid headers - if(header.objMagic != OBJ_MAGIC) + + // Counting number of valid headers + if(header.objMagic != OBJ_MAGIC) break; - + numObjects++; addr += sizeof(header); } - + return 0; } @@ -103,7 +119,7 @@ int32_t PIOS_FLASHFS_Init() * @brief Erase the headers for all objects in the flash chip * @return 0 if successful, -1 if not */ -static int32_t PIOS_FLASHFS_CleabObjectTableHeader() +static int32_t PIOS_FLASHFS_CleabObjectTableHeader() { if(PIOS_Flash_W25X_EraseSector(0) != 0) return -1; @@ -121,26 +137,26 @@ static int32_t PIOS_FLASHFS_CleabObjectTableHeader() * @parma instId Instance id for that object * @return address if successful, -1 if not found */ -static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId) +static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId) { int32_t addr = OBJECT_TABLE_START; struct objectHeader header; - + // Loop through header area while objects detect to count how many saved while(addr < OBJECT_TABLE_END) { // Read the instance data if (PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0) return -1; - if(header.objMagic != OBJ_MAGIC) + if(header.objMagic != OBJ_MAGIC) break; // stop searching once hit first non-object header else if (header.objId == objId && header.instId == instId) break; addr += sizeof(header); } - + if (header.objId == objId && header.instId == instId) return header.address; - + return -1; } @@ -150,7 +166,7 @@ static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId) * @param[in] instId The instance id of object to be saved * @return 0 if success or error code * @retval -1 Object not found - * @retval -2 No room in object table + * @retval -2 No room in object table * @retval -3 Unable to write entry into object table * @retval -4 FS not initialized */ @@ -160,26 +176,26 @@ int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId) if(numObjects < 0) return -4; - + // Don't worry about max size of flash chip here, other code will catch that header.objMagic = OBJ_MAGIC; header.objId = objId; header.instId = instId; header.address = OBJECT_TABLE_END + SECTOR_SIZE * numObjects; - + int32_t addr = OBJECT_TABLE_START + sizeof(header) * numObjects; // No room for this header in object table - if((addr + sizeof(header)) > OBJECT_TABLE_END) - return -2; - + if((addr + sizeof(header)) > OBJECT_TABLE_END) + return -2; + if(PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0) return -3; - + // This numObejcts value must stay consistent or there will be a break in the table // and later the table will have bad values in it - numObjects++; - return header.address; + numObjects++; + return header.address; } @@ -191,38 +207,38 @@ int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId) * @note This uses one sector on the flash chip per object so that no buffering in ram * must be done when erasing the sector before a save */ -int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data) +int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data) { uint32_t objId = UAVObjGetID(obj); uint8_t crc = 0; int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId); - + // Object currently not saved - if(addr < 0) + if(addr < 0) addr = PIOS_FLASHFS_GetNewAddress(objId, instId); - + // Could not allocate a sector if(addr < 0) return -1; - + struct fileHeader header = { .id = objId, .instId = instId, .size = UAVObjGetNumBytes(obj) }; - + if(PIOS_Flash_W25X_EraseSector(addr) != 0) return -2; // Save header - // This information IS redundant with the object table id. Oh well. Better safe than sorry. + // This information IS redundant with the object table id. Oh well. Better safe than sorry. if(PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0) return -3; - + // Update CRC crc = PIOS_CRC_updateCRC(0, (uint8_t *) &header, sizeof(header)); - + // Save data if(PIOS_Flash_W25X_WriteData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0) return -4; @@ -233,7 +249,7 @@ int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data) // Save CRC (written so will work when CRC changes to uint16) if(PIOS_Flash_W25X_WriteData(addr + sizeof(header) + UAVObjGetNumBytes(obj), (uint8_t *) &crc, sizeof(crc)) != 0) return -4; - + return 0; } @@ -259,20 +275,20 @@ int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data) uint8_t crcFlash = 0; const uint8_t crc_read_step = 8; uint8_t crc_read_buffer[crc_read_step]; - + int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId); - + // Object currently not saved - if(addr < 0) + if(addr < 0) return -1; struct fileHeader header; - + // Load header // This information IS redundant with the object table id. Oh well. Better safe than sorry. if(PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0) return -2; - + // Update CRC crc = PIOS_CRC_updateCRC(0, (uint8_t *) &header, sizeof(header)); @@ -290,7 +306,7 @@ int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data) // Read CRC (written so will work when CRC changes to uint16) if(PIOS_Flash_W25X_ReadData(addr + sizeof(header) + objSize, (uint8_t *) &crcFlash, sizeof(crcFlash)) != 0) return -5; - + if(crc != crcFlash) return -6; @@ -308,22 +324,22 @@ int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data) * @return 0 if success or error code * @retval -1 if object not in file table * @retval -2 Erase failed - * @note To avoid buffering the file table (1k ram!) the entry in the file table - * remains but destination sector is erased. This will make the load fail as the + * @note To avoid buffering the file table (1k ram!) the entry in the file table + * remains but destination sector is erased. This will make the load fail as the * file header won't match the object. At next save it goes back there. */ int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId) { uint32_t objId = UAVObjGetID(obj); - + int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId); - + // Object currently not saved - if(addr < 0) + if(addr < 0) return -1; if(PIOS_Flash_W25X_EraseSector(addr) != 0) return -2; - + return 0; -} \ No newline at end of file +} From 0c4facac469c11a16fe761cd3c38ccbaa4f129ff Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Tue, 5 Jul 2011 20:11:20 -0400 Subject: [PATCH 106/241] heap: reduce stack size on IDLE and Event tasks The FreeRTOS IDLE task was using 512 bytes of stack. The UAVObject Event task was also using 512 bytes of stack. Both have been reduced, recovering 400+ bytes of heap. --- flight/CopterControl/System/inc/FreeRTOSConfig.h | 2 +- flight/UAVObjects/eventdispatcher.c | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/flight/CopterControl/System/inc/FreeRTOSConfig.h b/flight/CopterControl/System/inc/FreeRTOSConfig.h index c05f71ea5..109034ea8 100644 --- a/flight/CopterControl/System/inc/FreeRTOSConfig.h +++ b/flight/CopterControl/System/inc/FreeRTOSConfig.h @@ -29,7 +29,7 @@ #define configCPU_CLOCK_HZ ( ( unsigned long ) 72000000 ) #define configTICK_RATE_HZ ( ( portTickType ) 1000 ) #define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 ) -#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 128 ) +#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 48 ) #define configTOTAL_HEAP_SIZE ( ( size_t ) ( 14 * 1024 ) ) #define configMAX_TASK_NAME_LEN ( 16 ) #define configUSE_TRACE_FACILITY 0 diff --git a/flight/UAVObjects/eventdispatcher.c b/flight/UAVObjects/eventdispatcher.c index 353739468..4de43cd25 100644 --- a/flight/UAVObjects/eventdispatcher.c +++ b/flight/UAVObjects/eventdispatcher.c @@ -28,7 +28,7 @@ // Private constants #define MAX_QUEUE_SIZE 20 -#define STACK_SIZE configMINIMAL_STACK_SIZE +#define STACK_SIZE 96 #define TASK_PRIORITY (tskIDLE_PRIORITY + 3) #define MAX_UPDATE_PERIOD_MS 1000 From cba0985f2665bce865bd96d631cbe1c26b7e5702 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sun, 19 Jun 2011 10:56:40 -0400 Subject: [PATCH 107/241] hwsettings: UAVObject to select hardware runtime hw config --- .../src/plugins/uavobjects/uavobjects.pro | 2 ++ shared/uavobjectdefinition/hwsettings.xml | 11 +++++++++++ 2 files changed, 13 insertions(+) create mode 100644 shared/uavobjectdefinition/hwsettings.xml diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro index 8bd7420be..9c6188fad 100644 --- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro +++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro @@ -68,6 +68,7 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \ $$UAVOBJECT_SYNTHETICS/nedaccel.h \ $$UAVOBJECT_SYNTHETICS/sonaraltitude.h \ $$UAVOBJECT_SYNTHETICS/flightstatus.h \ + $$UAVOBJECT_SYNTHETICS/hwsettings.h \ $$UAVOBJECT_SYNTHETICS/attitudesettings.h SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \ @@ -116,4 +117,5 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \ $$UAVOBJECT_SYNTHETICS/sonaraltitude.cpp \ $$UAVOBJECT_SYNTHETICS/uavobjectsinit.cpp \ $$UAVOBJECT_SYNTHETICS/flightstatus.cpp \ + $$UAVOBJECT_SYNTHETICS/hwsettings.cpp \ $$UAVOBJECT_SYNTHETICS/attitudesettings.cpp diff --git a/shared/uavobjectdefinition/hwsettings.xml b/shared/uavobjectdefinition/hwsettings.xml new file mode 100644 index 000000000..7242c174c --- /dev/null +++ b/shared/uavobjectdefinition/hwsettings.xml @@ -0,0 +1,11 @@ + + + Selection of optional hardware configurations. + + + + + + + + From e77795dc28ee43d63e512790ef81ec1b679c5e51 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sun, 19 Jun 2011 15:02:34 -0400 Subject: [PATCH 108/241] rcvr: add generic driver API for receivers Will be used to collapse PWM, PPM, Spektrum and SBUS so we can choose between them at boot time instead of at compile time. --- flight/PiOS/Common/pios_rcvr.c | 88 ++++++++++++++++++++++++++++++++ flight/PiOS/inc/pios_rcvr.h | 50 ++++++++++++++++++ flight/PiOS/inc/pios_rcvr_priv.h | 58 +++++++++++++++++++++ flight/PiOS/pios.h | 1 + 4 files changed, 197 insertions(+) create mode 100644 flight/PiOS/Common/pios_rcvr.c create mode 100644 flight/PiOS/inc/pios_rcvr.h create mode 100644 flight/PiOS/inc/pios_rcvr_priv.h diff --git a/flight/PiOS/Common/pios_rcvr.c b/flight/PiOS/Common/pios_rcvr.c new file mode 100644 index 000000000..b74f7beb2 --- /dev/null +++ b/flight/PiOS/Common/pios_rcvr.c @@ -0,0 +1,88 @@ +/* Project Includes */ +#include "pios.h" + +#if defined(PIOS_INCLUDE_RCVR) + +#include + +static bool PIOS_RCVR_validate(struct pios_rcvr_dev * rcvr_dev) +{ + return (rcvr_dev->magic == PIOS_RCVR_DEV_MAGIC); +} + +#if defined(PIOS_INCLUDE_FREERTOS) && 0 +static struct pios_rcvr_dev * PIOS_RCVR_alloc(void) +{ + struct pios_rcvr_dev * rcvr_dev; + + rcvr_dev = (struct pios_rcvr_dev *)malloc(sizeof(*rcvr_dev)); + if (!rcvr_dev) return (NULL); + + rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC; + return(rcvr_dev); +} +#else +static struct pios_rcvr_dev pios_rcvr_devs[PIOS_RCVR_MAX_DEVS]; +static uint8_t pios_rcvr_num_devs; +static struct pios_rcvr_dev * PIOS_RCVR_alloc(void) +{ + struct pios_rcvr_dev * rcvr_dev; + + if (pios_rcvr_num_devs >= PIOS_RCVR_MAX_DEVS) { + return (NULL); + } + + rcvr_dev = &pios_rcvr_devs[pios_rcvr_num_devs++]; + rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC; + + return (rcvr_dev); +} +#endif + +/** + * Initialises RCVR layer + * \param[out] handle + * \param[in] driver + * \param[in] id + * \return < 0 if initialisation failed + */ +int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, const uint32_t lower_id) +{ + PIOS_DEBUG_Assert(rcvr_id); + PIOS_DEBUG_Assert(driver); + + struct pios_rcvr_dev * rcvr_dev; + + rcvr_dev = (struct pios_rcvr_dev *) PIOS_RCVR_alloc(); + if (!rcvr_dev) goto out_fail; + + rcvr_dev->driver = driver; + rcvr_dev->id = lower_id; + + *rcvr_id = (uint32_t)rcvr_dev; + return(0); + +out_fail: + return(-1); +} + +int32_t PIOS_RCVR_Read(uint32_t rcvr_id) +{ + struct pios_rcvr_dev * rcvr_dev = (struct pios_rcvr_dev *)rcvr_id; + + if (!PIOS_RCVR_validate(rcvr_dev)) { + /* Undefined RCVR port for this board (see pios_board.c) */ + PIOS_DEBUG_Assert(0); + } + + PIOS_DEBUG_Assert(rcvr_dev->driver->read); + + return rcvr_dev->driver->read(rcvr_dev->id); +} + +#endif + +/** + * @} + * @} + */ diff --git a/flight/PiOS/inc/pios_rcvr.h b/flight/PiOS/inc/pios_rcvr.h new file mode 100644 index 000000000..40e99c450 --- /dev/null +++ b/flight/PiOS/inc/pios_rcvr.h @@ -0,0 +1,50 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_RCVR RCVR layer functions + * @brief Hardware communication layer + * @{ + * + * @file pios_rcvr.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * Parts by Thorsten Klose (tk@midibox.org) + * @brief COM layer functions header + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_RCVR_H +#define PIOS_RCVR_H + +extern uint32_t pios_rcvr_channel_to_id_map[]; + +struct pios_rcvr_driver { + void (*init)(uint32_t id); + int32_t (*read)(uint32_t id); +}; + +/* Public Functions */ +extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id); + +#endif /* PIOS_RCVR_H */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS/inc/pios_rcvr_priv.h b/flight/PiOS/inc/pios_rcvr_priv.h new file mode 100644 index 000000000..332ab9331 --- /dev/null +++ b/flight/PiOS/inc/pios_rcvr_priv.h @@ -0,0 +1,58 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_RCVR RCVR Functions + * @brief PIOS interface for RCVR drivers + * @{ + * + * @file pios_rcvr_priv.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * Parts by Thorsten Klose (tk@midibox.org) + * @brief USART private definitions. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_RCVR_PRIV_H +#define PIOS_RCVR_PRIV_H + +#include + +extern uint32_t pios_rcvr_max_channel; + +enum pios_rcvr_dev_magic { + PIOS_RCVR_DEV_MAGIC = 0x99aabbcc, +}; + +struct pios_rcvr_dev { + enum pios_rcvr_dev_magic magic; + uint32_t id; + const struct pios_rcvr_driver * driver; +}; + +extern int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, const uint32_t lower_id); + +extern void PIOS_RCVR_IRQ_Handler(uint32_t rcvr_id); + +#endif /* PIOS_RCVR_PRIV_H */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS/pios.h b/flight/PiOS/pios.h index 39802a2a9..a675f93b1 100644 --- a/flight/PiOS/pios.h +++ b/flight/PiOS/pios.h @@ -78,6 +78,7 @@ #include #include #include +#include #include #include #include From 740b5f15847770a3f6489911e79b66a47ff14c53 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sat, 25 Jun 2011 09:27:28 -0400 Subject: [PATCH 109/241] rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR All receivers now fall under the same driver API provided by pios_rcvr.c. This is part of a larger sequence of commits that will switch the receiver selection over to boot time dynamic configuration via UAVObjects. --- flight/CopterControl/Makefile | 1 + flight/CopterControl/System/inc/pios_config.h | 234 +-- flight/CopterControl/System/pios_board.c | 83 +- flight/Modules/ManualControl/manualcontrol.c | 1253 ++++++++--------- flight/OpenPilot/Makefile | 1 + flight/OpenPilot/System/inc/pios_config.h | 2 + flight/OpenPilot/System/pios_board.c | 79 +- flight/PiOS/Boards/STM32103CB_CC_Rev1.h | 21 +- flight/PiOS/Boards/STM3210E_OP.h | 30 +- flight/PiOS/STM32F10x/pios_ppm.c | 14 +- flight/PiOS/STM32F10x/pios_pwm.c | 151 +- flight/PiOS/STM32F10x/pios_sbus.c | 17 +- flight/PiOS/STM32F10x/pios_spektrum.c | 25 +- flight/PiOS/inc/pios_ppm.h | 4 - flight/PiOS/inc/pios_ppm_priv.h | 4 + flight/PiOS/inc/pios_pwm.h | 5 - flight/PiOS/inc/pios_pwm_priv.h | 4 + flight/PiOS/inc/pios_sbus.h | 3 - flight/PiOS/inc/pios_sbus_priv.h | 9 +- flight/PiOS/inc/pios_spektrum.h | 3 - flight/PiOS/inc/pios_spektrum_priv.h | 5 + 21 files changed, 979 insertions(+), 969 deletions(-) diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index 513ef7157..a83ec4122 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -211,6 +211,7 @@ SRC += $(PIOSCOMMON)/pios_com.c SRC += $(PIOSCOMMON)/pios_i2c_esc.c SRC += $(PIOSCOMMON)/pios_iap.c SRC += $(PIOSCOMMON)/pios_bl_helper.c +SRC += $(PIOSCOMMON)/pios_rcvr.c SRC += $(PIOSCOMMON)/printf-stdarg.c ## Libraries for flight calculations SRC += $(FLIGHTLIB)/fifo_buffer.c diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h index 4d9fee769..0f243b7cf 100644 --- a/flight/CopterControl/System/inc/pios_config.h +++ b/flight/CopterControl/System/inc/pios_config.h @@ -1,116 +1,118 @@ -/** - ****************************************************************************** - * @addtogroup OpenPilotSystem OpenPilot System - * @{ - * @addtogroup OpenPilotCore OpenPilot Core - * @{ - * - * @file pios_config.h - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @brief PiOS configuration header. - * Central compile time config for the project. - * In particular, pios_config.h is where you define which PiOS libraries - * and features are included in the firmware. - * @see The GNU Public License (GPL) Version 3 - * - *****************************************************************************/ -/* - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License - * for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - */ - -#ifndef PIOS_CONFIG_H -#define PIOS_CONFIG_H - -/* Enable/Disable PiOS Modules */ -#define PIOS_INCLUDE_ADC -#define PIOS_INCLUDE_DELAY -#if defined(USE_I2C) -#define PIOS_INCLUDE_I2C -#define PIOS_INCLUDE_I2C_ESC -#endif -#define PIOS_INCLUDE_IRQ -#define PIOS_INCLUDE_LED - -/* Receiver interfaces - only one allowed */ -#if !defined(USE_SPEKTRUM) && !defined(USE_SBUS) -//#define PIOS_INCLUDE_PPM -#define PIOS_INCLUDE_PWM -#endif - -/* USART-based PIOS modules */ -#if defined(USE_TELEMETRY) -#define PIOS_INCLUDE_TELEMETRY_RF -#endif -#if defined(USE_GPS) -#define PIOS_INCLUDE_GPS -#endif -#if defined(USE_SPEKTRUM) -#define PIOS_INCLUDE_SPEKTRUM -#endif -#if defined(USE_SBUS) -#define PIOS_INCLUDE_SBUS -#endif - -#define PIOS_INCLUDE_SERVO -#define PIOS_INCLUDE_SPI -#define PIOS_INCLUDE_SYS -#define PIOS_INCLUDE_USART -#define PIOS_INCLUDE_USB_HID -#define PIOS_INCLUDE_COM -#define PIOS_INCLUDE_SETTINGS -#define PIOS_INCLUDE_FREERTOS -#define PIOS_INCLUDE_GPIO -#define PIOS_INCLUDE_EXTI -#define PIOS_INCLUDE_RTC -#define PIOS_INCLUDE_WDG -#define PIOS_INCLUDE_BL_HELPER - -#define PIOS_INCLUDE_ADXL345 -#define PIOS_INCLUDE_FLASH - -/* A really shitty setting saving implementation */ -#define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS - -/* Defaults for Logging */ -#define LOG_FILENAME "PIOS.LOG" -#define STARTUP_LOG_ENABLED 1 - -/* COM Module */ -#define GPS_BAUDRATE 19200 -#define TELEM_BAUDRATE 19200 -#define AUXUART_ENABLED 0 -#define AUXUART_BAUDRATE 19200 - -/* Alarm Thresholds */ -#define HEAP_LIMIT_WARNING 220 -#define HEAP_LIMIT_CRITICAL 150 -#define CPULOAD_LIMIT_WARNING 80 -#define CPULOAD_LIMIT_CRITICAL 95 - -/* Task stack sizes */ -#define PIOS_ACTUATOR_STACK_SIZE 1020 -#define PIOS_MANUAL_STACK_SIZE 724 -#define PIOS_SYSTEM_STACK_SIZE 560 -#define PIOS_STABILIZATION_STACK_SIZE 524 -#define PIOS_TELEM_STACK_SIZE 500 - -#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998 -//#define PIOS_QUATERNION_STABILIZATION - -#endif /* PIOS_CONFIG_H */ -/** - * @} - * @} - */ +/** + ****************************************************************************** + * @addtogroup OpenPilotSystem OpenPilot System + * @{ + * @addtogroup OpenPilotCore OpenPilot Core + * @{ + * + * @file pios_config.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief PiOS configuration header. + * Central compile time config for the project. + * In particular, pios_config.h is where you define which PiOS libraries + * and features are included in the firmware. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_CONFIG_H +#define PIOS_CONFIG_H + +/* Enable/Disable PiOS Modules */ +#define PIOS_INCLUDE_ADC +#define PIOS_INCLUDE_DELAY +#if defined(USE_I2C) +#define PIOS_INCLUDE_I2C +#define PIOS_INCLUDE_I2C_ESC +#endif +#define PIOS_INCLUDE_IRQ +#define PIOS_INCLUDE_LED + +#define PIOS_INCLUDE_RCVR + +/* Receiver interfaces - only one allowed */ +#if !defined(USE_SPEKTRUM) && !defined(USE_SBUS) +//#define PIOS_INCLUDE_PPM +#define PIOS_INCLUDE_PWM +#endif + +/* USART-based PIOS modules */ +#if defined(USE_TELEMETRY) +#define PIOS_INCLUDE_TELEMETRY_RF +#endif +#if defined(USE_GPS) +#define PIOS_INCLUDE_GPS +#endif +#if defined(USE_SPEKTRUM) +#define PIOS_INCLUDE_SPEKTRUM +#endif +#if defined(USE_SBUS) +#define PIOS_INCLUDE_SBUS +#endif + +#define PIOS_INCLUDE_SERVO +#define PIOS_INCLUDE_SPI +#define PIOS_INCLUDE_SYS +#define PIOS_INCLUDE_USART +#define PIOS_INCLUDE_USB_HID +#define PIOS_INCLUDE_COM +#define PIOS_INCLUDE_SETTINGS +#define PIOS_INCLUDE_FREERTOS +#define PIOS_INCLUDE_GPIO +#define PIOS_INCLUDE_EXTI +#define PIOS_INCLUDE_RTC +#define PIOS_INCLUDE_WDG +#define PIOS_INCLUDE_BL_HELPER + +#define PIOS_INCLUDE_ADXL345 +#define PIOS_INCLUDE_FLASH + +/* A really shitty setting saving implementation */ +#define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS + +/* Defaults for Logging */ +#define LOG_FILENAME "PIOS.LOG" +#define STARTUP_LOG_ENABLED 1 + +/* COM Module */ +#define GPS_BAUDRATE 19200 +#define TELEM_BAUDRATE 19200 +#define AUXUART_ENABLED 0 +#define AUXUART_BAUDRATE 19200 + +/* Alarm Thresholds */ +#define HEAP_LIMIT_WARNING 220 +#define HEAP_LIMIT_CRITICAL 150 +#define CPULOAD_LIMIT_WARNING 80 +#define CPULOAD_LIMIT_CRITICAL 95 + +/* Task stack sizes */ +#define PIOS_ACTUATOR_STACK_SIZE 1020 +#define PIOS_MANUAL_STACK_SIZE 724 +#define PIOS_SYSTEM_STACK_SIZE 560 +#define PIOS_STABILIZATION_STACK_SIZE 524 +#define PIOS_TELEM_STACK_SIZE 500 + +#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998 +//#define PIOS_QUATERNION_STABILIZATION + +#endif /* PIOS_CONFIG_H */ +/** + * @} + * @} + */ diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index cd1e7952a..b724cc806 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -469,13 +469,13 @@ const struct pios_usart_cfg pios_usart_spektrum_cfg = { }, }; +#include static uint32_t pios_usart_spektrum_id; void PIOS_USART_spektrum_irq_handler(void) { - SPEKTRUM_IRQHandler(pios_usart_spektrum_id); + PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id); } -#include void RTC_IRQHandler(); void RTC_IRQHandler() __attribute__ ((alias ("PIOS_SUPV_irq_handler"))); const struct pios_spektrum_cfg pios_spektrum_cfg = { @@ -501,7 +501,7 @@ void PIOS_SUPV_irq_handler() { if (RTC_GetITStatus(RTC_IT_SEC)) { /* Call the right handler */ - PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id); + PIOS_SPEKTRUMSV_irq_handler(pios_usart_spektrum_id); /* Wait until last write operation on RTC registers has finished */ RTC_WaitForLastTask(); @@ -561,7 +561,7 @@ const struct pios_usart_cfg pios_usart_sbus_cfg = { static uint32_t pios_usart_sbus_id; void PIOS_USART_sbus_irq_handler(void) { - SBUS_IRQHandler(pios_usart_sbus_id); + PIOS_SBUS_irq_handler(pios_usart_sbus_id); } #include @@ -587,7 +587,7 @@ void PIOS_SUPV_irq_handler() { if (RTC_GetITStatus(RTC_IT_SEC)) { /* Call the right handler */ - PIOS_SBUS_irq_handler(pios_usart_sbus_id); + PIOS_SBUSSV_irq_handler(pios_usart_sbus_id); /* Wait until last write operation on RTC registers has finished */ RTC_WaitForLastTask(); @@ -869,6 +869,13 @@ void PIOS_I2C_main_adapter_er_irq_handler(void) #endif /* PIOS_INCLUDE_I2C */ +#if defined(PIOS_INCLUDE_RCVR) +#include "pios_rcvr_priv.h" + +uint32_t pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_DEVS]; +uint32_t pios_rcvr_max_channel; +#endif /* PIOS_INCLUDE_RCVR */ + extern const struct pios_com_driver pios_usb_com_driver; uint32_t pios_com_telem_rf_id; @@ -897,18 +904,6 @@ void PIOS_Board_Init(void) { PIOS_FLASHFS_Init(); -#if defined(PIOS_INCLUDE_SPEKTRUM) - /* SPEKTRUM init must come before comms */ - PIOS_SPEKTRUM_Init(); - - if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) { - PIOS_DEBUG_Assert(0); - } - if (PIOS_COM_Init(&pios_com_spektrum_id, &pios_usart_com_driver, pios_usart_spektrum_id)) { - PIOS_DEBUG_Assert(0); - } -#endif - /* Initialize UAVObject libraries */ EventDispatcherInitialize(); UAVObjInitialize(); @@ -938,6 +933,26 @@ void PIOS_Board_Init(void) { PIOS_DEBUG_Assert(0); } #endif /* PIOS_INCLUDE_GPS */ +#if defined(PIOS_INCLUDE_SPEKTRUM) + /* SPEKTRUM init must come before comms */ + PIOS_SPEKTRUM_Init(); + + if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) { + PIOS_DEBUG_Assert(0); + } + if (PIOS_COM_Init(&pios_com_spektrum_id, &pios_usart_com_driver, pios_usart_spektrum_id)) { + PIOS_DEBUG_Assert(0); + } + for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) { + if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], + &pios_spektrum_rcvr_driver, + i)) { + pios_rcvr_max_channel++; + } else { + PIOS_DEBUG_Assert(0); + } + } +#endif #if defined(PIOS_INCLUDE_SBUS) PIOS_SBUS_Init(); @@ -947,6 +962,16 @@ void PIOS_Board_Init(void) { if (PIOS_COM_Init(&pios_com_sbus_id, &pios_usart_com_driver, pios_usart_sbus_id)) { PIOS_DEBUG_Assert(0); } + for (uint8_t i = 0; i < SBUS_NUMBER_OF_CHANNELS; i++) { + if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], + &pios_sbus_rcvr_driver, + i)) { + pios_rcvr_max_channel++; + } else { + PIOS_DEBUG_Assert(0); + } + } + #endif /* PIOS_INCLUDE_SBUS */ #endif /* PIOS_INCLUDE_COM */ @@ -958,10 +983,34 @@ void PIOS_Board_Init(void) { PIOS_GPIO_Init(); #if defined(PIOS_INCLUDE_PWM) +#if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS) +#error More receiver inputs than available devices +#endif PIOS_PWM_Init(); + for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) { + if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], + &pios_pwm_rcvr_driver, + i)) { + pios_rcvr_max_channel++; + } else { + PIOS_DEBUG_Assert(0); + } + } #endif #if defined(PIOS_INCLUDE_PPM) +#if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS) +#error More receiver inputs than available devices +#endif PIOS_PPM_Init(); + for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS; i++) { + if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], + &pios_ppm_rcvr_driver, + i)) { + pios_rcvr_max_channel++; + } else { + PIOS_DEBUG_Assert(0); + } + } #endif #if defined(PIOS_INCLUDE_USB_HID) PIOS_USB_HID_Init(0); diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c index 0a673f6da..ebeb700ed 100644 --- a/flight/Modules/ManualControl/manualcontrol.c +++ b/flight/Modules/ManualControl/manualcontrol.c @@ -1,630 +1,623 @@ -/** - ****************************************************************************** - * @addtogroup OpenPilotModules OpenPilot Modules - * @{ - * @addtogroup ManualControlModule Manual Control Module - * @brief Provide manual control or allow it alter flight mode. - * @{ - * - * Reads in the ManualControlCommand FlightMode setting from receiver then either - * pass the settings straght to ActuatorDesired object (manual mode) or to - * AttitudeDesired object (stabilized mode) - * - * @file manualcontrol.c - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @brief ManualControl module. Handles safety R/C link and flight mode. - * - * @see The GNU Public License (GPL) Version 3 - * - *****************************************************************************/ -/* - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License - * for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - */ - -#include "openpilot.h" -#include "manualcontrol.h" -#include "manualcontrolsettings.h" -#include "stabilizationsettings.h" -#include "manualcontrolcommand.h" -#include "actuatordesired.h" -#include "stabilizationdesired.h" -#include "flighttelemetrystats.h" -#include "flightstatus.h" -#include "accessorydesired.h" - -// Private constants -#if defined(PIOS_MANUAL_STACK_SIZE) -#define STACK_SIZE_BYTES PIOS_MANUAL_STACK_SIZE -#else -#define STACK_SIZE_BYTES 824 -#endif - -#define TASK_PRIORITY (tskIDLE_PRIORITY+4) -#define UPDATE_PERIOD_MS 20 -#define THROTTLE_FAILSAFE -0.1 -#define FLIGHT_MODE_LIMIT 1.0/3.0 -#define ARMED_TIME_MS 1000 -#define ARMED_THRESHOLD 0.50 -//safe band to allow a bit of calibration error or trim offset (in microseconds) -#define CONNECTION_OFFSET 150 - -// Private types -typedef enum -{ - ARM_STATE_DISARMED, - ARM_STATE_ARMING_MANUAL, - ARM_STATE_ARMED, - ARM_STATE_DISARMING_MANUAL, - ARM_STATE_DISARMING_TIMEOUT -} ArmState_t; - -// Private variables -static xTaskHandle taskHandle; -static ArmState_t armState; -static portTickType lastSysTime; - -// Private functions -static void updateActuatorDesired(ManualControlCommandData * cmd); -static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings); -static void processFlightMode(ManualControlSettingsData * settings, float flightMode); -static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings); - -static void manualControlTask(void *parameters); -static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral); -static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time); -static bool okToArm(void); -static bool validInputRange(int16_t min, int16_t max, uint16_t value); - -#define assumptions1 ( \ - ((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \ - ((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \ - ((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \ - ) - -#define assumptions3 ( \ - ((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \ - ((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \ - ((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \ - ) - -#define assumptions5 ( \ - ((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \ - ((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \ - ((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \ - ) - - - -#define ARMING_CHANNEL_ROLL 0 -#define ARMING_CHANNEL_PITCH 1 -#define ARMING_CHANNEL_YAW 2 - -#define assumptions7 ( \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) && \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) \ - ) - -#define assumptions8 ( \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \ - ( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) \ - ) - - -#define assumptions_flightmode ( \ - ( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int) FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \ - ( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \ - ( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \ - ( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \ - ( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int) FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) && \ - ( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) \ - ) - -#define assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode) - -/** - * Module initialization - */ -int32_t ManualControlInitialize() -{ - /* Check the assumptions about uavobject enum's are correct */ - if(!assumptions) - return -1; - // Start main task - xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); - TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle); - PIOS_WDG_RegisterFlag(PIOS_WDG_MANUAL); - - - return 0; -} - -/** - * Module task - */ -static void manualControlTask(void *parameters) -{ - ManualControlSettingsData settings; - ManualControlCommandData cmd; - FlightStatusData flightStatus; - float flightMode = 0; - - uint8_t disconnected_count = 0; - uint8_t connected_count = 0; - - // For now manual instantiate extra instances of Accessory Desired. In future should be done dynamically - // this includes not even registering it if not used - AccessoryDesiredCreateInstance(); - AccessoryDesiredCreateInstance(); - - // Make sure unarmed on power up - ManualControlCommandGet(&cmd); - FlightStatusGet(&flightStatus); - flightStatus.Armed = FLIGHTSTATUS_ARMED_DISARMED; - armState = ARM_STATE_DISARMED; - - // Main task loop - lastSysTime = xTaskGetTickCount(); - while (1) { - float scaledChannel[MANUALCONTROLCOMMAND_CHANNEL_NUMELEM]; - - // Wait until next update - vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS); - PIOS_WDG_UpdateFlag(PIOS_WDG_MANUAL); - - // Read settings - ManualControlSettingsGet(&settings); - - if (ManualControlCommandReadOnly(&cmd)) { - FlightTelemetryStatsData flightTelemStats; - FlightTelemetryStatsGet(&flightTelemStats); - if(flightTelemStats.Status != FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) { - /* trying to fly via GCS and lost connection. fall back to transmitter */ - UAVObjMetadata metadata; - UAVObjGetMetadata(&cmd, &metadata); - metadata.access = ACCESS_READWRITE; - UAVObjSetMetadata(&cmd, &metadata); - } - } - - if (!ManualControlCommandReadOnly(&cmd)) { - - // Read channel values in us - // TODO: settings.InputMode is currently ignored because PIOS will not allow runtime - // selection of PWM and PPM. The configuration is currently done at compile time in - // the pios_config.h file. - for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) { -#if defined(PIOS_INCLUDE_PWM) - cmd.Channel[n] = PIOS_PWM_Get(n); -#elif defined(PIOS_INCLUDE_PPM) - cmd.Channel[n] = PIOS_PPM_Get(n); -#elif defined(PIOS_INCLUDE_SPEKTRUM) - cmd.Channel[n] = PIOS_SPEKTRUM_Get(n); -#elif defined(PIOS_INCLUDE_SBUS) - cmd.Channel[n] = PIOS_SBUS_Get(n); -#endif - scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]); - } - - // Check settings, if error raise alarm - if (settings.Roll >= MANUALCONTROLSETTINGS_ROLL_NONE || - settings.Pitch >= MANUALCONTROLSETTINGS_PITCH_NONE || - settings.Yaw >= MANUALCONTROLSETTINGS_YAW_NONE || - settings.Throttle >= MANUALCONTROLSETTINGS_THROTTLE_NONE || - settings.FlightMode >= MANUALCONTROLSETTINGS_FLIGHTMODE_NONE) { - AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); - cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE; - ManualControlCommandSet(&cmd); - continue; - } - - // decide if we have valid manual input or not - bool valid_input_detected = validInputRange(settings.ChannelMin[settings.Throttle], settings.ChannelMax[settings.Throttle], cmd.Channel[settings.Throttle]) && - validInputRange(settings.ChannelMin[settings.Roll], settings.ChannelMax[settings.Roll], cmd.Channel[settings.Roll]) && - validInputRange(settings.ChannelMin[settings.Yaw], settings.ChannelMax[settings.Yaw], cmd.Channel[settings.Yaw]) && - validInputRange(settings.ChannelMin[settings.Pitch], settings.ChannelMax[settings.Pitch], cmd.Channel[settings.Pitch]); - - // Implement hysteresis loop on connection status - if (valid_input_detected && (++connected_count > 10)) { - cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_TRUE; - connected_count = 0; - disconnected_count = 0; - } else if (!valid_input_detected && (++disconnected_count > 10)) { - cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE; - connected_count = 0; - disconnected_count = 0; - } - - if (cmd.Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE) { - cmd.Throttle = -1; // Shut down engine with no control - cmd.Roll = 0; - cmd.Yaw = 0; - cmd.Pitch = 0; - //cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO; // don't do until AUTO implemented and functioning - // Important: Throttle < 0 will reset Stabilization coefficients among other things. Either change this, - // or leave throttle at IDLE speed or above when going into AUTO-failsafe. - AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); - ManualControlCommandSet(&cmd); - } else { - AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL); - - // Scale channels to -1 -> +1 range - cmd.Roll = scaledChannel[settings.Roll]; - cmd.Pitch = scaledChannel[settings.Pitch]; - cmd.Yaw = scaledChannel[settings.Yaw]; - cmd.Throttle = scaledChannel[settings.Throttle]; - flightMode = scaledChannel[settings.FlightMode]; - - AccessoryDesiredData accessory; - // Set Accessory 0 - if(settings.Accessory0 != MANUALCONTROLSETTINGS_ACCESSORY0_NONE) { - accessory.AccessoryVal = scaledChannel[settings.Accessory0]; - if(AccessoryDesiredInstSet(0, &accessory) != 0) - AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); - } - // Set Accessory 1 - if(settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE) { - accessory.AccessoryVal = scaledChannel[settings.Accessory1]; - if(AccessoryDesiredInstSet(1, &accessory) != 0) - AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); - } - // Set Accsesory 2 - if(settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) { - accessory.AccessoryVal = scaledChannel[settings.Accessory2]; - if(AccessoryDesiredInstSet(2, &accessory) != 0) - AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); - } - - - processFlightMode(&settings, flightMode); - processArm(&cmd, &settings); - - // Update cmd object - ManualControlCommandSet(&cmd); - - } - - } else { - ManualControlCommandGet(&cmd); /* Under GCS control */ - } - - - FlightStatusGet(&flightStatus); - - // Depending on the mode update the Stabilization or Actuator objects - switch(PARSE_FLIGHT_MODE(flightStatus.FlightMode)) { - case FLIGHTMODE_UNDEFINED: - // This reflects a bug in the code architecture! - AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); - break; - case FLIGHTMODE_MANUAL: - updateActuatorDesired(&cmd); - break; - case FLIGHTMODE_STABILIZED: - updateStabilizationDesired(&cmd, &settings); - break; - case FLIGHTMODE_GUIDANCE: - // TODO: Implement - break; - } - } -} - -static void updateActuatorDesired(ManualControlCommandData * cmd) -{ - ActuatorDesiredData actuator; - ActuatorDesiredGet(&actuator); - actuator.Roll = cmd->Roll; - actuator.Pitch = cmd->Pitch; - actuator.Yaw = cmd->Yaw; - actuator.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle; - ActuatorDesiredSet(&actuator); -} - -static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings) -{ - StabilizationDesiredData stabilization; - StabilizationDesiredGet(&stabilization); - - StabilizationSettingsData stabSettings; - StabilizationSettingsGet(&stabSettings); - - uint8_t * stab_settings; - FlightStatusData flightStatus; - FlightStatusGet(&flightStatus); - switch(flightStatus.FlightMode) { - case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1: - stab_settings = settings->Stabilization1Settings; - break; - case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2: - stab_settings = settings->Stabilization2Settings; - break; - case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3: - stab_settings = settings->Stabilization3Settings; - break; - default: - // Major error, this should not occur because only enter this block when one of these is true - AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); - return; - } - - // TOOD: Add assumption about order of stabilization desired and manual control stabilization mode fields having same order - stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = stab_settings[0]; - stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = stab_settings[1]; - stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = stab_settings[2]; - - stabilization.Roll = (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll : - (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] : - (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax : - 0; // this is an invalid mode - ; - stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch : - (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] : - (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax : - 0; // this is an invalid mode - - stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw : - (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] : - (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? fmod(cmd->Yaw * 180.0, 360) : - 0; // this is an invalid mode - - stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle; - StabilizationDesiredSet(&stabilization); -} - -/** - * Convert channel from servo pulse duration (microseconds) to scaled -1/+1 range. - */ -static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral) -{ - float valueScaled; - - // Scale - if ((max > min && value >= neutral) || (min > max && value <= neutral)) - { - if (max != neutral) - valueScaled = (float)(value - neutral) / (float)(max - neutral); - else - valueScaled = 0; - } - else - { - if (min != neutral) - valueScaled = (float)(value - neutral) / (float)(neutral - min); - else - valueScaled = 0; - } - - // Bound - if (valueScaled > 1.0) valueScaled = 1.0; - else - if (valueScaled < -1.0) valueScaled = -1.0; - - return valueScaled; -} - -static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time) { - if(end_time > start_time) - return (end_time - start_time) * portTICK_RATE_MS; - return ((((portTICK_RATE_MS) -1) - start_time) + end_time) * portTICK_RATE_MS; -} - -/** - * @brief Determine if the aircraft is safe to arm - * @returns True if safe to arm, false otherwise - */ -static bool okToArm(void) -{ - // read alarms - SystemAlarmsData alarms; - SystemAlarmsGet(&alarms); - - - // Check each alarm - for (int i = 0; i < SYSTEMALARMS_ALARM_NUMELEM; i++) - { - if (alarms.Alarm[i] >= SYSTEMALARMS_ALARM_ERROR) - { // found an alarm thats set - if (i == SYSTEMALARMS_ALARM_GPS || i == SYSTEMALARMS_ALARM_TELEMETRY) - continue; - - return false; - } - } - - return true; -} - -/** - * @brief Update the flightStatus object only if value changed. Reduces callbacks - * @param[in] val The new value - */ -static void setArmedIfChanged(uint8_t val) { - FlightStatusData flightStatus; - FlightStatusGet(&flightStatus); - - if(flightStatus.Armed != val) { - flightStatus.Armed = val; - FlightStatusSet(&flightStatus); - } -} - -/** - * @brief Process the inputs and determine whether to arm or not - * @param[out] cmd The structure to set the armed in - * @param[in] settings Settings indicating the necessary position - */ -static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings) -{ - - bool lowThrottle = cmd->Throttle <= 0; - - if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) { - // In this configuration we always disarm - setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED); - } else { - // Not really needed since this function not called when disconnected - if (cmd->Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE) - return; - - // The throttle is not low, in case we where arming or disarming, abort - if (!lowThrottle) { - switch(armState) { - case ARM_STATE_DISARMING_MANUAL: - case ARM_STATE_DISARMING_TIMEOUT: - armState = ARM_STATE_ARMED; - break; - case ARM_STATE_ARMING_MANUAL: - armState = ARM_STATE_DISARMED; - break; - default: - // Nothing needs to be done in the other states - break; - } - return; - } - - // The rest of these cases throttle is low - if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSARMED) { - // In this configuration, we go into armed state as soon as the throttle is low, never disarm - setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMED); - return; - } - - - // When the configuration is not "Always armed" and no "Always disarmed", - // the state will not be changed when the throttle is not low - static portTickType armedDisarmStart; - float armingInputLevel = 0; - - // Calc channel see assumptions7 - int8_t sign = ((settings->Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2) ? -1 : 1; - switch ( (settings->Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 ) { - case ARMING_CHANNEL_ROLL: armingInputLevel = sign * cmd->Roll; break; - case ARMING_CHANNEL_PITCH: armingInputLevel = sign * cmd->Pitch; break; - case ARMING_CHANNEL_YAW: armingInputLevel = sign * cmd->Yaw; break; - } - - bool manualArm = false; - bool manualDisarm = false; - - if (armingInputLevel <= -ARMED_THRESHOLD) - manualArm = true; - else if (armingInputLevel >= +ARMED_THRESHOLD) - manualDisarm = true; - - switch(armState) { - case ARM_STATE_DISARMED: - setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED); - - // only allow arming if it's OK too - if (manualArm && okToArm()) { - armedDisarmStart = lastSysTime; - armState = ARM_STATE_ARMING_MANUAL; - } - break; - - case ARM_STATE_ARMING_MANUAL: - setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMING); - - if (manualArm && (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)) - armState = ARM_STATE_ARMED; - else if (!manualArm) - armState = ARM_STATE_DISARMED; - break; - - case ARM_STATE_ARMED: - // When we get here, the throttle is low, - // we go immediately to disarming due to timeout, also when the disarming mechanism is not enabled - armedDisarmStart = lastSysTime; - armState = ARM_STATE_DISARMING_TIMEOUT; - setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMED); - break; - - case ARM_STATE_DISARMING_TIMEOUT: - // We get here when armed while throttle low, even when the arming timeout is not enabled - if ((settings->ArmedTimeout != 0) && (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings->ArmedTimeout)) - armState = ARM_STATE_DISARMED; - - // Switch to disarming due to manual control when needed - if (manualDisarm) { - armedDisarmStart = lastSysTime; - armState = ARM_STATE_DISARMING_MANUAL; - } - break; - - case ARM_STATE_DISARMING_MANUAL: - if (manualDisarm &&(timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)) - armState = ARM_STATE_DISARMED; - else if (!manualDisarm) - armState = ARM_STATE_ARMED; - break; - } // End Switch - } -} - -/** - * @brief Determine which of three positions the flight mode switch is in and set flight mode accordingly - * @param[out] cmd Pointer to the command structure to set the flight mode in - * @param[in] settings The settings which indicate which position is which mode - * @param[in] flightMode the value of the switch position - */ -static void processFlightMode(ManualControlSettingsData * settings, float flightMode) -{ - FlightStatusData flightStatus; - FlightStatusGet(&flightStatus); - - uint8_t newMode; - // Note here the code is ass - if (flightMode < -FLIGHT_MODE_LIMIT) - newMode = settings->FlightModePosition[0]; - else if (flightMode > FLIGHT_MODE_LIMIT) - newMode = settings->FlightModePosition[2]; - else - newMode = settings->FlightModePosition[1]; - - if(flightStatus.FlightMode != newMode) { - flightStatus.FlightMode = newMode; - FlightStatusSet(&flightStatus); - } - -} - -/** - * @brief Determine if the manual input value is within acceptable limits - * @returns return TRUE if so, otherwise return FALSE - */ -bool validInputRange(int16_t min, int16_t max, uint16_t value) -{ - if (min > max) - { - int16_t tmp = min; - min = max; - max = tmp; - } - return (value >= min - CONNECTION_OFFSET && value <= max + CONNECTION_OFFSET); -} - -/** - * @} - * @} - */ +/** + ****************************************************************************** + * @addtogroup OpenPilotModules OpenPilot Modules + * @{ + * @addtogroup ManualControlModule Manual Control Module + * @brief Provide manual control or allow it alter flight mode. + * @{ + * + * Reads in the ManualControlCommand FlightMode setting from receiver then either + * pass the settings straght to ActuatorDesired object (manual mode) or to + * AttitudeDesired object (stabilized mode) + * + * @file manualcontrol.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief ManualControl module. Handles safety R/C link and flight mode. + * + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#include "openpilot.h" +#include "manualcontrol.h" +#include "manualcontrolsettings.h" +#include "stabilizationsettings.h" +#include "manualcontrolcommand.h" +#include "actuatordesired.h" +#include "stabilizationdesired.h" +#include "flighttelemetrystats.h" +#include "flightstatus.h" +#include "accessorydesired.h" + +// Private constants +#if defined(PIOS_MANUAL_STACK_SIZE) +#define STACK_SIZE_BYTES PIOS_MANUAL_STACK_SIZE +#else +#define STACK_SIZE_BYTES 824 +#endif + +#define TASK_PRIORITY (tskIDLE_PRIORITY+4) +#define UPDATE_PERIOD_MS 20 +#define THROTTLE_FAILSAFE -0.1 +#define FLIGHT_MODE_LIMIT 1.0/3.0 +#define ARMED_TIME_MS 1000 +#define ARMED_THRESHOLD 0.50 +//safe band to allow a bit of calibration error or trim offset (in microseconds) +#define CONNECTION_OFFSET 150 + +// Private types +typedef enum +{ + ARM_STATE_DISARMED, + ARM_STATE_ARMING_MANUAL, + ARM_STATE_ARMED, + ARM_STATE_DISARMING_MANUAL, + ARM_STATE_DISARMING_TIMEOUT +} ArmState_t; + +// Private variables +static xTaskHandle taskHandle; +static ArmState_t armState; +static portTickType lastSysTime; + +// Private functions +static void updateActuatorDesired(ManualControlCommandData * cmd); +static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings); +static void processFlightMode(ManualControlSettingsData * settings, float flightMode); +static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings); + +static void manualControlTask(void *parameters); +static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral); +static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time); +static bool okToArm(void); +static bool validInputRange(int16_t min, int16_t max, uint16_t value); + +#define assumptions1 ( \ + ((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \ + ((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \ + ((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \ + ) + +#define assumptions3 ( \ + ((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \ + ((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \ + ((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \ + ) + +#define assumptions5 ( \ + ((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \ + ((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \ + ((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \ + ) + + + +#define ARMING_CHANNEL_ROLL 0 +#define ARMING_CHANNEL_PITCH 1 +#define ARMING_CHANNEL_YAW 2 + +#define assumptions7 ( \ + ( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \ + ( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \ + ( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \ + ( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \ + ( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) && \ + ( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) \ + ) + +#define assumptions8 ( \ + ( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \ + ( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \ + ( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \ + ( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \ + ( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \ + ( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) \ + ) + + +#define assumptions_flightmode ( \ + ( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int) FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \ + ( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \ + ( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \ + ( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \ + ( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int) FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) && \ + ( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) \ + ) + +#define assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode) + +/** + * Module initialization + */ +int32_t ManualControlInitialize() +{ + /* Check the assumptions about uavobject enum's are correct */ + if(!assumptions) + return -1; + // Start main task + xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); + TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle); + PIOS_WDG_RegisterFlag(PIOS_WDG_MANUAL); + + + return 0; +} + +/** + * Module task + */ +static void manualControlTask(void *parameters) +{ + ManualControlSettingsData settings; + ManualControlCommandData cmd; + FlightStatusData flightStatus; + float flightMode = 0; + + uint8_t disconnected_count = 0; + uint8_t connected_count = 0; + + // For now manual instantiate extra instances of Accessory Desired. In future should be done dynamically + // this includes not even registering it if not used + AccessoryDesiredCreateInstance(); + AccessoryDesiredCreateInstance(); + + // Make sure unarmed on power up + ManualControlCommandGet(&cmd); + FlightStatusGet(&flightStatus); + flightStatus.Armed = FLIGHTSTATUS_ARMED_DISARMED; + armState = ARM_STATE_DISARMED; + + // Main task loop + lastSysTime = xTaskGetTickCount(); + while (1) { + float scaledChannel[MANUALCONTROLCOMMAND_CHANNEL_NUMELEM]; + + // Wait until next update + vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS); + PIOS_WDG_UpdateFlag(PIOS_WDG_MANUAL); + + // Read settings + ManualControlSettingsGet(&settings); + + if (ManualControlCommandReadOnly(&cmd)) { + FlightTelemetryStatsData flightTelemStats; + FlightTelemetryStatsGet(&flightTelemStats); + if(flightTelemStats.Status != FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) { + /* trying to fly via GCS and lost connection. fall back to transmitter */ + UAVObjMetadata metadata; + UAVObjGetMetadata(&cmd, &metadata); + metadata.access = ACCESS_READWRITE; + UAVObjSetMetadata(&cmd, &metadata); + } + } + + if (!ManualControlCommandReadOnly(&cmd)) { + + // Read channel values in us + for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) { + if (pios_rcvr_channel_to_id_map[n]) { + cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_channel_to_id_map[n]); + } else { + cmd.Channel[n] = -1; + } + scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]); + } + + // Check settings, if error raise alarm + if (settings.Roll >= MANUALCONTROLSETTINGS_ROLL_NONE || + settings.Pitch >= MANUALCONTROLSETTINGS_PITCH_NONE || + settings.Yaw >= MANUALCONTROLSETTINGS_YAW_NONE || + settings.Throttle >= MANUALCONTROLSETTINGS_THROTTLE_NONE || + settings.FlightMode >= MANUALCONTROLSETTINGS_FLIGHTMODE_NONE) { + AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); + cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE; + ManualControlCommandSet(&cmd); + continue; + } + + // decide if we have valid manual input or not + bool valid_input_detected = validInputRange(settings.ChannelMin[settings.Throttle], settings.ChannelMax[settings.Throttle], cmd.Channel[settings.Throttle]) && + validInputRange(settings.ChannelMin[settings.Roll], settings.ChannelMax[settings.Roll], cmd.Channel[settings.Roll]) && + validInputRange(settings.ChannelMin[settings.Yaw], settings.ChannelMax[settings.Yaw], cmd.Channel[settings.Yaw]) && + validInputRange(settings.ChannelMin[settings.Pitch], settings.ChannelMax[settings.Pitch], cmd.Channel[settings.Pitch]); + + // Implement hysteresis loop on connection status + if (valid_input_detected && (++connected_count > 10)) { + cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_TRUE; + connected_count = 0; + disconnected_count = 0; + } else if (!valid_input_detected && (++disconnected_count > 10)) { + cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE; + connected_count = 0; + disconnected_count = 0; + } + + if (cmd.Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE) { + cmd.Throttle = -1; // Shut down engine with no control + cmd.Roll = 0; + cmd.Yaw = 0; + cmd.Pitch = 0; + //cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO; // don't do until AUTO implemented and functioning + // Important: Throttle < 0 will reset Stabilization coefficients among other things. Either change this, + // or leave throttle at IDLE speed or above when going into AUTO-failsafe. + AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); + ManualControlCommandSet(&cmd); + } else { + AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL); + + // Scale channels to -1 -> +1 range + cmd.Roll = scaledChannel[settings.Roll]; + cmd.Pitch = scaledChannel[settings.Pitch]; + cmd.Yaw = scaledChannel[settings.Yaw]; + cmd.Throttle = scaledChannel[settings.Throttle]; + flightMode = scaledChannel[settings.FlightMode]; + + AccessoryDesiredData accessory; + // Set Accessory 0 + if(settings.Accessory0 != MANUALCONTROLSETTINGS_ACCESSORY0_NONE) { + accessory.AccessoryVal = scaledChannel[settings.Accessory0]; + if(AccessoryDesiredInstSet(0, &accessory) != 0) + AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); + } + // Set Accessory 1 + if(settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE) { + accessory.AccessoryVal = scaledChannel[settings.Accessory1]; + if(AccessoryDesiredInstSet(1, &accessory) != 0) + AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); + } + // Set Accsesory 2 + if(settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) { + accessory.AccessoryVal = scaledChannel[settings.Accessory2]; + if(AccessoryDesiredInstSet(2, &accessory) != 0) + AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); + } + + + processFlightMode(&settings, flightMode); + processArm(&cmd, &settings); + + // Update cmd object + ManualControlCommandSet(&cmd); + + } + + } else { + ManualControlCommandGet(&cmd); /* Under GCS control */ + } + + + FlightStatusGet(&flightStatus); + + // Depending on the mode update the Stabilization or Actuator objects + switch(PARSE_FLIGHT_MODE(flightStatus.FlightMode)) { + case FLIGHTMODE_UNDEFINED: + // This reflects a bug in the code architecture! + AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); + break; + case FLIGHTMODE_MANUAL: + updateActuatorDesired(&cmd); + break; + case FLIGHTMODE_STABILIZED: + updateStabilizationDesired(&cmd, &settings); + break; + case FLIGHTMODE_GUIDANCE: + // TODO: Implement + break; + } + } +} + +static void updateActuatorDesired(ManualControlCommandData * cmd) +{ + ActuatorDesiredData actuator; + ActuatorDesiredGet(&actuator); + actuator.Roll = cmd->Roll; + actuator.Pitch = cmd->Pitch; + actuator.Yaw = cmd->Yaw; + actuator.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle; + ActuatorDesiredSet(&actuator); +} + +static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings) +{ + StabilizationDesiredData stabilization; + StabilizationDesiredGet(&stabilization); + + StabilizationSettingsData stabSettings; + StabilizationSettingsGet(&stabSettings); + + uint8_t * stab_settings; + FlightStatusData flightStatus; + FlightStatusGet(&flightStatus); + switch(flightStatus.FlightMode) { + case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1: + stab_settings = settings->Stabilization1Settings; + break; + case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2: + stab_settings = settings->Stabilization2Settings; + break; + case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3: + stab_settings = settings->Stabilization3Settings; + break; + default: + // Major error, this should not occur because only enter this block when one of these is true + AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); + return; + } + + // TOOD: Add assumption about order of stabilization desired and manual control stabilization mode fields having same order + stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = stab_settings[0]; + stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = stab_settings[1]; + stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = stab_settings[2]; + + stabilization.Roll = (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll : + (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] : + (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax : + 0; // this is an invalid mode + ; + stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch : + (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] : + (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax : + 0; // this is an invalid mode + + stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw : + (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] : + (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? fmod(cmd->Yaw * 180.0, 360) : + 0; // this is an invalid mode + + stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle; + StabilizationDesiredSet(&stabilization); +} + +/** + * Convert channel from servo pulse duration (microseconds) to scaled -1/+1 range. + */ +static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral) +{ + float valueScaled; + + // Scale + if ((max > min && value >= neutral) || (min > max && value <= neutral)) + { + if (max != neutral) + valueScaled = (float)(value - neutral) / (float)(max - neutral); + else + valueScaled = 0; + } + else + { + if (min != neutral) + valueScaled = (float)(value - neutral) / (float)(neutral - min); + else + valueScaled = 0; + } + + // Bound + if (valueScaled > 1.0) valueScaled = 1.0; + else + if (valueScaled < -1.0) valueScaled = -1.0; + + return valueScaled; +} + +static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time) { + if(end_time > start_time) + return (end_time - start_time) * portTICK_RATE_MS; + return ((((portTICK_RATE_MS) -1) - start_time) + end_time) * portTICK_RATE_MS; +} + +/** + * @brief Determine if the aircraft is safe to arm + * @returns True if safe to arm, false otherwise + */ +static bool okToArm(void) +{ + // read alarms + SystemAlarmsData alarms; + SystemAlarmsGet(&alarms); + + + // Check each alarm + for (int i = 0; i < SYSTEMALARMS_ALARM_NUMELEM; i++) + { + if (alarms.Alarm[i] >= SYSTEMALARMS_ALARM_ERROR) + { // found an alarm thats set + if (i == SYSTEMALARMS_ALARM_GPS || i == SYSTEMALARMS_ALARM_TELEMETRY) + continue; + + return false; + } + } + + return true; +} + +/** + * @brief Update the flightStatus object only if value changed. Reduces callbacks + * @param[in] val The new value + */ +static void setArmedIfChanged(uint8_t val) { + FlightStatusData flightStatus; + FlightStatusGet(&flightStatus); + + if(flightStatus.Armed != val) { + flightStatus.Armed = val; + FlightStatusSet(&flightStatus); + } +} + +/** + * @brief Process the inputs and determine whether to arm or not + * @param[out] cmd The structure to set the armed in + * @param[in] settings Settings indicating the necessary position + */ +static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings) +{ + + bool lowThrottle = cmd->Throttle <= 0; + + if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) { + // In this configuration we always disarm + setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED); + } else { + // Not really needed since this function not called when disconnected + if (cmd->Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE) + return; + + // The throttle is not low, in case we where arming or disarming, abort + if (!lowThrottle) { + switch(armState) { + case ARM_STATE_DISARMING_MANUAL: + case ARM_STATE_DISARMING_TIMEOUT: + armState = ARM_STATE_ARMED; + break; + case ARM_STATE_ARMING_MANUAL: + armState = ARM_STATE_DISARMED; + break; + default: + // Nothing needs to be done in the other states + break; + } + return; + } + + // The rest of these cases throttle is low + if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSARMED) { + // In this configuration, we go into armed state as soon as the throttle is low, never disarm + setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMED); + return; + } + + + // When the configuration is not "Always armed" and no "Always disarmed", + // the state will not be changed when the throttle is not low + static portTickType armedDisarmStart; + float armingInputLevel = 0; + + // Calc channel see assumptions7 + int8_t sign = ((settings->Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2) ? -1 : 1; + switch ( (settings->Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 ) { + case ARMING_CHANNEL_ROLL: armingInputLevel = sign * cmd->Roll; break; + case ARMING_CHANNEL_PITCH: armingInputLevel = sign * cmd->Pitch; break; + case ARMING_CHANNEL_YAW: armingInputLevel = sign * cmd->Yaw; break; + } + + bool manualArm = false; + bool manualDisarm = false; + + if (armingInputLevel <= -ARMED_THRESHOLD) + manualArm = true; + else if (armingInputLevel >= +ARMED_THRESHOLD) + manualDisarm = true; + + switch(armState) { + case ARM_STATE_DISARMED: + setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED); + + // only allow arming if it's OK too + if (manualArm && okToArm()) { + armedDisarmStart = lastSysTime; + armState = ARM_STATE_ARMING_MANUAL; + } + break; + + case ARM_STATE_ARMING_MANUAL: + setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMING); + + if (manualArm && (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)) + armState = ARM_STATE_ARMED; + else if (!manualArm) + armState = ARM_STATE_DISARMED; + break; + + case ARM_STATE_ARMED: + // When we get here, the throttle is low, + // we go immediately to disarming due to timeout, also when the disarming mechanism is not enabled + armedDisarmStart = lastSysTime; + armState = ARM_STATE_DISARMING_TIMEOUT; + setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMED); + break; + + case ARM_STATE_DISARMING_TIMEOUT: + // We get here when armed while throttle low, even when the arming timeout is not enabled + if ((settings->ArmedTimeout != 0) && (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings->ArmedTimeout)) + armState = ARM_STATE_DISARMED; + + // Switch to disarming due to manual control when needed + if (manualDisarm) { + armedDisarmStart = lastSysTime; + armState = ARM_STATE_DISARMING_MANUAL; + } + break; + + case ARM_STATE_DISARMING_MANUAL: + if (manualDisarm &&(timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)) + armState = ARM_STATE_DISARMED; + else if (!manualDisarm) + armState = ARM_STATE_ARMED; + break; + } // End Switch + } +} + +/** + * @brief Determine which of three positions the flight mode switch is in and set flight mode accordingly + * @param[out] cmd Pointer to the command structure to set the flight mode in + * @param[in] settings The settings which indicate which position is which mode + * @param[in] flightMode the value of the switch position + */ +static void processFlightMode(ManualControlSettingsData * settings, float flightMode) +{ + FlightStatusData flightStatus; + FlightStatusGet(&flightStatus); + + uint8_t newMode; + // Note here the code is ass + if (flightMode < -FLIGHT_MODE_LIMIT) + newMode = settings->FlightModePosition[0]; + else if (flightMode > FLIGHT_MODE_LIMIT) + newMode = settings->FlightModePosition[2]; + else + newMode = settings->FlightModePosition[1]; + + if(flightStatus.FlightMode != newMode) { + flightStatus.FlightMode = newMode; + FlightStatusSet(&flightStatus); + } + +} + +/** + * @brief Determine if the manual input value is within acceptable limits + * @returns return TRUE if so, otherwise return FALSE + */ +bool validInputRange(int16_t min, int16_t max, uint16_t value) +{ + if (min > max) + { + int16_t tmp = min; + min = max; + max = tmp; + } + return (value >= min - CONNECTION_OFFSET && value <= max + CONNECTION_OFFSET); +} + +/** + * @} + * @} + */ diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile index 68ad6f561..83b179641 100644 --- a/flight/OpenPilot/Makefile +++ b/flight/OpenPilot/Makefile @@ -196,6 +196,7 @@ SRC += $(PIOSCOMMON)/pios_hcsr04.c SRC += $(PIOSCOMMON)/pios_i2c_esc.c SRC += $(PIOSCOMMON)/pios_iap.c SRC += $(PIOSCOMMON)/pios_bl_helper.c +SRC += $(PIOSCOMMON)/pios_rcvr.c SRC += $(PIOSCOMMON)/printf-stdarg.c SRC += $(FLIGHTLIB)/ahrs_spi_comm.c SRC += $(FLIGHTLIB)/ahrs_comm_objects.c diff --git a/flight/OpenPilot/System/inc/pios_config.h b/flight/OpenPilot/System/inc/pios_config.h index 939ee73b6..215d0fadb 100644 --- a/flight/OpenPilot/System/inc/pios_config.h +++ b/flight/OpenPilot/System/inc/pios_config.h @@ -42,6 +42,8 @@ #define PIOS_INCLUDE_IRQ #define PIOS_INCLUDE_LED +#define PIOS_INCLUDE_RCVR + #if defined(USE_SPEKTRUM) #define PIOS_INCLUDE_SPEKTRUM #elif defined(USE_SBUS) diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c index 52a059777..7c9e13d82 100644 --- a/flight/OpenPilot/System/pios_board.c +++ b/flight/OpenPilot/System/pios_board.c @@ -497,13 +497,13 @@ const struct pios_usart_cfg pios_usart_spektrum_cfg = { }, }; +#include static uint32_t pios_usart_spektrum_id; void PIOS_USART_spektrum_irq_handler(void) { - SPEKTRUM_IRQHandler(pios_usart_spektrum_id); + PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id); } -#include void RTC_IRQHandler(); void RTC_IRQHandler() __attribute__ ((alias ("PIOS_SUPV_irq_handler"))); const struct pios_spektrum_cfg pios_spektrum_cfg = { @@ -525,11 +525,11 @@ const struct pios_spektrum_cfg pios_spektrum_cfg = { .pin = GPIO_Pin_10, }; -void PIOS_SUPV_irq_handler() { +void PIOS_SUPV_irq_handler(void) { if (RTC_GetITStatus(RTC_IT_SEC)) { /* Call the right handler */ - PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id); + PIOS_SPEKTRUMSV_irq_handler(pios_usart_spektrum_id); /* Wait until last write operation on RTC registers has finished */ RTC_WaitForLastTask(); @@ -802,7 +802,7 @@ const struct pios_ppmsv_cfg pios_ppmsv_cfg = { .ccr = TIM_IT_Update, }; -void PIOS_TIM6_irq_handler() +void PIOS_TIM6_irq_handler(void) { PIOS_PPMSV_irq_handler(); } @@ -844,7 +844,7 @@ const struct pios_ppm_cfg pios_ppm_cfg = { .ccr = TIM_IT_CC2, }; -void PIOS_TIM1_CC_irq_handler() +void PIOS_TIM1_CC_irq_handler(void) { PIOS_PPM_irq_handler(); } @@ -1013,6 +1013,13 @@ static const struct stm32_gpio pios_debug_pins[] = { #endif /* PIOS_ENABLE_DEBUG_PINS */ +#if defined(PIOS_INCLUDE_RCVR) +#include "pios_rcvr_priv.h" + +uint32_t pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_DEVS]; +uint32_t pios_rcvr_max_channel; +#endif /* PIOS_INCLUDE_RCVR */ + extern const struct pios_com_driver pios_usb_com_driver; uint32_t pios_com_telem_rf_id; @@ -1050,18 +1057,6 @@ void PIOS_Board_Init(void) { PIOS_SDCARD_MountFS(0); #endif /* PIOS_INCLUDE_SPI */ -#if defined(PIOS_INCLUDE_SPEKTRUM) - /* SPEKTRUM init must come before comms */ - PIOS_RTC_Init(); // Spektrum uses RTC to check for frame failures - PIOS_SPEKTRUM_Init(); - - if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) { - PIOS_DEBUG_Assert(0); - } - if (PIOS_COM_Init(&pios_com_spektrum_id, &pios_usart_com_driver, pios_usart_spektrum_id)) { - PIOS_DEBUG_Assert(0); - } -#endif /* Initialize UAVObject libraries */ EventDispatcherInitialize(); UAVObjInitialize(); @@ -1105,11 +1100,59 @@ void PIOS_Board_Init(void) { PIOS_ADC_Init(); PIOS_GPIO_Init(); +#if defined(PIOS_INCLUDE_SPEKTRUM) +#if (PIOS_SPEKTRUM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS) +#error More receiver inputs than available devices +#endif + /* SPEKTRUM init must come before comms */ + PIOS_SPEKTRUM_Init(); + + if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) { + PIOS_DEBUG_Assert(0); + } + if (PIOS_COM_Init(&pios_com_spektrum_id, &pios_usart_com_driver, pios_usart_spektrum_id)) { + PIOS_DEBUG_Assert(0); + } + for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) { + if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], + &pios_spektrum_rcvr_driver, + i)) { + pios_rcvr_max_channel++; + } else { + PIOS_DEBUG_Assert(0); + } + } +#endif + #if defined(PIOS_INCLUDE_PWM) +#if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS) +#error More receiver inputs than available devices +#endif PIOS_PWM_Init(); + for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) { + if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], + &pios_pwm_rcvr_driver, + i)) { + pios_rcvr_max_channel++; + } else { + PIOS_DEBUG_Assert(0); + } + } #endif #if defined(PIOS_INCLUDE_PPM) +#if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS) +#error More receiver inputs than available devices +#endif PIOS_PPM_Init(); + for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS; i++) { + if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], + &pios_ppm_rcvr_driver, + i)) { + pios_rcvr_max_channel++; + } else { + PIOS_DEBUG_Assert(0); + } + } #endif #if defined(PIOS_INCLUDE_USB_HID) PIOS_USB_HID_Init(0); diff --git a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h index b5b570e53..993d08c78 100644 --- a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h +++ b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h @@ -225,10 +225,27 @@ extern uint32_t pios_com_sbus_id; #define PIOS_ADC_RATE (72.0e6 / 1.0 / 8.0 / 252.0 / (PIOS_ADC_NUM_CHANNELS >> PIOS_ADC_USE_ADC2)) #define PIOS_ADC_MAX_OVERSAMPLING 36 +//------------------------ +// PIOS_RCVR +// See also pios_board.c +//------------------------ +#define PIOS_RCVR_MAX_DEVS 12 + //------------------------- -// Receiver PWM inputs +// Receiver PPM input //------------------------- -#define PIOS_PWM_MAX_INPUTS 6 +#define PIOS_PPM_NUM_INPUTS 6 //Could be more if needed +#define PIOS_PPM_SUPV_ENABLED 1 + +//------------------------- +// Receiver PWM input +//------------------------- +#define PIOS_PWM_NUM_INPUTS 6 + +//------------------------- +// Receiver SPEKTRUM input +//------------------------- +#define PIOS_SPEKTRUM_NUM_INPUTS 12 //------------------------- // Servo outputs diff --git a/flight/PiOS/Boards/STM3210E_OP.h b/flight/PiOS/Boards/STM3210E_OP.h index e82858fb1..dc598cf4b 100644 --- a/flight/PiOS/Boards/STM3210E_OP.h +++ b/flight/PiOS/Boards/STM3210E_OP.h @@ -199,37 +199,33 @@ extern uint32_t pios_com_sbus_id; #define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc... #define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc... -//------------------------- -// Receiver PWM inputs -//------------------------- -/*#define PIOS_PWM_SUPV_ENABLED 1 -#define PIOS_PWM_SUPV_TIMER TIM6 -#define PIOS_PWM_SUPV_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE) -#define PIOS_PWM_SUPV_HZ 25 -#define PIOS_PWM_SUPV_IRQ_CHANNEL TIM6_IRQn -#define PIOS_PWM_SUPV_IRQ_FUNC void TIM6_IRQHandler(void)*/ +//------------------------ +// PIOS_RCVR +// See also pios_board.c +//------------------------ +#define PIOS_RCVR_MAX_DEVS 12 //------------------------- // Receiver PPM input //------------------------- #define PIOS_PPM_NUM_INPUTS 8 //Could be more if needed #define PIOS_PPM_SUPV_ENABLED 1 + //------------------------- -// SPEKTRUM input +// Receiver PWM input //------------------------- -//#define PIOS_SPEKTRUM_SUPV_ENABLED 1 -//#define PIOS_SPEKTRUM_SUPV_TIMER TIM6 -//#define PIOS_SPEKTRUM_SUPV_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE) -//#define PIOS_SPEKTRUM_SUPV_HZ 60 // 1/22ms -//#define PIOS_SPEKTRUM_SUPV_IRQ_CHANNEL TIM6_IRQn -//#define PIOS_SPEKTRUM_SUPV_IRQ_FUNC void TIM6_IRQHandler(void) +#define PIOS_PWM_NUM_INPUTS 8 + +//------------------------- +// Receiver SPEKTRUM input +//------------------------- +#define PIOS_SPEKTRUM_NUM_INPUTS 12 //------------------------- // Servo outputs //------------------------- #define PIOS_SERVO_UPDATE_HZ 50 #define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */ -#define PIOS_PWM_MAX_INPUTS 8 //------------------------- // ADC diff --git a/flight/PiOS/STM32F10x/pios_ppm.c b/flight/PiOS/STM32F10x/pios_ppm.c index 885b3e27d..b9f087812 100644 --- a/flight/PiOS/STM32F10x/pios_ppm.c +++ b/flight/PiOS/STM32F10x/pios_ppm.c @@ -34,8 +34,14 @@ #if defined(PIOS_INCLUDE_PPM) -/* Local Variables */ +/* Provide a RCVR driver */ +static int32_t PIOS_PPM_Get(uint32_t chan_id); +const struct pios_rcvr_driver pios_ppm_rcvr_driver = { + .read = PIOS_PPM_Get, +}; + +/* Local Variables */ static TIM_ICInitTypeDef TIM_ICInitStructure; static uint8_t PulseIndex; static uint32_t PreviousValue; @@ -208,13 +214,13 @@ void PIOS_PPM_Init(void) * \output -1 Channel not available * \output >0 Channel value */ -int32_t PIOS_PPM_Get(int8_t Channel) +static int32_t PIOS_PPM_Get(uint32_t chan_id) { /* Return error if channel not available */ - if (Channel >= PIOS_PPM_NUM_INPUTS) { + if (chan_id >= PIOS_PPM_NUM_INPUTS) { return -1; } - return CaptureValue[Channel]; + return CaptureValue[chan_id]; } /** diff --git a/flight/PiOS/STM32F10x/pios_pwm.c b/flight/PiOS/STM32F10x/pios_pwm.c index c524b3d9f..e00da7cb9 100644 --- a/flight/PiOS/STM32F10x/pios_pwm.c +++ b/flight/PiOS/STM32F10x/pios_pwm.c @@ -34,15 +34,20 @@ #if defined(PIOS_INCLUDE_PWM) -/* Local Variables */ -static uint8_t CaptureState[PIOS_PWM_MAX_INPUTS]; -static uint16_t RiseValue[PIOS_PWM_MAX_INPUTS]; -static uint16_t FallValue[PIOS_PWM_MAX_INPUTS]; -static uint32_t CaptureValue[PIOS_PWM_MAX_INPUTS]; +/* Provide a RCVR driver */ +static int32_t PIOS_PWM_Get(uint32_t chan_id); -//static uint8_t SupervisorState = 0; -static uint32_t CapCounter[PIOS_PWM_MAX_INPUTS]; -//static uint32_t CapCounterPrev[MAX_CHANNELS]; +const struct pios_rcvr_driver pios_pwm_rcvr_driver = { + .read = PIOS_PWM_Get, +}; + +/* Local Variables */ +static uint8_t CaptureState[PIOS_PWM_NUM_INPUTS]; +static uint16_t RiseValue[PIOS_PWM_NUM_INPUTS]; +static uint16_t FallValue[PIOS_PWM_NUM_INPUTS]; +static uint32_t CaptureValue[PIOS_PWM_NUM_INPUTS]; + +static uint32_t CapCounter[PIOS_PWM_NUM_INPUTS]; /** * Initialises all the pins @@ -127,52 +132,6 @@ void PIOS_PWM_Init(void) /* Warning, I don't think this will work for multiple remaps at once */ GPIO_PinRemapConfig(pios_pwm_cfg.remap, ENABLE); } - -#if 0 - /* Supervisor Setup */ -#if (PIOS_PWM_SUPV_ENABLED) - /* Flush counter variables */ - for (i = 0; i < PIOS_PWM_NUM_INPUTS; i++) { - CapCounter[i] = 0; - } - for (i = 0; i < PIOS_PWM_NUM_INPUTS; i++) { - CapCounterPrev[i] = 0; - } - - /* Enable timer clock */ - PIOS_PWM_SUPV_TIMER_RCC_FUNC; - - /* Configure interrupts */ - NVIC_InitStructure.NVIC_IRQChannel = PIOS_PWM_SUPV_IRQ_CHANNEL; - NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID; - NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; - NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; - NVIC_Init(&NVIC_InitStructure); - - /* Time base configuration */ - TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); - TIM_TimeBaseStructure.TIM_Period = ((1000000 / PIOS_PWM_SUPV_HZ) - 1); - TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1; /* For 1 uS accuracy */ - TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; - TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; - TIM_TimeBaseInit(PIOS_PWM_SUPV_TIMER, &TIM_TimeBaseStructure); - - /* Enable the CC2 Interrupt Request */ - TIM_ITConfig(PIOS_PWM_SUPV_TIMER, TIM_IT_Update, ENABLE); - - /* Clear update pending flag */ - TIM_ClearFlag(TIM2, TIM_FLAG_Update); - - /* Enable counter */ - TIM_Cmd(PIOS_PWM_SUPV_TIMER, ENABLE); -#endif - - /* Setup local variable which stays in this scope */ - /* Doing this here and using a local variable saves doing it in the ISR */ - TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; - TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; - TIM_ICInitStructure.TIM_ICFilter = 0x0; -#endif } /** @@ -181,13 +140,13 @@ void PIOS_PWM_Init(void) * \output -1 Channel not available * \output >0 Channel value */ -int32_t PIOS_PWM_Get(int8_t Channel) +static int32_t PIOS_PWM_Get(uint32_t chan_id) { /* Return error if channel not available */ - if (Channel >= pios_pwm_cfg.num_channels) { + if (chan_id >= pios_pwm_cfg.num_channels) { return -1; } - return CaptureValue[Channel]; + return CaptureValue[chan_id]; } void PIOS_PWM_irq_handler(TIM_TypeDef * timer) @@ -254,84 +213,6 @@ void PIOS_PWM_irq_handler(TIM_TypeDef * timer) } } -#if 0 -/** -* Handle TIM5 global interrupt request -*/ -void TIM5_IRQHandler(void) -{ - /* Do this as it's more efficient */ - if (TIM_GetITStatus(PIOS_PWM_TIM_PORT[2], PIOS_PWM_TIM_CCR[2]) == SET) { - if (CaptureState[2] == 0) { - RiseValue[2] = TIM_GetCapture1(PIOS_PWM_TIM_PORT[2]); - } else { - FallValue[2] = TIM_GetCapture1(PIOS_PWM_TIM_PORT[2]); - } - - /* Clear TIM3 Capture compare interrupt pending bit */ - TIM_ClearITPendingBit(PIOS_PWM_TIM_PORT[2], PIOS_PWM_TIM_CCR[2]); - - /* Simple rise or fall state machine */ - if (CaptureState[2] == 0) { - /* Switch states */ - CaptureState[2] = 1; - - /* Switch polarity of input capture */ - TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling; - TIM_ICInitStructure.TIM_Channel = PIOS_PWM_TIM_CHANNEL[2]; - TIM_ICInit(PIOS_PWM_TIM_PORT[2], &TIM_ICInitStructure); - - } else { - /* Capture computation */ - if (FallValue[2] > RiseValue[2]) { - CaptureValue[2] = (FallValue[2] - RiseValue[2]); - } else { - CaptureValue[2] = ((0xFFFF - RiseValue[2]) + FallValue[2]); - } - - /* Switch states */ - CaptureState[2] = 0; - - /* Increase supervisor counter */ - CapCounter[2]++; - - /* Switch polarity of input capture */ - TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; - TIM_ICInitStructure.TIM_Channel = PIOS_PWM_TIM_CHANNEL[2]; - TIM_ICInit(PIOS_PWM_TIM_PORT[2], &TIM_ICInitStructure); - } - } -} - -/** -* This function handles TIM3 global interrupt request. -*/ -PIOS_PWM_SUPV_IRQ_FUNC { - /* Clear timer interrupt pending bit */ - TIM_ClearITPendingBit(PIOS_PWM_SUPV_TIMER, TIM_IT_Update); - - /* Simple state machine */ - if (SupervisorState == 0) { - /* Save this states values */ - for (int32_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) { - CapCounterPrev[i] = CapCounter[i]; - } - - /* Move to next state */ - SupervisorState = 1; - } else { - /* See what channels have been updated */ - for (int32_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) { - if (CapCounter[i] == CapCounterPrev[i]) { - CaptureValue[i] = 0; - } - } - - /* Move to next state */ - SupervisorState = 0; - } -} -#endif #endif /** diff --git a/flight/PiOS/STM32F10x/pios_sbus.c b/flight/PiOS/STM32F10x/pios_sbus.c index c742397a5..823597641 100644 --- a/flight/PiOS/STM32F10x/pios_sbus.c +++ b/flight/PiOS/STM32F10x/pios_sbus.c @@ -36,6 +36,13 @@ /* Global Variables */ +/* Provide a RCVR driver */ +static int32_t PIOS_SBUS_Get(uint32_t chan_id); + +const struct pios_rcvr_driver pios_sbus_rcvr_driver = { + .read = PIOS_SBUS_Get, +}; + /* Local Variables */ static uint16_t channel_data[SBUS_NUMBER_OF_CHANNELS]; static uint8_t received_data[SBUS_FRAME_LENGTH - 2]; @@ -154,19 +161,19 @@ void PIOS_SBUS_Init(void) * \output -1 channel not available * \output >0 channel value */ -int16_t PIOS_SBUS_Get(int8_t channel) +static int32_t PIOS_SBUS_Get(uint32_t chan_id) { /* return error if channel is not available */ - if (channel >= SBUS_NUMBER_OF_CHANNELS) { + if (chan_id >= SBUS_NUMBER_OF_CHANNELS) { return -1; } - return channel_data[channel]; + return channel_data[chan_id]; } /** * Interrupt handler for USART */ -void SBUS_IRQHandler(uint32_t usart_id) +void PIOS_SBUS_irq_handler(uint32_t usart_id) { /* by always reading DR after SR make sure to clear any error interrupts */ volatile uint16_t sr = pios_sbus_cfg.pios_usart_sbus_cfg->regs->SR; @@ -198,7 +205,7 @@ void SBUS_IRQHandler(uint32_t usart_id) * data reception. If no new data received in 100ms, we must call the * failsafe function which clears all channels. */ -void PIOS_SBUS_irq_handler() +void PIOS_SBUSSV_irq_handler() { /* waiting for new frame if no bytes were received in 3.2ms */ if (++receive_timer > 2) { diff --git a/flight/PiOS/STM32F10x/pios_spektrum.c b/flight/PiOS/STM32F10x/pios_spektrum.c index 8b00a32a3..6e236991d 100644 --- a/flight/PiOS/STM32F10x/pios_spektrum.c +++ b/flight/PiOS/STM32F10x/pios_spektrum.c @@ -51,8 +51,15 @@ /* Global Variables */ +/* Provide a RCVR driver */ +static int32_t PIOS_SPEKTRUM_Get(uint32_t chan_id); + +const struct pios_rcvr_driver pios_spektrum_rcvr_driver = { + .read = PIOS_SPEKTRUM_Get, +}; + /* Local Variables */ -static uint16_t CaptureValue[12],CaptureValueTemp[12]; +static uint16_t CaptureValue[PIOS_SPEKTRUM_NUM_INPUTS],CaptureValueTemp[PIOS_SPEKTRUM_NUM_INPUTS]; static uint8_t prev_byte = 0xFF, sync = 0, bytecount = 0, datalength=0, frame_error=0, byte_array[20] = { 0 }; uint8_t sync_of = 0; uint16_t supv_timer=0; @@ -84,13 +91,13 @@ void PIOS_SPEKTRUM_Init(void) * \output -1 Channel not available * \output >0 Channel value */ -int16_t PIOS_SPEKTRUM_Get(int8_t Channel) +static int32_t PIOS_SPEKTRUM_Get(uint32_t chan_id) { /* Return error if channel not available */ - if (Channel >= 12) { + if (chan_id >= PIOS_SPEKTRUM_NUM_INPUTS) { return -1; } - return CaptureValue[Channel]; + return CaptureValue[chan_id]; } /** @@ -201,7 +208,7 @@ int32_t PIOS_SPEKTRUM_Decode(uint8_t b) { frame_error=1; } - if (channeln < 12 && !frame_error) + if (channeln < PIOS_SPEKTRUM_NUM_INPUTS && !frame_error) CaptureValueTemp[channeln] = data; } } @@ -212,7 +219,7 @@ int32_t PIOS_SPEKTRUM_Decode(uint8_t b) sync_of = 0; if (!frame_error) { - for(int i=0;i<12;i++) + for(int i=0;iregs->SR; volatile uint8_t b = pios_spektrum_cfg.pios_usart_spektrum_cfg->regs->DR; @@ -248,7 +255,7 @@ void SPEKTRUM_IRQHandler(uint32_t usart_id) { *@brief This function is called between frames and when a spektrum word hasnt been decoded for too long *@brief clears the channel values */ -void PIOS_SPEKTRUM_irq_handler() { +void PIOS_SPEKTRUMSV_irq_handler() { /* 125hz */ supv_timer++; if(supv_timer > 5) { @@ -262,7 +269,7 @@ void PIOS_SPEKTRUM_irq_handler() { if (sync_of > 12) { /* signal lost */ sync_of = 0; - for (int i = 0; i < 12; i++) { + for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) { CaptureValue[i] = 0; CaptureValueTemp[i] = 0; } diff --git a/flight/PiOS/inc/pios_ppm.h b/flight/PiOS/inc/pios_ppm.h index a7c809f70..d75868f4e 100644 --- a/flight/PiOS/inc/pios_ppm.h +++ b/flight/PiOS/inc/pios_ppm.h @@ -30,8 +30,4 @@ #ifndef PIOS_PPM_H #define PIOS_PPM_H -/* Public Functions */ -extern void PIOS_PPM_Init(void); -extern int32_t PIOS_PPM_Get(int8_t Channel); - #endif /* PIOS_PPM_H */ diff --git a/flight/PiOS/inc/pios_ppm_priv.h b/flight/PiOS/inc/pios_ppm_priv.h index 5fdcd73e1..cd4ca40a6 100644 --- a/flight/PiOS/inc/pios_ppm_priv.h +++ b/flight/PiOS/inc/pios_ppm_priv.h @@ -59,6 +59,10 @@ extern uint8_t pios_ppm_num_channels; extern const struct pios_ppm_cfg pios_ppm_cfg; extern const struct pios_ppmsv_cfg pios_ppmsv_cfg; +extern const struct pios_rcvr_driver pios_ppm_rcvr_driver; + +extern void PIOS_PPM_Init(void); + #endif /* PIOS_PPM_PRIV_H */ /** diff --git a/flight/PiOS/inc/pios_pwm.h b/flight/PiOS/inc/pios_pwm.h index 32635c8b8..3552319c9 100644 --- a/flight/PiOS/inc/pios_pwm.h +++ b/flight/PiOS/inc/pios_pwm.h @@ -30,9 +30,4 @@ #ifndef PIOS_PWM_H #define PIOS_PWM_H -/* Public Functions */ -extern void PIOS_PWM_Init(void); -extern int32_t PIOS_PWM_Get(int8_t Channel); -//extern void PIOS_PWM_irq_handler(TIM_TypeDef * timer); - #endif /* PIOS_PWM_H */ diff --git a/flight/PiOS/inc/pios_pwm_priv.h b/flight/PiOS/inc/pios_pwm_priv.h index f2119e63c..23d7d4818 100644 --- a/flight/PiOS/inc/pios_pwm_priv.h +++ b/flight/PiOS/inc/pios_pwm_priv.h @@ -57,6 +57,10 @@ extern void PIOS_PWM_irq_handler(TIM_TypeDef * timer); extern uint8_t pios_pwm_num_channels; extern const struct pios_pwm_cfg pios_pwm_cfg; +extern const struct pios_rcvr_driver pios_pwm_rcvr_driver; + +extern void PIOS_PWM_Init(void); + #endif /* PIOS_PWM_PRIV_H */ /** diff --git a/flight/PiOS/inc/pios_sbus.h b/flight/PiOS/inc/pios_sbus.h index d30b1432d..868fedd70 100644 --- a/flight/PiOS/inc/pios_sbus.h +++ b/flight/PiOS/inc/pios_sbus.h @@ -33,9 +33,6 @@ /* Global Types */ /* Public Functions */ -extern void PIOS_SBUS_Init(void); -extern int16_t PIOS_SBUS_Get(int8_t Channel); -extern void SBUS_IRQHandler(uint32_t usart_id); #endif /* PIOS_SBUS_H */ diff --git a/flight/PiOS/inc/pios_sbus_priv.h b/flight/PiOS/inc/pios_sbus_priv.h index aa626dbdd..cb73b24cd 100644 --- a/flight/PiOS/inc/pios_sbus_priv.h +++ b/flight/PiOS/inc/pios_sbus_priv.h @@ -76,9 +76,16 @@ struct pios_sbus_cfg { GPIO_InitTypeDef gpio_inv_init; BitAction gpio_inv_enable; }; -extern const struct pios_sbus_cfg pios_sbus_cfg; extern void PIOS_SBUS_irq_handler(); +extern void PIOS_SBUSSV_irq_handler(); + +extern uint8_t pios_sbus_num_channels; +extern const struct pios_sbus_cfg pios_sbus_cfg; + +extern const struct pios_rcvr_driver pios_sbus_rcvr_driver; + +extern void PIOS_SBUS_Init(void); #endif /* PIOS_SBUS_PRIV_H */ diff --git a/flight/PiOS/inc/pios_spektrum.h b/flight/PiOS/inc/pios_spektrum.h index 241782e9d..40a995cd1 100644 --- a/flight/PiOS/inc/pios_spektrum.h +++ b/flight/PiOS/inc/pios_spektrum.h @@ -34,11 +34,8 @@ /* Global Types */ /* Public Functions */ -extern void PIOS_SPEKTRUM_Init(void); extern uint8_t PIOS_SPEKTRUM_Bind(void); extern int32_t PIOS_SPEKTRUM_Decode(uint8_t b); -extern int16_t PIOS_SPEKTRUM_Get(int8_t Channel); -extern void SPEKTRUM_IRQHandler(uint32_t usart_id); #endif /* PIOS_SPEKTRUM_H */ diff --git a/flight/PiOS/inc/pios_spektrum_priv.h b/flight/PiOS/inc/pios_spektrum_priv.h index b5dd384d1..5b1ac616e 100644 --- a/flight/PiOS/inc/pios_spektrum_priv.h +++ b/flight/PiOS/inc/pios_spektrum_priv.h @@ -45,10 +45,15 @@ struct pios_spektrum_cfg { }; extern void PIOS_SPEKTRUM_irq_handler(); +extern void PIOS_SPEKTRUMSV_irq_handler(); extern uint8_t pios_spektrum_num_channels; extern const struct pios_spektrum_cfg pios_spektrum_cfg; +extern const struct pios_rcvr_driver pios_spektrum_rcvr_driver; + +extern void PIOS_SPEKTRUM_Init(void); + #endif /* PIOS_PWM_PRIV_H */ /** From 6415fc84a5311575586398c9a2bbfaec22400ba8 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sat, 2 Jul 2011 19:25:35 -0400 Subject: [PATCH 110/241] rtc: allow registration of callbacks on RTC tick This separates the RTC device and interrupt handling from the devices that rely on the tick notifications. Drivers can now register tick notification functions that will be called on each RTC tick event. --- flight/CopterControl/System/pios_board.c | 70 ++++++++++++------------ flight/OpenPilot/System/pios_board.c | 56 +++++++++++-------- flight/PiOS/STM32F10x/pios_rtc.c | 65 ++++++++++++++++++---- flight/PiOS/STM32F10x/pios_sbus.c | 18 ++---- flight/PiOS/STM32F10x/pios_spektrum.c | 16 ++---- flight/PiOS/inc/pios_rtc.h | 6 +- flight/PiOS/inc/pios_rtc_priv.h | 52 ++++++++++++++++++ flight/PiOS/inc/pios_sbus_priv.h | 1 - flight/PiOS/inc/pios_spektrum_priv.h | 2 - 9 files changed, 191 insertions(+), 95 deletions(-) create mode 100644 flight/PiOS/inc/pios_rtc_priv.h diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index b724cc806..c88c1fc9f 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -422,6 +422,35 @@ const struct pios_usart_cfg pios_usart_gps_cfg = { }; #endif +#if defined(PIOS_INCLUDE_RTC) +/* + * Realtime Clock (RTC) + */ +#include + +void PIOS_RTC_IRQ_Handler (void); +void RTC_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler"))); +const struct pios_rtc_cfg pios_rtc_main_cfg = { + .clksrc = RCC_RTCCLKSource_HSE_Div128, + .prescaler = 100, + .irq = { + .handler = PIOS_RTC_IRQ_Handler, + .init = { + .NVIC_IRQChannel = RTC_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +void PIOS_RTC_IRQ_Handler (void) +{ + PIOS_RTC_irq_handler (); +} + +#endif + #if defined(PIOS_INCLUDE_SPEKTRUM) /* * SPEKTRUM USART @@ -476,8 +505,6 @@ void PIOS_USART_spektrum_irq_handler(void) PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id); } -void RTC_IRQHandler(); -void RTC_IRQHandler() __attribute__ ((alias ("PIOS_SUPV_irq_handler"))); const struct pios_spektrum_cfg pios_spektrum_cfg = { .pios_usart_spektrum_cfg = &pios_usart_spektrum_cfg, .gpio_init = { //used for bind feature @@ -485,30 +512,10 @@ const struct pios_spektrum_cfg pios_spektrum_cfg = { .GPIO_Speed = GPIO_Speed_2MHz, }, .remap = 0, - .irq = { - .handler = RTC_IRQHandler, - .init = { - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, .port = PIOS_GPIO_SPEKTRUM, .pin = PIOS_RXIO_SPEKTRUM, }; -void PIOS_SUPV_irq_handler() { - if (RTC_GetITStatus(RTC_IT_SEC)) - { - /* Call the right handler */ - PIOS_SPEKTRUMSV_irq_handler(pios_usart_spektrum_id); - - /* Wait until last write operation on RTC registers has finished */ - RTC_WaitForLastTask(); - /* Clear the RTC Second interrupt */ - RTC_ClearITPendingBit(RTC_IT_SEC); - } -} #endif /* PIOS_INCLUDE_SPEKTRUM */ #if defined(PIOS_INCLUDE_SBUS) @@ -565,8 +572,6 @@ void PIOS_USART_sbus_irq_handler(void) } #include -void RTC_IRQHandler(); -void RTC_IRQHandler() __attribute__ ((alias ("PIOS_SUPV_irq_handler"))); const struct pios_sbus_cfg pios_sbus_cfg = { /* USART configuration structure */ .pios_usart_sbus_cfg = &pios_usart_sbus_cfg, @@ -583,18 +588,6 @@ const struct pios_sbus_cfg pios_sbus_cfg = { .gpio_inv_enable = Bit_SET, }; -void PIOS_SUPV_irq_handler() { - if (RTC_GetITStatus(RTC_IT_SEC)) - { - /* Call the right handler */ - PIOS_SBUSSV_irq_handler(pios_usart_sbus_id); - - /* Wait until last write operation on RTC registers has finished */ - RTC_WaitForLastTask(); - /* Clear the RTC Second interrupt */ - RTC_ClearITPendingBit(RTC_IT_SEC); - } -} #endif /* PIOS_INCLUDE_SBUS */ #if defined(PIOS_INCLUDE_TELEMETRY_RF) @@ -909,6 +902,11 @@ void PIOS_Board_Init(void) { UAVObjInitialize(); UAVObjectsInitializeAll(); +#if defined(PIOS_INCLUDE_RTC) + /* Initialize the real-time clock and its associated tick */ + PIOS_RTC_Init(&pios_rtc_main_cfg); +#endif + /* Initialize the alarms library */ AlarmsInitialize(); diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c index 7c9e13d82..3953f03d4 100644 --- a/flight/OpenPilot/System/pios_board.c +++ b/flight/OpenPilot/System/pios_board.c @@ -450,6 +450,35 @@ const struct pios_usart_cfg pios_usart_aux_cfg = { }; #endif +#if defined(PIOS_INCLUDE_RTC) +/* + * Realtime Clock (RTC) + */ +#include + +void PIOS_RTC_IRQ_Handler (void); +void RTC_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler"))); +const struct pios_rtc_cfg pios_rtc_main_cfg = { + .clksrc = RCC_RTCCLKSource_HSE_Div128, + .prescaler = 100, + .irq = { + .handler = PIOS_RTC_IRQ_Handler, + .init = { + .NVIC_IRQChannel = RTC_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +void PIOS_RTC_IRQ_Handler (void) +{ + PIOS_RTC_irq_handler (); +} + +#endif + #ifdef PIOS_COM_SPEKTRUM /* * SPEKTRUM USART @@ -504,8 +533,6 @@ void PIOS_USART_spektrum_irq_handler(void) PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id); } -void RTC_IRQHandler(); -void RTC_IRQHandler() __attribute__ ((alias ("PIOS_SUPV_irq_handler"))); const struct pios_spektrum_cfg pios_spektrum_cfg = { .pios_usart_spektrum_cfg = &pios_usart_spektrum_cfg, .gpio_init = { //used for bind feature @@ -513,30 +540,10 @@ const struct pios_spektrum_cfg pios_spektrum_cfg = { .GPIO_Speed = GPIO_Speed_2MHz, }, .remap = 0, - .irq = { - .handler = RTC_IRQHandler, - .init = { - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, .port = GPIOA, .pin = GPIO_Pin_10, }; -void PIOS_SUPV_irq_handler(void) { - if (RTC_GetITStatus(RTC_IT_SEC)) - { - /* Call the right handler */ - PIOS_SPEKTRUMSV_irq_handler(pios_usart_spektrum_id); - - /* Wait until last write operation on RTC registers has finished */ - RTC_WaitForLastTask(); - /* Clear the RTC Second interrupt */ - RTC_ClearITPendingBit(RTC_IT_SEC); - } -} #endif /* PIOS_COM_SPEKTRUM */ #if defined(PIOS_INCLUDE_SBUS) @@ -1062,6 +1069,11 @@ void PIOS_Board_Init(void) { UAVObjInitialize(); UAVObjectsInitializeAll(); +#if defined(PIOS_INCLUDE_RTC) + /* Initialize the real-time clock and its associated tick */ + PIOS_RTC_Init(&pios_rtc_main_cfg); +#endif + /* Initialize the alarms library */ AlarmsInitialize(); diff --git a/flight/PiOS/STM32F10x/pios_rtc.c b/flight/PiOS/STM32F10x/pios_rtc.c index 2a0d55915..b80a9e0d1 100644 --- a/flight/PiOS/STM32F10x/pios_rtc.c +++ b/flight/PiOS/STM32F10x/pios_rtc.c @@ -32,30 +32,39 @@ #include "pios.h" #if defined(PIOS_INCLUDE_RTC) +#include -#ifndef PIOS_RTC_PRESCALAR -#define PIOS_RTC_PRESCALAR 100 +#ifndef PIOS_RTC_PRESCALER +#define PIOS_RTC_PRESCALER 100 #endif -void PIOS_RTC_Init() +struct rtc_callback_entry { + void (*fn)(uint32_t); + uint32_t data; +}; + +#define PIOS_RTC_MAX_CALLBACKS 3 +struct rtc_callback_entry rtc_callback_list[PIOS_RTC_MAX_CALLBACKS]; +static uint8_t rtc_callback_next = 0; + +void PIOS_RTC_Init(const struct pios_rtc_cfg * cfg) { RCC_APB1PeriphClockCmd(RCC_APB1Periph_BKP | RCC_APB1Periph_PWR, ENABLE); PWR_BackupAccessCmd(ENABLE); - RCC_RTCCLKConfig(RCC_RTCCLKSource_HSE_Div128); + RCC_RTCCLKConfig(cfg->clksrc); RCC_RTCCLKCmd(ENABLE); RTC_WaitForLastTask(); RTC_WaitForSynchro(); RTC_WaitForLastTask(); -#if defined(PIOS_INCLUDE_SPEKTRUM) || defined(PIOS_INCLUDE_SBUS) - /* Enable the RTC Second interrupt */ + /* Configure and enable the RTC Second interrupt */ + NVIC_Init(&cfg->irq.init); RTC_ITConfig( RTC_IT_SEC, ENABLE ); - /* Wait until last write operation on RTC registers has finished */ RTC_WaitForLastTask(); -#endif - RTC_SetPrescaler(PIOS_RTC_PRESCALAR); // counting at 8e6 / 128 + + RTC_SetPrescaler(cfg->prescaler); RTC_WaitForLastTask(); RTC_SetCounter(0); RTC_WaitForLastTask(); @@ -66,9 +75,12 @@ uint32_t PIOS_RTC_Counter() return RTC_GetCounter(); } +/* FIXME: This shouldn't use hard-coded clock rates, dividers or prescalers. + * Should get these from the cfg struct passed to init. + */ float PIOS_RTC_Rate() { - return (float) (8e6 / 128) / (1 + PIOS_RTC_PRESCALAR); + return (float) (8e6 / 128) / (1 + PIOS_RTC_PRESCALER); } float PIOS_RTC_MsPerTick() @@ -76,6 +88,39 @@ float PIOS_RTC_MsPerTick() return 1000.0f / PIOS_RTC_Rate(); } +/* TODO: This needs a mutex around rtc_callbacks[] */ +bool PIOS_RTC_RegisterTickCallback(void (*fn)(uint32_t id), uint32_t data) +{ + struct rtc_callback_entry * cb; + if (rtc_callback_next >= PIOS_RTC_MAX_CALLBACKS) { + return false; + } + + cb = &rtc_callback_list[rtc_callback_next++]; + + cb->fn = fn; + cb->data = data; + return true; +} + +void PIOS_RTC_irq_handler (void) +{ + if (RTC_GetITStatus(RTC_IT_SEC)) + { + /* Call all registered callbacks */ + for (uint8_t i = 0; i < rtc_callback_next; i++) { + struct rtc_callback_entry * cb = &rtc_callback_list[i]; + if (cb->fn) { + (cb->fn)(cb->data); + } + } + + /* Wait until last write operation on RTC registers has finished */ + RTC_WaitForLastTask(); + /* Clear the RTC Second interrupt */ + RTC_ClearITPendingBit(RTC_IT_SEC); + } +} #endif /** diff --git a/flight/PiOS/STM32F10x/pios_sbus.c b/flight/PiOS/STM32F10x/pios_sbus.c index 823597641..698beac94 100644 --- a/flight/PiOS/STM32F10x/pios_sbus.c +++ b/flight/PiOS/STM32F10x/pios_sbus.c @@ -50,6 +50,8 @@ static uint8_t receive_timer; static uint8_t failsafe_timer; static uint8_t frame_found; +static void PIOS_SBUS_Supervisor(uint32_t sbus_id); + /** * reset_channels() function clears all channel data in case of * lost signal or explicit failsafe flag from the S.Bus data stream @@ -142,17 +144,9 @@ void PIOS_SBUS_Init(void) pios_sbus_cfg.gpio_inv_init.GPIO_Pin, pios_sbus_cfg.gpio_inv_enable); - /* Init RTC supervisor timer interrupt */ - static const NVIC_InitTypeDef NVIC_InitStructure = { - .NVIC_IRQChannel = RTC_IRQn, - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }; - NVIC_Init(&NVIC_InitStructure); - - /* Init RTC clock */ - PIOS_RTC_Init(); + if (!PIOS_RTC_RegisterTickCallback(PIOS_SBUS_Supervisor, 0)) { + PIOS_DEBUG_Assert(0); + } } /** @@ -205,7 +199,7 @@ void PIOS_SBUS_irq_handler(uint32_t usart_id) * data reception. If no new data received in 100ms, we must call the * failsafe function which clears all channels. */ -void PIOS_SBUSSV_irq_handler() +static void PIOS_SBUS_Supervisor(uint32_t sbus_id) { /* waiting for new frame if no bytes were received in 3.2ms */ if (++receive_timer > 2) { diff --git a/flight/PiOS/STM32F10x/pios_spektrum.c b/flight/PiOS/STM32F10x/pios_spektrum.c index 6e236991d..4372fb4ef 100644 --- a/flight/PiOS/STM32F10x/pios_spektrum.c +++ b/flight/PiOS/STM32F10x/pios_spektrum.c @@ -64,6 +64,8 @@ static uint8_t prev_byte = 0xFF, sync = 0, bytecount = 0, datalength=0, frame_er uint8_t sync_of = 0; uint16_t supv_timer=0; +static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id); + /** * Bind and Initialise Spektrum satellite receiver */ @@ -74,15 +76,9 @@ void PIOS_SPEKTRUM_Init(void) PIOS_SPEKTRUM_Bind(); } - /* Init RTC supervisor timer interrupt */ - NVIC_InitTypeDef NVIC_InitStructure; - NVIC_InitStructure.NVIC_IRQChannel = RTC_IRQn; - NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID; - NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; - NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; - NVIC_Init(&NVIC_InitStructure); - /* Init RTC clock */ - PIOS_RTC_Init(); + if (!PIOS_RTC_RegisterTickCallback(PIOS_SPEKTRUM_Supervisor, 0)) { + PIOS_DEBUG_Assert(0); + } } /** @@ -255,7 +251,7 @@ void PIOS_SPEKTRUM_irq_handler(uint32_t usart_id) { *@brief This function is called between frames and when a spektrum word hasnt been decoded for too long *@brief clears the channel values */ -void PIOS_SPEKTRUMSV_irq_handler() { +static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id) { /* 125hz */ supv_timer++; if(supv_timer > 5) { diff --git a/flight/PiOS/inc/pios_rtc.h b/flight/PiOS/inc/pios_rtc.h index f68b54af8..2e01912b9 100644 --- a/flight/PiOS/inc/pios_rtc.h +++ b/flight/PiOS/inc/pios_rtc.h @@ -30,13 +30,15 @@ #ifndef PIOS_RTC_H #define PIOS_RTC_H +#include + /* Public Functions */ -extern void PIOS_RTC_Init(); extern uint32_t PIOS_RTC_Counter(); extern float PIOS_RTC_Rate(); extern float PIOS_RTC_MsPerTick(); +extern bool PIOS_RTC_RegisterTickCallback(void (*fn)(uint32_t id), uint32_t data); -#endif /* PIOS_SERVO_H */ +#endif /* PIOS_RTC_H */ /** * @} diff --git a/flight/PiOS/inc/pios_rtc_priv.h b/flight/PiOS/inc/pios_rtc_priv.h new file mode 100644 index 000000000..0a8c1c9b1 --- /dev/null +++ b/flight/PiOS/inc/pios_rtc_priv.h @@ -0,0 +1,52 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_RTC RTC Functions + * @brief PIOS interface for RTC tick + * @{ + * + * @file pios_rtc_priv.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief ADC private definitions. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_RTC_PRIV_H +#define PIOS_RTC_PRIV_H + +#include +#include + +struct pios_rtc_cfg { + uint32_t clksrc; + uint32_t prescaler; + struct stm32_irq irq; +}; + +extern void PIOS_RTC_Init(const struct pios_rtc_cfg * cfg); + +extern void PIOS_RTC_irq_handler(void); +#endif /* PIOS_RTC_PRIV_H */ + +/** + * @} + * @} + */ + diff --git a/flight/PiOS/inc/pios_sbus_priv.h b/flight/PiOS/inc/pios_sbus_priv.h index cb73b24cd..a0a97a860 100644 --- a/flight/PiOS/inc/pios_sbus_priv.h +++ b/flight/PiOS/inc/pios_sbus_priv.h @@ -78,7 +78,6 @@ struct pios_sbus_cfg { }; extern void PIOS_SBUS_irq_handler(); -extern void PIOS_SBUSSV_irq_handler(); extern uint8_t pios_sbus_num_channels; extern const struct pios_sbus_cfg pios_sbus_cfg; diff --git a/flight/PiOS/inc/pios_spektrum_priv.h b/flight/PiOS/inc/pios_spektrum_priv.h index 5b1ac616e..b300cb212 100644 --- a/flight/PiOS/inc/pios_spektrum_priv.h +++ b/flight/PiOS/inc/pios_spektrum_priv.h @@ -39,13 +39,11 @@ struct pios_spektrum_cfg { const struct pios_usart_cfg * pios_usart_spektrum_cfg; GPIO_InitTypeDef gpio_init; uint32_t remap; /* GPIO_Remap_* */ - struct stm32_irq irq; GPIO_TypeDef * port; uint16_t pin; }; extern void PIOS_SPEKTRUM_irq_handler(); -extern void PIOS_SPEKTRUMSV_irq_handler(); extern uint8_t pios_spektrum_num_channels; extern const struct pios_spektrum_cfg pios_spektrum_cfg; From dbf7574946673aa6bee4a01355589c2d97edd7d8 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Tue, 5 Jul 2011 20:21:00 -0400 Subject: [PATCH 111/241] bootcfg: use UAVobj to control boot-time HW config This should mark an end to the compile-time selection of HW configurations. Minor changes in board initialization for all platforms: - Most config structs are marked static to prevent badly written drivers from directly referring to config data. - Adapt to changes in .irq fields in config data. - Adapt to changes in USART IRQ handling. Major changes in board initialization for CC: - Use HwSettings UAVObj to decide which drivers to attach to the "main" port and the flexi port, and select the appropriate device configuration data. - HwSettings allows choosing between Disabled, Telemetry, SBUS, Spektrum,GPS, and I2C for each of the two ports. - Use ManualControlSettings.InputMode to init/configure the appropriate receiver module, and register its available rx channels with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM at board init time. PPM driver is broken, and SBUS will work once it is added to this UAVObj as an option. - CC build now includes code for SBUS, Spektrum and PWM receivers in every firmware image. PIOS_USART driver: - Now handles its own low-level IRQs internally - If NULL upper-level IRQ handler is bound in at board init time then rx/tx is satisfied by internal PIOS_USART buffered IO routines which are (typically) attached to the COM layer. - If an alternate upper-level IRQ handler is bound in at board init then that handler is called and expected to clear down the USART IRQ sources. This is used by Spektrum and SBUS drivers. PIOS_SBUS and PIOS_SPEKTRUM drivers: - Improved data/API hiding - No longer assume they know where their config data is stored which allows for boot-time alternate configurations for the driver. - Now registers an upper-level IRQ handlerwith the USART layer to decouple the driver from which USART it is actually attached to. --- flight/AHRS/pios_board.c | 26 +- flight/Bootloaders/AHRS/pios_board.c | 2 +- flight/Bootloaders/OpenPilot/pios_board.c | 16 +- flight/CopterControl/Makefile | 28 +- flight/CopterControl/System/inc/pios_config.h | 24 +- flight/CopterControl/System/pios_board.c | 905 ++++++++++-------- flight/INS/pios_board.c | 43 +- flight/OpenPilot/Makefile | 12 - flight/OpenPilot/System/inc/pios_config.h | 8 +- flight/OpenPilot/System/pios_board.c | 116 +-- flight/PiOS/Boards/STM32103CB_CC_Rev1.h | 1 - flight/PiOS/STM32F10x/pios_sbus.c | 27 +- flight/PiOS/STM32F10x/pios_spektrum.c | 61 +- flight/PiOS/STM32F10x/pios_usart.c | 77 +- flight/PiOS/inc/pios_sbus_priv.h | 11 +- flight/PiOS/inc/pios_spektrum.h | 2 - flight/PiOS/inc/pios_spektrum_priv.h | 10 +- flight/PiOS/inc/pios_stm32.h | 2 +- flight/PiOS/inc/pios_usart_priv.h | 20 +- flight/PipXtreme/pios_board.c | 20 +- 20 files changed, 705 insertions(+), 706 deletions(-) diff --git a/flight/AHRS/pios_board.c b/flight/AHRS/pios_board.c index 395eadd39..15c5999c0 100644 --- a/flight/AHRS/pios_board.c +++ b/flight/AHRS/pios_board.c @@ -54,7 +54,7 @@ static const struct pios_spi_cfg pios_spi_op_cfg = { .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { - .handler = PIOS_SPI_op_irq_handler, + .handler = NULL, .flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4), @@ -153,11 +153,11 @@ void PIOS_SPI_op_irq_handler(void) extern void PIOS_ADC_handler(void); void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler"))); // Remap the ADC DMA handler to this one -const struct pios_adc_cfg pios_adc_cfg = { +static const struct pios_adc_cfg pios_adc_cfg = { .dma = { .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { - .handler = PIOS_ADC_DMA_Handler, + .handler = NULL, .flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1), .init = { .NVIC_IRQChannel = DMA1_Channel1_IRQn, @@ -205,10 +205,7 @@ void PIOS_ADC_handler() { /* * AUX USART */ -void PIOS_USART_aux_irq_handler(void); -void USART3_IRQHandler() - __attribute__ ((alias("PIOS_USART_aux_irq_handler"))); -const struct pios_usart_cfg pios_usart_aux_cfg = { +static const struct pios_usart_cfg pios_usart_aux_cfg = { .regs = USART3, .init = { #if defined (PIOS_USART_BAUDRATE) @@ -224,7 +221,7 @@ const struct pios_usart_cfg pios_usart_aux_cfg = { .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, }, .irq = { - .handler = PIOS_USART_aux_irq_handler, + .handler = NULL, .init = { .NVIC_IRQChannel = USART3_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, @@ -250,12 +247,6 @@ const struct pios_usart_cfg pios_usart_aux_cfg = { }, }; -static uint32_t pios_usart_aux_id; -void PIOS_USART_aux_irq_handler(void) -{ - PIOS_USART_IRQ_Handler(pios_usart_aux_id); -} - #endif /* PIOS_INCLUDE_USART */ #if defined(PIOS_INCLUDE_COM) @@ -279,7 +270,7 @@ void I2C1_EV_IRQHandler() void I2C1_ER_IRQHandler() __attribute__ ((alias("PIOS_I2C_main_adapter_er_irq_handler"))); -const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = { +static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = { .regs = I2C1, .init = { .I2C_Mode = I2C_Mode_I2C, @@ -307,7 +298,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = { }, }, .event = { - .handler = PIOS_I2C_main_adapter_ev_irq_handler, + .handler = NULL, .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C1_EV_IRQn, @@ -317,7 +308,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = { }, }, .error = { - .handler = PIOS_I2C_main_adapter_er_irq_handler, + .handler = NULL, .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C1_ER_IRQn, @@ -388,6 +379,7 @@ void PIOS_Board_Init(void) { /* Communication system */ #if !defined(PIOS_ENABLE_DEBUG_PINS) #if defined(PIOS_INCLUDE_COM) + uint32_t pios_usart_aux_id; if (PIOS_USART_Init(&pios_usart_aux_id, &pios_usart_aux_cfg)) { PIOS_DEBUG_Assert(0); } diff --git a/flight/Bootloaders/AHRS/pios_board.c b/flight/Bootloaders/AHRS/pios_board.c index 2d3c33a8c..fc3774214 100644 --- a/flight/Bootloaders/AHRS/pios_board.c +++ b/flight/Bootloaders/AHRS/pios_board.c @@ -55,7 +55,7 @@ static const struct pios_spi_cfg .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { - .handler = PIOS_SPI_op_irq_handler, + .handler = NULL, .flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4), .init = { .NVIC_IRQChannel = DMA1_Channel4_IRQn, diff --git a/flight/Bootloaders/OpenPilot/pios_board.c b/flight/Bootloaders/OpenPilot/pios_board.c index 0f8e4ae81..d1727f6f6 100644 --- a/flight/Bootloaders/OpenPilot/pios_board.c +++ b/flight/Bootloaders/OpenPilot/pios_board.c @@ -60,7 +60,7 @@ const struct pios_spi_cfg .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { - .handler = PIOS_SPI_ahrs_irq_handler, + .handler = NULL, .flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4), .init = { .NVIC_IRQChannel = DMA1_Channel4_IRQn, @@ -143,9 +143,9 @@ void PIOS_SPI_ahrs_irq_handler(void) { /* * Telemetry USART */ -void PIOS_USART_telem_irq_handler(void); -void USART2_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler"))); -const struct pios_usart_cfg pios_usart_telem_cfg = { .regs = USART2, .init = { +const struct pios_usart_cfg pios_usart_telem_cfg = { + .regs = USART2, + .init = { #if defined (PIOS_COM_TELEM_BAUDRATE) .USART_BaudRate = PIOS_COM_TELEM_BAUDRATE, #else @@ -157,7 +157,7 @@ const struct pios_usart_cfg pios_usart_telem_cfg = { .regs = USART2, .init = { .USART_HardwareFlowControl = USART_HardwareFlowControl_None, .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, }, .irq = { - .handler = PIOS_USART_telem_irq_handler, + .handler = NULL, .init = { .NVIC_IRQChannel = USART2_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, @@ -180,11 +180,6 @@ const struct pios_usart_cfg pios_usart_telem_cfg = { .regs = USART2, .init = { }, }, }; -static uint32_t pios_usart_telem_rf_id; -void PIOS_USART_telem_irq_handler(void) { - PIOS_USART_IRQ_Handler(pios_usart_telem_rf_id); -} - #endif /* PIOS_INCLUDE_USART */ #if defined(PIOS_INCLUDE_COM) @@ -218,6 +213,7 @@ void PIOS_Board_Init(void) { /* Initialize the PiOS library */ #if defined(PIOS_INCLUDE_COM) + uint32_t pios_usart_telem_rf_id; if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) { PIOS_DEBUG_Assert(0); } diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index a83ec4122..91c78ccc6 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -45,10 +45,7 @@ ENABLE_DEBUG_PINS ?= NO # Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs ENABLE_AUX_UART ?= NO -USE_TELEMETRY ?= YES USE_GPS ?= NO -USE_SPEKTRUM ?= NO -USE_SBUS ?= NO USE_I2C ?= NO @@ -169,6 +166,7 @@ SRC += $(OPUAVSYNTHDIR)/mixersettings.c SRC += $(OPUAVSYNTHDIR)/mixerstatus.c SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c SRC += $(OPUAVSYNTHDIR)/attitudesettings.c +SRC += $(OPUAVSYNTHDIR)/hwsettings.c #${wildcard ${OBJ}/$(shell echo $(VAR) | tr A-Z a-z)/*.c} #SRC += ${foreach OBJ, ${UAVOBJECTS}, $(UAVOBJECTS)/$(OBJ).c} # Cant use until i can automatically generate list of UAVObjects @@ -388,32 +386,8 @@ endif # USART port functions. NO means do not use this function. # YES means use with default USART port number (hardware-dependent). # Number means use with specified USART port number (this value). -ifneq ($(USE_TELEMETRY), NO) -CDEFS += -DUSE_TELEMETRY -ifneq ($(USE_TELEMETRY), YES) -CDEFS += -DPIOS_PORT_TELEMETRY=$(USE_TELEMETRY) -endif -endif - ifneq ($(USE_GPS), NO) CDEFS += -DUSE_GPS -ifneq ($(USE_GPS), YES) -CDEFS += -DPIOS_PORT_GPS=$(USE_GPS) -endif -endif - -ifneq ($(USE_SPEKTRUM), NO) -CDEFS += -DUSE_SPEKTRUM -ifneq ($(USE_SPEKTRUM), YES) -CDEFS += -DPIOS_PORT_SPEKTRUM=$(USE_SPEKTRUM) -endif -endif - -ifneq ($(USE_SBUS), NO) -CDEFS += -DUSE_SBUS -ifneq ($(USE_SBUS), YES) -CDEFS += -DPIOS_PORT_SBUS=$(USE_SBUS) -endif endif ifeq ($(USE_I2C), YES) diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h index 0f243b7cf..d5805062d 100644 --- a/flight/CopterControl/System/inc/pios_config.h +++ b/flight/CopterControl/System/inc/pios_config.h @@ -45,25 +45,15 @@ #define PIOS_INCLUDE_RCVR -/* Receiver interfaces - only one allowed */ -#if !defined(USE_SPEKTRUM) && !defined(USE_SBUS) +/* Supported receiver interfaces */ +#define PIOS_INCLUDE_SPEKTRUM +#define PIOS_INCLUDE_SBUS //#define PIOS_INCLUDE_PPM #define PIOS_INCLUDE_PWM -#endif -/* USART-based PIOS modules */ -#if defined(USE_TELEMETRY) +/* Supported USART-based PIOS modules */ #define PIOS_INCLUDE_TELEMETRY_RF -#endif -#if defined(USE_GPS) -#define PIOS_INCLUDE_GPS -#endif -#if defined(USE_SPEKTRUM) -#define PIOS_INCLUDE_SPEKTRUM -#endif -#if defined(USE_SBUS) -#define PIOS_INCLUDE_SBUS -#endif +//#define PIOS_INCLUDE_GPS #define PIOS_INCLUDE_SERVO #define PIOS_INCLUDE_SPI @@ -97,8 +87,8 @@ /* Alarm Thresholds */ #define HEAP_LIMIT_WARNING 220 -#define HEAP_LIMIT_CRITICAL 150 -#define CPULOAD_LIMIT_WARNING 80 +#define HEAP_LIMIT_CRITICAL 40 +#define CPULOAD_LIMIT_WARNING 85 #define CPULOAD_LIMIT_CRITICAL 95 /* Task stack sizes */ diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index c88c1fc9f..3db2fda47 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -30,6 +30,8 @@ #include #include #include +#include +#include #if defined(PIOS_INCLUDE_SPI) @@ -43,7 +45,7 @@ void PIOS_SPI_flash_accel_irq_handler(void); void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_flash_accel_irq_handler"))); void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_flash_accel_irq_handler"))); -const struct pios_spi_cfg pios_spi_flash_accel_cfg = { +static const struct pios_spi_cfg pios_spi_flash_accel_cfg = { .regs = SPI2, .init = { .SPI_Mode = SPI_Mode_Master, @@ -61,7 +63,7 @@ const struct pios_spi_cfg pios_spi_flash_accel_cfg = { .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { - .handler = PIOS_SPI_flash_accel_irq_handler, + .handler = NULL, .flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4), .init = { .NVIC_IRQChannel = DMA1_Channel4_IRQn, @@ -150,11 +152,11 @@ void PIOS_SPI_flash_accel_irq_handler(void) extern void PIOS_ADC_handler(void); void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler"))); // Remap the ADC DMA handler to this one -const struct pios_adc_cfg pios_adc_cfg = { +static const struct pios_adc_cfg pios_adc_cfg = { .dma = { .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { - .handler = PIOS_ADC_DMA_Handler, + .handler = NULL, .flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1), .init = { .NVIC_IRQChannel = DMA1_Channel1_IRQn, @@ -199,141 +201,12 @@ void PIOS_ADC_handler() { #include "pios_usart_priv.h" -/* - * Serial port configuration. - * TODO: This should be dynamic in the future. - * But for now define any compatile combination of: - * USE_I2C (shared with USART3) - * USE_TELEMETRY - * USE_GPS - * USE_SPEKTRUM - * USE_SBUS (USART1 only, it needs an invertor) - * and optionally define PIOS_PORT_* to USART port numbers - */ - -/* Serial telemetry: USART1 or USART3 */ -#if !defined(PIOS_PORT_TELEMETRY) -#define PIOS_PORT_TELEMETRY 1 -#endif - -/* GPS receiver: USART1 or USART3 */ -#if !defined(PIOS_PORT_GPS) -#define PIOS_PORT_GPS 3 -#endif - -/* Spektrum satellite receiver: USART1 or USART3 */ -#if !defined(PIOS_PORT_SPEKTRUM) -#define PIOS_PORT_SPEKTRUM 3 -#endif - -/* Futaba S.Bus receiver: USART1 only (needs invertor) */ -#if !defined(PIOS_PORT_SBUS) -#define PIOS_PORT_SBUS 1 -#endif - -/* - * Define USART port configurations and check for conflicts - * making sure they do not conflict with each other and with I2C. - */ -#define USART_GPIO(port) (((port) == 1) ? GPIOA : GPIOB) -#define USART_RXIO(port) (((port) == 1) ? GPIO_Pin_10 : GPIO_Pin_11) -#define USART_TXIO(port) (((port) == 1) ? GPIO_Pin_9 : GPIO_Pin_10) - -#if defined(USE_TELEMETRY) -#if defined(USE_I2C) && (PIOS_PORT_TELEMETRY == 3) -#error defined(USE_I2C) && (PIOS_PORT_TELEMETRY == 3) -#endif -#if (PIOS_PORT_TELEMETRY == 1) -#define PIOS_USART_TELEMETRY USART1 -#define PIOS_IRQH_TELEMETRY USART1_IRQHandler -#define PIOS_IRQC_TELEMETRY USART1_IRQn -#else -#define PIOS_USART_TELEMETRY USART3 -#define PIOS_IRQH_TELEMETRY USART3_IRQHandler -#define PIOS_IRQC_TELEMETRY USART3_IRQn -#endif -#define PIOS_GPIO_TELEMETRY USART_GPIO(PIOS_PORT_TELEMETRY) -#define PIOS_RXIO_TELEMETRY USART_RXIO(PIOS_PORT_TELEMETRY) -#define PIOS_TXIO_TELEMETRY USART_TXIO(PIOS_PORT_TELEMETRY) -#endif - -#if defined(USE_GPS) -#if defined(USE_I2C) && (PIOS_PORT_GPS == 3) -#error defined(USE_I2C) && (PIOS_PORT_GPS == 3) -#endif -#if defined(USE_TELEMETRY) && (PIOS_PORT_TELEMETRY == PIOS_PORT_GPS) -#error defined(USE_TELEMETRY) && (PIOS_PORT_TELEMETRY == PIOS_PORT_GPS) -#endif -#if (PIOS_PORT_GPS == 1) -#define PIOS_USART_GPS USART1 -#define PIOS_IRQH_GPS USART1_IRQHandler -#define PIOS_IRQC_GPS USART1_IRQn -#else -#define PIOS_USART_GPS USART3 -#define PIOS_IRQH_GPS USART3_IRQHandler -#define PIOS_IRQC_GPS USART3_IRQn -#endif -#define PIOS_GPIO_GPS USART_GPIO(PIOS_PORT_GPS) -#define PIOS_RXIO_GPS USART_RXIO(PIOS_PORT_GPS) -#define PIOS_TXIO_GPS USART_TXIO(PIOS_PORT_GPS) -#endif - -#if defined(USE_SPEKTRUM) -#if defined(USE_I2C) && (PIOS_PORT_SPEKTRUM == 3) -#error defined(USE_I2C) && (PIOS_PORT_SPEKTRUM == 3) -#endif -#if defined(USE_TELEMETRY) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_TELEMETRY) -#error defined(USE_TELEMETRY) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_TELEMETRY) -#endif -#if defined(USE_GPS) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_GPS) -#error defined(USE_GPS) && (PIOS_PORT_SPEKTRUM == PIOS_PORT_GPS) -#endif -#if defined(USE_SBUS) -#error defined(USE_SPEKTRUM) && defined(USE_SBUS) -#endif -#if (PIOS_PORT_SPEKTRUM == 1) -#define PIOS_USART_SPEKTRUM USART1 -#define PIOS_IRQH_SPEKTRUM USART1_IRQHandler -#define PIOS_IRQC_SPEKTRUM USART1_IRQn -#else -#define PIOS_USART_SPEKTRUM USART3 -#define PIOS_IRQH_SPEKTRUM USART3_IRQHandler -#define PIOS_IRQC_SPEKTRUM USART3_IRQn -#endif -#define PIOS_GPIO_SPEKTRUM USART_GPIO(PIOS_PORT_SPEKTRUM) -#define PIOS_RXIO_SPEKTRUM USART_RXIO(PIOS_PORT_SPEKTRUM) -#define PIOS_TXIO_SPEKTRUM USART_TXIO(PIOS_PORT_SPEKTRUM) -#endif - -#if defined(USE_SBUS) -#if (PIOS_PORT_SBUS != 1) -#error (PIOS_PORT_SBUS != 1) -#endif -#if defined(USE_TELEMETRY) && (PIOS_PORT_SBUS == PIOS_PORT_TELEMETRY) -#error defined(USE_TELEMETRY) && (PIOS_PORT_SBUS == PIOS_PORT_TELEMETRY) -#endif -#if defined(USE_GPS) && (PIOS_PORT_SBUS == PIOS_PORT_GPS) -#error defined(USE_GPS) && (PIOS_PORT_SBUS == PIOS_PORT_GPS) -#endif -#if defined(USE_SPEKTRUM) -#error defined(USE_SPEKTRUM) && defined(USE_SBUS) -#endif -#define PIOS_USART_SBUS USART1 -#define PIOS_IRQH_SBUS USART1_IRQHandler -#define PIOS_IRQC_SBUS USART1_IRQn -#define PIOS_GPIO_SBUS USART_GPIO(PIOS_PORT_SBUS) -#define PIOS_RXIO_SBUS USART_RXIO(PIOS_PORT_SBUS) -#define PIOS_TXIO_SBUS USART_TXIO(PIOS_PORT_SBUS) -#endif - #if defined(PIOS_INCLUDE_TELEMETRY_RF) /* * Telemetry USART */ -void PIOS_USART_telem_irq_handler(void); -void PIOS_IRQH_TELEMETRY() __attribute__ ((alias ("PIOS_USART_telem_irq_handler"))); -const struct pios_usart_cfg pios_usart_telem_cfg = { - .regs = PIOS_USART_TELEMETRY, +static const struct pios_usart_cfg pios_usart_telem_main_cfg = { + .regs = USART1, .init = { #if defined (PIOS_COM_TELEM_BAUDRATE) .USART_BaudRate = PIOS_COM_TELEM_BAUDRATE, @@ -347,26 +220,67 @@ const struct pios_usart_cfg pios_usart_telem_cfg = { .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, }, .irq = { - .handler = PIOS_USART_telem_irq_handler, + .handler = NULL, .init = { - .NVIC_IRQChannel = PIOS_IRQC_TELEMETRY, + .NVIC_IRQChannel = USART1_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { - .gpio = PIOS_GPIO_TELEMETRY, + .gpio = GPIOA, .init = { - .GPIO_Pin = PIOS_RXIO_TELEMETRY, + .GPIO_Pin = GPIO_Pin_10, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_IPU, }, }, .tx = { - .gpio = PIOS_GPIO_TELEMETRY, + .gpio = GPIOA, .init = { - .GPIO_Pin = PIOS_TXIO_TELEMETRY, + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF_PP, + }, + }, +}; + +static const struct pios_usart_cfg pios_usart_telem_flexi_cfg = { + .regs = USART3, + .init = { + #if defined (PIOS_COM_TELEM_BAUDRATE) + .USART_BaudRate = PIOS_COM_TELEM_BAUDRATE, + #else + .USART_BaudRate = 57600, + #endif + .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 = { + .handler = NULL, + .init = { + .NVIC_IRQChannel = USART3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_IPU, + }, + }, + .tx = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_10, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, @@ -378,10 +292,8 @@ const struct pios_usart_cfg pios_usart_telem_cfg = { /* * GPS USART */ -void PIOS_USART_gps_irq_handler(void); -void PIOS_IRQH_GPS() __attribute__ ((alias ("PIOS_USART_gps_irq_handler"))); -const struct pios_usart_cfg pios_usart_gps_cfg = { - .regs = PIOS_USART_GPS, +static const struct pios_usart_cfg pios_usart_gps_main_cfg = { + .regs = USART1, .init = { #if defined (PIOS_COM_GPS_BAUDRATE) .USART_BaudRate = PIOS_COM_GPS_BAUDRATE, @@ -395,32 +307,259 @@ const struct pios_usart_cfg pios_usart_gps_cfg = { .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, }, .irq = { - .handler = PIOS_USART_gps_irq_handler, + .handler = NULL, .init = { - .NVIC_IRQChannel = PIOS_IRQC_GPS, + .NVIC_IRQChannel = USART1_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { - .gpio = PIOS_GPIO_GPS, + .gpio = GPIOA, .init = { - .GPIO_Pin = PIOS_RXIO_GPS, + .GPIO_Pin = GPIO_Pin_10, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_IPU, }, }, .tx = { - .gpio = PIOS_GPIO_GPS, + .gpio = GPIOA, .init = { - .GPIO_Pin = PIOS_TXIO_GPS, + .GPIO_Pin = GPIO_Pin_9, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_AF_PP, }, }, }; -#endif + +static const struct pios_usart_cfg pios_usart_gps_flexi_cfg = { + .regs = USART3, + .init = { + #if defined (PIOS_COM_GPS_BAUDRATE) + .USART_BaudRate = PIOS_COM_GPS_BAUDRATE, + #else + .USART_BaudRate = 57600, + #endif + .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 = { + .handler = NULL, + .init = { + .NVIC_IRQChannel = USART3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_IPU, + }, + }, + .tx = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF_PP, + }, + }, +}; +#endif /* PIOS_INCLUDE_GPS */ + +#if defined(PIOS_INCLUDE_SPEKTRUM) +/* + * SPEKTRUM USART + */ +#include + +static const struct pios_usart_cfg pios_usart_spektrum_main_cfg = { + .regs = USART1, + .init = { + #if defined (PIOS_COM_SPEKTRUM_BAUDRATE) + .USART_BaudRate = PIOS_COM_SPEKTRUM_BAUDRATE, + #else + .USART_BaudRate = 115200, + #endif + .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, + }, + .irq = { + .handler = PIOS_SPEKTRUM_irq_handler, + .init = { + .NVIC_IRQChannel = USART1_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_IPU, + }, + }, + .tx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_IN_FLOATING, + }, + }, +}; + +static const struct pios_spektrum_cfg pios_spektrum_main_cfg = { + .bind = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_Out_PP, + }, + }, + .remap = 0, +}; + +static const struct pios_usart_cfg pios_usart_spektrum_flexi_cfg = { + .regs = USART3, + .init = { + #if defined (PIOS_COM_SPEKTRUM_BAUDRATE) + .USART_BaudRate = PIOS_COM_SPEKTRUM_BAUDRATE, + #else + .USART_BaudRate = 115200, + #endif + .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, + }, + .irq = { + .handler = PIOS_SPEKTRUM_irq_handler, + .init = { + .NVIC_IRQChannel = USART3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_IPU, + }, + }, + .tx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_IN_FLOATING, + }, + }, +}; + +static const struct pios_spektrum_cfg pios_spektrum_flexi_cfg = { + .bind = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_Out_PP, + }, + }, + .remap = 0, +}; + +#endif /* PIOS_INCLUDE_SPEKTRUM */ + +#if defined(PIOS_INCLUDE_SBUS) +/* + * SBUS USART + */ +#include + +static const struct pios_usart_cfg pios_usart_sbus_main_cfg = { + .regs = USART1, + .init = { + #if defined (PIOS_COM_SBUS_BAUDRATE) + .USART_BaudRate = PIOS_COM_SBUS_BAUDRATE, + #else + .USART_BaudRate = 100000, + #endif + .USART_WordLength = USART_WordLength_8b, + .USART_Parity = USART_Parity_Even, + .USART_StopBits = USART_StopBits_2, + .USART_HardwareFlowControl = USART_HardwareFlowControl_None, + .USART_Mode = USART_Mode_Rx, + }, + .irq = { + .handler = PIOS_SBUS_irq_handler, + .init = { + .NVIC_IRQChannel = USART1_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_IPU, + }, + }, + .tx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_IN_FLOATING, + }, + }, +}; + +static const struct pios_sbus_cfg pios_sbus_cfg = { + /* Inverter configuration */ + .inv = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_2, + .GPIO_Mode = GPIO_Mode_Out_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + .gpio_clk_func = RCC_APB2PeriphClockCmd, + .gpio_clk_periph = RCC_APB2Periph_GPIOB, + .gpio_inv_enable = Bit_SET, +}; + +#endif /* PIOS_INCLUDE_SBUS */ + +#endif /* PIOS_INCLUDE_USART */ + +#if defined(PIOS_INCLUDE_COM) + +#include "pios_com_priv.h" + +#endif /* PIOS_INCLUDE_COM */ #if defined(PIOS_INCLUDE_RTC) /* @@ -430,11 +569,11 @@ const struct pios_usart_cfg pios_usart_gps_cfg = { void PIOS_RTC_IRQ_Handler (void); void RTC_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler"))); -const struct pios_rtc_cfg pios_rtc_main_cfg = { +static const struct pios_rtc_cfg pios_rtc_main_cfg = { .clksrc = RCC_RTCCLKSource_HSE_Div128, .prescaler = 100, .irq = { - .handler = PIOS_RTC_IRQ_Handler, + .handler = NULL, .init = { .NVIC_IRQChannel = RTC_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, @@ -451,174 +590,11 @@ void PIOS_RTC_IRQ_Handler (void) #endif -#if defined(PIOS_INCLUDE_SPEKTRUM) -/* - * SPEKTRUM USART - */ -void PIOS_USART_spektrum_irq_handler(void); -void PIOS_IRQH_SPEKTRUM() __attribute__ ((alias ("PIOS_USART_spektrum_irq_handler"))); -const struct pios_usart_cfg pios_usart_spektrum_cfg = { - .regs = PIOS_USART_SPEKTRUM, - .init = { - #if defined (PIOS_COM_SPEKTRUM_BAUDRATE) - .USART_BaudRate = PIOS_COM_SPEKTRUM_BAUDRATE, - #else - .USART_BaudRate = 115200, - #endif - .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, - }, - .irq = { - .handler = PIOS_USART_spektrum_irq_handler, - .init = { - .NVIC_IRQChannel = PIOS_IRQC_SPEKTRUM, - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, - .rx = { - .gpio = PIOS_GPIO_SPEKTRUM, - .init = { - .GPIO_Pin = PIOS_RXIO_SPEKTRUM, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_IPU, - }, - }, - .tx = { - .gpio = PIOS_GPIO_SPEKTRUM, - .init = { - .GPIO_Pin = PIOS_TXIO_SPEKTRUM, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_IN_FLOATING, - }, - }, -}; - -#include -static uint32_t pios_usart_spektrum_id; -void PIOS_USART_spektrum_irq_handler(void) -{ - PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id); -} - -const struct pios_spektrum_cfg pios_spektrum_cfg = { - .pios_usart_spektrum_cfg = &pios_usart_spektrum_cfg, - .gpio_init = { //used for bind feature - .GPIO_Mode = GPIO_Mode_Out_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - .remap = 0, - .port = PIOS_GPIO_SPEKTRUM, - .pin = PIOS_RXIO_SPEKTRUM, -}; - -#endif /* PIOS_INCLUDE_SPEKTRUM */ - -#if defined(PIOS_INCLUDE_SBUS) -/* - * SBUS USART - */ -void PIOS_USART_sbus_irq_handler(void); -void PIOS_IRQH_SBUS() __attribute__ ((alias ("PIOS_USART_sbus_irq_handler"))); -const struct pios_usart_cfg pios_usart_sbus_cfg = { - .regs = PIOS_USART_SBUS, - .init = { - #if defined (PIOS_COM_SBUS_BAUDRATE) - .USART_BaudRate = PIOS_COM_SBUS_BAUDRATE, - #else - .USART_BaudRate = 100000, - #endif - .USART_WordLength = USART_WordLength_8b, - .USART_Parity = USART_Parity_Even, - .USART_StopBits = USART_StopBits_2, - .USART_HardwareFlowControl = USART_HardwareFlowControl_None, - .USART_Mode = USART_Mode_Rx, - }, - .irq = { - .handler = PIOS_USART_sbus_irq_handler, - .init = { - .NVIC_IRQChannel = PIOS_IRQC_SBUS, - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, - .rx = { - .gpio = PIOS_GPIO_SBUS, - .init = { - .GPIO_Pin = PIOS_RXIO_SBUS, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_IPU, - }, - }, - .tx = { - .gpio = PIOS_GPIO_SBUS, - .init = { - .GPIO_Pin = PIOS_TXIO_SBUS, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_IN_FLOATING, - }, - }, -}; - -static uint32_t pios_usart_sbus_id; -void PIOS_USART_sbus_irq_handler(void) -{ - PIOS_SBUS_irq_handler(pios_usart_sbus_id); -} - -#include -const struct pios_sbus_cfg pios_sbus_cfg = { - /* USART configuration structure */ - .pios_usart_sbus_cfg = &pios_usart_sbus_cfg, - - /* Invertor configuration */ - .gpio_clk_func = RCC_APB2PeriphClockCmd, - .gpio_clk_periph = RCC_APB2Periph_GPIOB, - .gpio_inv_port = GPIOB, - .gpio_inv_init = { - .GPIO_Pin = GPIO_Pin_2, - .GPIO_Mode = GPIO_Mode_Out_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - .gpio_inv_enable = Bit_SET, -}; - -#endif /* PIOS_INCLUDE_SBUS */ - -#if defined(PIOS_INCLUDE_TELEMETRY_RF) -static uint32_t pios_usart_telem_rf_id; -void PIOS_USART_telem_irq_handler(void) -{ - PIOS_USART_IRQ_Handler(pios_usart_telem_rf_id); -} -#endif /* PIOS_INCLUDE_TELEMETRY_RF */ - -#if defined(PIOS_INCLUDE_GPS) -static uint32_t pios_usart_gps_id; -void PIOS_USART_gps_irq_handler(void) -{ - PIOS_USART_IRQ_Handler(pios_usart_gps_id); -} -#endif /* PIOS_INCLUDE_GPS */ - -#endif /* PIOS_INCLUDE_USART */ - -#if defined(PIOS_INCLUDE_COM) - -#include "pios_com_priv.h" - -#endif /* PIOS_INCLUDE_COM */ - /* * Servo outputs */ #include -const struct pios_servo_channel pios_servo_channels[] = { +static const struct pios_servo_channel pios_servo_channels[] = { { .timer = TIM4, .port = GPIOB, @@ -684,13 +660,19 @@ const struct pios_servo_cfg pios_servo_cfg = { .num_channels = NELEMENTS(pios_servo_channels), }; +/* + * PPM Inputs + */ +#if defined(PIOS_INCLUDE_PPM) +#include +#endif /* * PWM Inputs */ #if defined(PIOS_INCLUDE_PWM) #include -const struct pios_pwm_channel pios_pwm_channels[] = { +static const struct pios_pwm_channel pios_pwm_channels[] = { { .timer = TIM4, .port = GPIOB, @@ -761,7 +743,7 @@ const struct pios_pwm_cfg pios_pwm_cfg = { }, .remap = 0, .irq = { - .handler = TIM2_IRQHandler, + .handler = NULL, .init = { .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, @@ -798,7 +780,7 @@ void PIOS_I2C_main_adapter_er_irq_handler(void); void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_ev_irq_handler"))); void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_er_irq_handler"))); -const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = { +static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = { .regs = I2C2, .init = { .I2C_Mode = I2C_Mode_I2C, @@ -826,7 +808,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = { }, }, .event = { - .handler = PIOS_I2C_main_adapter_ev_irq_handler, + .handler = NULL, .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C2_EV_IRQn, @@ -836,7 +818,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = { }, }, .error = { - .handler = PIOS_I2C_main_adapter_er_irq_handler, + .handler = NULL, .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C2_ER_IRQn, @@ -874,8 +856,6 @@ extern const struct pios_com_driver pios_usb_com_driver; uint32_t pios_com_telem_rf_id; uint32_t pios_com_telem_usb_id; uint32_t pios_com_gps_id; -uint32_t pios_com_spektrum_id; -uint32_t pios_com_sbus_id; /** * PIOS_Board_Init() @@ -885,8 +865,8 @@ uint32_t pios_com_sbus_id; void PIOS_Board_Init(void) { /* Delay system */ - PIOS_DELAY_Init(); - + PIOS_DELAY_Init(); + /* Set up the SPI interface to the serial flash */ if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg)) { PIOS_DEBUG_Assert(0); @@ -894,7 +874,7 @@ void PIOS_Board_Init(void) { PIOS_Flash_W25X_Init(pios_spi_flash_accel_id); PIOS_ADXL345_Attach(pios_spi_flash_accel_id); - + PIOS_FLASHFS_Init(); /* Initialize UAVObject libraries */ @@ -913,65 +893,195 @@ void PIOS_Board_Init(void) { /* Initialize the task monitor library */ TaskMonitorInitialize(); - /* Initialize the PiOS library */ -#if defined(PIOS_INCLUDE_COM) + /* Configure the main IO port */ + uint8_t hwsettings_cc_mainport; + HwSettingsCC_MainPortGet(&hwsettings_cc_mainport); + + switch (hwsettings_cc_mainport) { + case HWSETTINGS_CC_MAINPORT_DISABLED: + break; + case HWSETTINGS_CC_MAINPORT_TELEMETRY: #if defined(PIOS_INCLUDE_TELEMETRY_RF) - if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) { - PIOS_DEBUG_Assert(0); - } - if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) { - PIOS_DEBUG_Assert(0); - } -#endif /* PIOS_INCLUDE_TELEMETRY_RF */ -#if defined(PIOS_INCLUDE_GPS) - if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) { - PIOS_DEBUG_Assert(0); - } - if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) { - PIOS_DEBUG_Assert(0); - } -#endif /* PIOS_INCLUDE_GPS */ -#if defined(PIOS_INCLUDE_SPEKTRUM) - /* SPEKTRUM init must come before comms */ - PIOS_SPEKTRUM_Init(); - - if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) { - PIOS_DEBUG_Assert(0); - } - if (PIOS_COM_Init(&pios_com_spektrum_id, &pios_usart_com_driver, pios_usart_spektrum_id)) { - PIOS_DEBUG_Assert(0); - } - for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) { - if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], - &pios_spektrum_rcvr_driver, - i)) { - pios_rcvr_max_channel++; - } else { - PIOS_DEBUG_Assert(0); + { + uint32_t pios_usart_telem_rf_id; + if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_main_cfg)) { + PIOS_Assert(0); + } + if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) { + PIOS_Assert(0); + } } - } -#endif +#endif /* PIOS_INCLUDE_TELEMETRY_RF */ + break; + case HWSETTINGS_CC_MAINPORT_SBUS: #if defined(PIOS_INCLUDE_SBUS) - PIOS_SBUS_Init(); + { + PIOS_SBUS_Init(&pios_sbus_cfg); - if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_cfg)) { - PIOS_DEBUG_Assert(0); - } - if (PIOS_COM_Init(&pios_com_sbus_id, &pios_usart_com_driver, pios_usart_sbus_id)) { - PIOS_DEBUG_Assert(0); - } - for (uint8_t i = 0; i < SBUS_NUMBER_OF_CHANNELS; i++) { - if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], - &pios_sbus_rcvr_driver, - i)) { - pios_rcvr_max_channel++; - } else { - PIOS_DEBUG_Assert(0); + uint32_t pios_usart_sbus_id; + if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) { + PIOS_Assert(0); + } } +#endif /* PIOS_INCLUDE_SBUS */ + break; + case HWSETTINGS_CC_MAINPORT_GPS: +#if defined(PIOS_INCLUDE_GPS) + { + uint32_t pios_usart_gps_id; + if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_main_cfg)) { + PIOS_Assert(0); + } + if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_GPS */ + break; + case HWSETTINGS_CC_MAINPORT_SPEKTRUM: +#if defined(PIOS_INCLUDE_SPEKTRUM) + { + /* SPEKTRUM init must come before usart init since it may use Rx pin for bind */ + PIOS_SPEKTRUM_Init(&pios_spektrum_main_cfg, false); + + uint32_t pios_usart_spektrum_id; + if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_main_cfg)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_SPEKTRUM */ + break; + case HWSETTINGS_CC_MAINPORT_COMAUX: + break; } + /* Configure the flexi port */ + uint8_t hwsettings_cc_flexiport; + HwSettingsCC_FlexiPortGet(&hwsettings_cc_flexiport); + + switch (hwsettings_cc_flexiport) { + case HWSETTINGS_CC_FLEXIPORT_DISABLED: + break; + case HWSETTINGS_CC_FLEXIPORT_TELEMETRY: +#if defined(PIOS_INCLUDE_TELEMETRY_RF) + { + uint32_t pios_usart_telem_rf_id; + if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_flexi_cfg)) { + PIOS_Assert(0); + } + if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_TELEMETRY_RF */ + break; + case HWSETTINGS_CC_FLEXIPORT_GPS: +#if defined(PIOS_INCLUDE_GPS) + { + uint32_t pios_usart_gps_id; + if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_flexi_cfg)) { + PIOS_Assert(0); + } + if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_GPS */ + break; + case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM: +#if defined(PIOS_INCLUDE_SPEKTRUM) + { + /* SPEKTRUM init must come before usart init since it may use Rx pin for bind */ + PIOS_SPEKTRUM_Init(&pios_spektrum_flexi_cfg, false); + + uint32_t pios_usart_spektrum_id; + if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_flexi_cfg)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_SPEKTRUM */ + break; + case HWSETTINGS_CC_FLEXIPORT_COMAUX: + break; + case HWSETTINGS_CC_FLEXIPORT_I2C: +#if defined(PIOS_INCLUDE_I2C) + { + if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_I2C */ + break; + } + + /* Configure the selected receiver */ + uint8_t manualcontrolsettings_inputmode; + ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode); + + switch (manualcontrolsettings_inputmode) { + case MANUALCONTROLSETTINGS_INPUTMODE_PWM: +#if defined(PIOS_INCLUDE_PWM) + PIOS_PWM_Init(); + for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) { + if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], + &pios_pwm_rcvr_driver, + i)) { + pios_rcvr_max_channel++; + } else { + PIOS_DEBUG_Assert(0); + } + } +#endif /* PIOS_INCLUDE_PWM */ + break; + case MANUALCONTROLSETTINGS_INPUTMODE_PPM: +#if defined(PIOS_INCLUDE_PPM) + PIOS_PPM_Init(); + for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS; i++) { + if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], + &pios_ppm_rcvr_driver, + i)) { + pios_rcvr_max_channel++; + } else { + PIOS_DEBUG_Assert(0); + } + } +#endif /* PIOS_INCLUDE_PPM */ + break; + case MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM: +#if defined(PIOS_INCLUDE_SPEKTRUM) + if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM || + hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM) { + for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) { + if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], + &pios_spektrum_rcvr_driver, + i)) { + pios_rcvr_max_channel++; + } else { + PIOS_Assert(0); + } + } + } +#endif /* PIOS_INCLUDE_SPEKTRUM */ + break; +#if THIS_IS_NOT_YET_A_VALID_INPUT_MODE + case MANUALCONTROLSETTINGS_INPUTMODE_SBUS: +#if defined(PIOS_INCLUDE_SBUS) + if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SBUS || + hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SBUS) { + for (uint8_t i = 0; i < PIOS_SBUS_NUM_INPUTS; i++) { + if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], + &pios_sbus_rcvr_driver, + i)) { + pios_rcvr_max_channel++; + } else { + PIOS_Assert(0); + } + } + } #endif /* PIOS_INCLUDE_SBUS */ -#endif /* PIOS_INCLUDE_COM */ + break; +#endif /* THIS_IS_NOT_YET_A_VALID_INPUT_MODE */ + } /* Remap AFIO pin */ GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE); @@ -980,36 +1090,6 @@ void PIOS_Board_Init(void) { PIOS_ADC_Init(); PIOS_GPIO_Init(); -#if defined(PIOS_INCLUDE_PWM) -#if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS) -#error More receiver inputs than available devices -#endif - PIOS_PWM_Init(); - for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) { - if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], - &pios_pwm_rcvr_driver, - i)) { - pios_rcvr_max_channel++; - } else { - PIOS_DEBUG_Assert(0); - } - } -#endif -#if defined(PIOS_INCLUDE_PPM) -#if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS) -#error More receiver inputs than available devices -#endif - PIOS_PPM_Init(); - for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS; i++) { - if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], - &pios_ppm_rcvr_driver, - i)) { - pios_rcvr_max_channel++; - } else { - PIOS_DEBUG_Assert(0); - } - } -#endif #if defined(PIOS_INCLUDE_USB_HID) PIOS_USB_HID_Init(0); #if defined(PIOS_INCLUDE_COM) @@ -1017,13 +1097,8 @@ void PIOS_Board_Init(void) { PIOS_DEBUG_Assert(0); } #endif /* PIOS_INCLUDE_COM */ -#endif +#endif /* PIOS_INCLUDE_USB_HID */ -#if defined(PIOS_INCLUDE_I2C) - if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) { - PIOS_DEBUG_Assert(0); - } -#endif /* PIOS_INCLUDE_I2C */ PIOS_IAP_Init(); PIOS_WDG_Init(); } diff --git a/flight/INS/pios_board.c b/flight/INS/pios_board.c index 524416cb1..7010b7f00 100644 --- a/flight/INS/pios_board.c +++ b/flight/INS/pios_board.c @@ -61,7 +61,7 @@ static const struct pios_spi_cfg pios_spi_op_mag_cfg = { .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { - .handler = PIOS_SPI_op_mag_irq_handler, + .handler = NULL, .flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4), @@ -175,7 +175,7 @@ static const struct pios_spi_cfg pios_spi_accel_cfg = { .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { - .handler = PIOS_SPI_accel_irq_handler, + .handler = NULL, .flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2), .init = { .NVIC_IRQChannel = DMA1_Channel2_IRQn, @@ -265,10 +265,7 @@ void PIOS_SPI_accel_irq_handler(void) /* * GPS USART */ -void PIOS_USART_gps_irq_handler(void); -void USART1_IRQHandler() - __attribute__ ((alias("PIOS_USART_gps_irq_handler"))); -const struct pios_usart_cfg pios_usart_gps_cfg = { +static const struct pios_usart_cfg pios_usart_gps_cfg = { .regs = USART1, .init = { #if defined (PIOS_USART_BAUDRATE) @@ -284,7 +281,7 @@ const struct pios_usart_cfg pios_usart_gps_cfg = { .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, }, .irq = { - .handler = PIOS_USART_gps_irq_handler, + .handler = NULL, .init = { .NVIC_IRQChannel = USART1_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, @@ -310,22 +307,13 @@ const struct pios_usart_cfg pios_usart_gps_cfg = { }, }; -static uint32_t pios_usart_gps_id; -void PIOS_USART_gps_irq_handler(void) -{ - PIOS_USART_IRQ_Handler(pios_usart_gps_id); -} - #endif /* PIOS_INCLUDE_GPS */ #ifdef PIOS_COM_AUX /* * AUX USART */ -void PIOS_USART_aux_irq_handler(void); -void USART4_IRQHandler() - __attribute__ ((alias("PIOS_USART_aux_irq_handler"))); -const struct pios_usart_cfg pios_usart_aux_cfg = { +static const struct pios_usart_cfg pios_usart_aux_cfg = { .regs = USART4, .init = { #if defined (PIOS_USART_BAUDRATE) @@ -341,7 +329,7 @@ const struct pios_usart_cfg pios_usart_aux_cfg = { .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, }, .irq = { - .handler = PIOS_USART_aux_irq_handler, + .handler = NULL, .init = { .NVIC_IRQChannel = USART4_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, @@ -367,12 +355,6 @@ const struct pios_usart_cfg pios_usart_aux_cfg = { }, }; -static uint32_t pios_usart_aux_id; -void PIOS_USART_aux_irq_handler(void) -{ - PIOS_USART_IRQ_Handler(pios_usart_aux_id); -} - #endif /* PIOS_COM_AUX */ @@ -391,7 +373,7 @@ void I2C1_EV_IRQHandler() void I2C1_ER_IRQHandler() __attribute__ ((alias("PIOS_I2C_pres_mag_adapter_er_irq_handler"))); -const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = { +static const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = { .regs = I2C1, .init = { .I2C_Mode = I2C_Mode_I2C, @@ -419,7 +401,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = { }, }, .event = { - .handler = PIOS_I2C_pres_mag_adapter_ev_irq_handler, + .handler = NULL, .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C1_EV_IRQn, @@ -429,7 +411,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = { }, }, .error = { - .handler = PIOS_I2C_pres_mag_adapter_er_irq_handler, + .handler = NULL, .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C1_ER_IRQn, @@ -459,7 +441,7 @@ void PIOS_I2C_gyro_adapter_er_irq_handler(void); void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_gyro_adapter_ev_irq_handler"))); void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_gyro_adapter_er_irq_handler"))); -const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = { +static const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = { .regs = I2C2, .init = { .I2C_Mode = I2C_Mode_I2C, @@ -487,7 +469,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = { }, }, .event = { - .handler = PIOS_I2C_gyro_adapter_ev_irq_handler, + .handler = NULL, .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C2_EV_IRQn, @@ -497,7 +479,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = { }, }, .error = { - .handler = PIOS_I2C_gyro_adapter_er_irq_handler, + .handler = NULL, .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C2_ER_IRQn, @@ -547,6 +529,7 @@ void PIOS_Board_Init(void) { #if defined(PIOS_INCLUDE_COM) #if defined(PIOS_INCLUDE_GPS) + uint32_t pios_usart_gps_id; if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) { PIOS_DEBUG_Assert(0); } diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile index 83b179641..8c4322381 100644 --- a/flight/OpenPilot/Makefile +++ b/flight/OpenPilot/Makefile @@ -43,10 +43,6 @@ ENABLE_DEBUG_PINS ?= NO # Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs ENABLE_AUX_UART ?= NO -USE_SPEKTRUM ?= NO -USE_SBUS ?= NO - - # Set to YES when using Code Sourcery toolchain CODE_SOURCERY ?= YES @@ -366,14 +362,6 @@ ifeq ($(ENABLE_AUX_UART), YES) CDEFS += -DPIOS_ENABLE_AUX_UART endif -ifeq ($(USE_SPEKTRUM), YES) -CDEFS += -DUSE_SPEKTRUM -endif -ifeq ($(USE_SBUS), YES) -CDEFS += -DUSE_SBUS -endif - - # Place project-specific -D and/or -U options for # Assembler with preprocessor here. #ADEFS = -DUSE_IRQ_ASM_WRAPPER diff --git a/flight/OpenPilot/System/inc/pios_config.h b/flight/OpenPilot/System/inc/pios_config.h index 215d0fadb..3ea502a1a 100644 --- a/flight/OpenPilot/System/inc/pios_config.h +++ b/flight/OpenPilot/System/inc/pios_config.h @@ -44,14 +44,10 @@ #define PIOS_INCLUDE_RCVR -#if defined(USE_SPEKTRUM) #define PIOS_INCLUDE_SPEKTRUM -#elif defined(USE_SBUS) -#define PIOS_INCLUDE_SBUS -#else -//#define PIOS_INCLUDE_PPM +//#define PIOS_INCLUDE_SBUS #define PIOS_INCLUDE_PWM -#endif +//#define PIOS_INCLUDE_PPM #define PIOS_INCLUDE_SERVO #define PIOS_INCLUDE_SPI diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c index 3953f03d4..c9d800eb9 100644 --- a/flight/OpenPilot/System/pios_board.c +++ b/flight/OpenPilot/System/pios_board.c @@ -46,7 +46,7 @@ void PIOS_SPI_sdcard_irq_handler(void); void DMA1_Channel2_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler"))); void DMA1_Channel3_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler"))); -const struct pios_spi_cfg pios_spi_sdcard_cfg = { +static const struct pios_spi_cfg pios_spi_sdcard_cfg = { .regs = SPI1, .init = { .SPI_Mode = SPI_Mode_Master, @@ -63,7 +63,7 @@ const struct pios_spi_cfg pios_spi_sdcard_cfg = { .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { - .handler = PIOS_SPI_sdcard_irq_handler, + .handler = NULL, .flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2), .init = { .NVIC_IRQChannel = DMA1_Channel2_IRQn, @@ -144,7 +144,7 @@ const struct pios_spi_cfg pios_spi_sdcard_cfg = { void PIOS_SPI_ahrs_irq_handler(void); void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler"))); void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler"))); -const struct pios_spi_cfg pios_spi_ahrs_cfg = { +static const struct pios_spi_cfg pios_spi_ahrs_cfg = { .regs = SPI2, .init = { .SPI_Mode = SPI_Mode_Master, @@ -162,7 +162,7 @@ const struct pios_spi_cfg pios_spi_ahrs_cfg = { .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { - .handler = PIOS_SPI_ahrs_irq_handler, + .handler = NULL, .flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4), .init = { .NVIC_IRQChannel = DMA1_Channel4_IRQn, @@ -258,11 +258,11 @@ void PIOS_SPI_ahrs_irq_handler(void) extern void PIOS_ADC_handler(void); void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler"))); // Remap the ADC DMA handler to this one -const struct pios_adc_cfg pios_adc_cfg = { +static const struct pios_adc_cfg pios_adc_cfg = { .dma = { .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { - .handler = PIOS_ADC_DMA_Handler, + .handler = NULL, .flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1), .init = { .NVIC_IRQChannel = DMA1_Channel1_IRQn, @@ -310,9 +310,7 @@ void PIOS_ADC_handler() { /* * Telemetry USART */ -void PIOS_USART_telem_irq_handler(void); -void USART2_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler"))); -const struct pios_usart_cfg pios_usart_telem_cfg = { +static const struct pios_usart_cfg pios_usart_telem_cfg = { .regs = USART2, .init = { #if defined (PIOS_COM_TELEM_BAUDRATE) @@ -327,7 +325,7 @@ const struct pios_usart_cfg pios_usart_telem_cfg = { .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, }, .irq = { - .handler = PIOS_USART_telem_irq_handler, + .handler = NULL, .init = { .NVIC_IRQChannel = USART2_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, @@ -356,9 +354,7 @@ const struct pios_usart_cfg pios_usart_telem_cfg = { /* * GPS USART */ -void PIOS_USART_gps_irq_handler(void); -void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_gps_irq_handler"))); -const struct pios_usart_cfg pios_usart_gps_cfg = { +static const struct pios_usart_cfg pios_usart_gps_cfg = { .regs = USART3, .remap = GPIO_PartialRemap_USART3, .init = { @@ -374,7 +370,7 @@ const struct pios_usart_cfg pios_usart_gps_cfg = { .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, }, .irq = { - .handler = PIOS_USART_gps_irq_handler, + .handler = NULL, .init = { .NVIC_IRQChannel = USART3_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, @@ -404,9 +400,7 @@ const struct pios_usart_cfg pios_usart_gps_cfg = { /* * AUX USART */ -void PIOS_USART_aux_irq_handler(void); -void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_aux_irq_handler"))); -const struct pios_usart_cfg pios_usart_aux_cfg = { +static const struct pios_usart_cfg pios_usart_aux_cfg = { .regs = USART1, .init = { #if defined (PIOS_COM_AUX_BAUDRATE) @@ -422,7 +416,7 @@ const struct pios_usart_cfg pios_usart_aux_cfg = { .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, }, .irq = { - .handler = PIOS_USART_aux_irq_handler, + .handler = NULL, .init = { .NVIC_IRQChannel = USART1_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, @@ -458,11 +452,11 @@ const struct pios_usart_cfg pios_usart_aux_cfg = { void PIOS_RTC_IRQ_Handler (void); void RTC_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler"))); -const struct pios_rtc_cfg pios_rtc_main_cfg = { +static const struct pios_rtc_cfg pios_rtc_main_cfg = { .clksrc = RCC_RTCCLKSource_HSE_Div128, .prescaler = 100, .irq = { - .handler = PIOS_RTC_IRQ_Handler, + .handler = NULL, .init = { .NVIC_IRQChannel = RTC_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, @@ -483,9 +477,9 @@ void PIOS_RTC_IRQ_Handler (void) /* * SPEKTRUM USART */ -void PIOS_USART_spektrum_irq_handler(void); -void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_spektrum_irq_handler"))); -const struct pios_usart_cfg pios_usart_spektrum_cfg = { +#include + +static const struct pios_usart_cfg pios_usart_spektrum_cfg = { .regs = USART1, .init = { #if defined (PIOS_COM_SPEKTRUM_BAUDRATE) @@ -500,7 +494,7 @@ const struct pios_usart_cfg pios_usart_spektrum_cfg = { .USART_Mode = USART_Mode_Rx, }, .irq = { - .handler = PIOS_USART_spektrum_irq_handler, + .handler = PIOS_SPEKTRUM_irq_handler, .init = { .NVIC_IRQChannel = USART1_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, @@ -533,15 +527,16 @@ void PIOS_USART_spektrum_irq_handler(void) PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id); } -const struct pios_spektrum_cfg pios_spektrum_cfg = { - .pios_usart_spektrum_cfg = &pios_usart_spektrum_cfg, - .gpio_init = { //used for bind feature - .GPIO_Mode = GPIO_Mode_Out_PP, - .GPIO_Speed = GPIO_Speed_2MHz, +static const struct pios_spektrum_cfg pios_spektrum_cfg = { + .bind = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_Out_PP, + }, }, .remap = 0, - .port = GPIOA, - .pin = GPIO_Pin_10, }; #endif /* PIOS_COM_SPEKTRUM */ @@ -550,33 +545,6 @@ const struct pios_spektrum_cfg pios_spektrum_cfg = { #error PIOS_INCLUDE_SBUS not implemented #endif /* PIOS_INCLUDE_SBUS */ -static uint32_t pios_usart_telem_rf_id; -void PIOS_USART_telem_irq_handler(void) -{ - PIOS_USART_IRQ_Handler(pios_usart_telem_rf_id); -} - -static uint32_t pios_usart_gps_id; -void PIOS_USART_gps_irq_handler(void) -{ -#ifdef USART_GPS_DEBUG_PIN - PIOS_DEBUG_PinHigh(USART_GPS_DEBUG_PIN); -#endif - PIOS_USART_IRQ_Handler(pios_usart_gps_id); -#ifdef USART_GPS_DEBUG_PIN - PIOS_DEBUG_PinLow(USART_GPS_DEBUG_PIN); -#endif - -} - -#ifdef PIOS_COM_AUX -static uint32_t pios_usart_aux_id; -void PIOS_USART_aux_irq_handler(void) -{ - PIOS_USART_IRQ_Handler(pios_usart_aux_id); -} -#endif - #endif /* PIOS_INCLUDE_USART */ #if defined(PIOS_INCLUDE_COM) @@ -589,7 +557,7 @@ void PIOS_USART_aux_irq_handler(void) * Pios servo configuration structures */ #include -const struct pios_servo_channel pios_servo_channels[] = { +static const struct pios_servo_channel pios_servo_channels[] = { { .timer = TIM4, .port = GPIOB, @@ -673,7 +641,7 @@ const struct pios_servo_cfg pios_servo_cfg = { */ #if defined(PIOS_INCLUDE_PWM) #include -const struct pios_pwm_channel pios_pwm_channels[] = { +static const struct pios_pwm_channel pios_pwm_channels[] = { { .timer = TIM1, .port = GPIOA, @@ -758,7 +726,7 @@ const struct pios_pwm_cfg pios_pwm_cfg = { }, .remap = GPIO_PartialRemap_TIM3, .irq = { - .handler = TIM1_CC_IRQHandler, + .handler = NULL, .init = { .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, @@ -789,7 +757,7 @@ void PIOS_TIM5_irq_handler() #include void TIM6_IRQHandler(); void TIM6_IRQHandler() __attribute__ ((alias ("PIOS_TIM6_irq_handler"))); -const struct pios_ppmsv_cfg pios_ppmsv_cfg = { +static const struct pios_ppmsv_cfg pios_ppmsv_cfg = { .tim_base_init = { .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */ .TIM_ClockDivision = TIM_CKD_DIV1, @@ -798,7 +766,7 @@ const struct pios_ppmsv_cfg pios_ppmsv_cfg = { .TIM_RepetitionCounter = 0x0000, }, .irq = { - .handler = TIM6_IRQHandler, + .handler = NULL, .init = { .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, @@ -816,7 +784,7 @@ void PIOS_TIM6_irq_handler(void) void TIM1_CC_IRQHandler(); void TIM1_CC_IRQHandler() __attribute__ ((alias ("PIOS_TIM1_CC_irq_handler"))); -const struct pios_ppm_cfg pios_ppm_cfg = { +static const struct pios_ppm_cfg pios_ppm_cfg = { .tim_base_init = { .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */ .TIM_ClockDivision = TIM_CKD_DIV1, @@ -838,7 +806,7 @@ const struct pios_ppm_cfg pios_ppm_cfg = { }, .remap = 0, .irq = { - .handler = TIM1_CC_IRQHandler, + .handler = NULL, .init = { .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelSubPriority = 0, @@ -871,7 +839,7 @@ void PIOS_I2C_main_adapter_er_irq_handler(void); void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_ev_irq_handler"))); void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_er_irq_handler"))); -const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = { +static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = { .regs = I2C2, .init = { .I2C_Mode = I2C_Mode_I2C, @@ -899,7 +867,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = { }, }, .event = { - .handler = PIOS_I2C_main_adapter_ev_irq_handler, + .handler = NULL, .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C2_EV_IRQn, @@ -909,7 +877,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = { }, }, .error = { - .handler = PIOS_I2C_main_adapter_er_irq_handler, + .handler = NULL, .flags = 0, /* FIXME: check this */ .init = { .NVIC_IRQChannel = I2C2_ER_IRQn, @@ -1093,19 +1061,25 @@ void PIOS_Board_Init(void) { /* Initialize the PiOS library */ #if defined(PIOS_INCLUDE_COM) +#if defined(PIOS_INCLUDE_TELEMETRY_RF) + uint32_t pios_usart_telem_rf_id; if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) { PIOS_DEBUG_Assert(0); } if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) { PIOS_DEBUG_Assert(0); } +#endif /* PIOS_INCLUDE_TELEMETRY_RF */ +#if defined(PIOS_INCLUDE_GPS) + uint32_t pios_usart_gps_id; if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) { PIOS_DEBUG_Assert(0); } if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) { PIOS_DEBUG_Assert(0); } +#endif /* PIOS_INCLUDE_GPS */ #endif PIOS_Servo_Init(); @@ -1117,14 +1091,12 @@ void PIOS_Board_Init(void) { #error More receiver inputs than available devices #endif /* SPEKTRUM init must come before comms */ - PIOS_SPEKTRUM_Init(); + PIOS_SPEKTRUM_Init(&pios_spektrum_cfg, false); + uint32_t pios_usart_spektrum_id; if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) { PIOS_DEBUG_Assert(0); } - if (PIOS_COM_Init(&pios_com_spektrum_id, &pios_usart_com_driver, pios_usart_spektrum_id)) { - PIOS_DEBUG_Assert(0); - } for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) { if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], &pios_spektrum_rcvr_driver, diff --git a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h index 993d08c78..b83114e8a 100644 --- a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h +++ b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h @@ -235,7 +235,6 @@ extern uint32_t pios_com_sbus_id; // Receiver PPM input //------------------------- #define PIOS_PPM_NUM_INPUTS 6 //Could be more if needed -#define PIOS_PPM_SUPV_ENABLED 1 //------------------------- // Receiver PWM input diff --git a/flight/PiOS/STM32F10x/pios_sbus.c b/flight/PiOS/STM32F10x/pios_sbus.c index 698beac94..06fb4d5f8 100644 --- a/flight/PiOS/STM32F10x/pios_sbus.c +++ b/flight/PiOS/STM32F10x/pios_sbus.c @@ -135,17 +135,17 @@ static void process_byte(uint8_t b) /** * Initialise S.Bus receiver interface */ -void PIOS_SBUS_Init(void) +void PIOS_SBUS_Init(const struct pios_sbus_cfg *cfg) { - /* Enable USART input invertor clock and enable the invertor */ - (*pios_sbus_cfg.gpio_clk_func)(pios_sbus_cfg.gpio_clk_periph, ENABLE); - GPIO_Init(pios_sbus_cfg.gpio_inv_port, &pios_sbus_cfg.gpio_inv_init); - GPIO_WriteBit(pios_sbus_cfg.gpio_inv_port, - pios_sbus_cfg.gpio_inv_init.GPIO_Pin, - pios_sbus_cfg.gpio_inv_enable); + /* Enable inverter clock and enable the inverter */ + (*cfg->gpio_clk_func)(cfg->gpio_clk_periph, ENABLE); + GPIO_Init(cfg->inv.gpio, &cfg->inv.init); + GPIO_WriteBit(cfg->inv.gpio, + cfg->inv.init.GPIO_Pin, + cfg->gpio_inv_enable); if (!PIOS_RTC_RegisterTickCallback(PIOS_SBUS_Supervisor, 0)) { - PIOS_DEBUG_Assert(0); + PIOS_Assert(0); } } @@ -169,9 +169,14 @@ static int32_t PIOS_SBUS_Get(uint32_t chan_id) */ void PIOS_SBUS_irq_handler(uint32_t usart_id) { + /* Grab the config for this device from the underlying USART device */ + const struct pios_usart_cfg * cfg; + cfg = PIOS_USART_GetConfig(usart_id); + PIOS_Assert(cfg); + /* by always reading DR after SR make sure to clear any error interrupts */ - volatile uint16_t sr = pios_sbus_cfg.pios_usart_sbus_cfg->regs->SR; - volatile uint8_t b = pios_sbus_cfg.pios_usart_sbus_cfg->regs->DR; + volatile uint16_t sr = cfg->regs->SR; + volatile uint8_t b = cfg->regs->DR; /* process received byte if one has arrived */ if (sr & USART_SR_RXNE) { @@ -183,7 +188,7 @@ void PIOS_SBUS_irq_handler(uint32_t usart_id) /* ignore TXE interrupts */ if (sr & USART_SR_TXE) { /* disable TXE interrupt (TXEIE=0) */ - USART_ITConfig(pios_sbus_cfg.pios_usart_sbus_cfg->regs, USART_IT_TXE, DISABLE); + USART_ITConfig(cfg->regs, USART_IT_TXE, DISABLE); } } diff --git a/flight/PiOS/STM32F10x/pios_spektrum.c b/flight/PiOS/STM32F10x/pios_spektrum.c index 4372fb4ef..57ce7de11 100644 --- a/flight/PiOS/STM32F10x/pios_spektrum.c +++ b/flight/PiOS/STM32F10x/pios_spektrum.c @@ -34,12 +34,6 @@ #include "pios_spektrum_priv.h" #if defined(PIOS_INCLUDE_SPEKTRUM) -#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_SBUS) -#error "Both SPEKTRUM and either of PWM or SBUS inputs defined, choose only one" -#endif -#if defined(PIOS_COM_AUX) -#error "AUX com cannot be used with SPEKTRUM" -#endif /** * @Note Framesyncing: @@ -65,15 +59,16 @@ uint8_t sync_of = 0; uint16_t supv_timer=0; static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id); +static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg); /** * Bind and Initialise Spektrum satellite receiver */ -void PIOS_SPEKTRUM_Init(void) +void PIOS_SPEKTRUM_Init(const struct pios_spektrum_cfg * cfg, bool bind) { // TODO: need setting flag for bind on next powerup - if (0) { - PIOS_SPEKTRUM_Bind(); + if (bind) { + PIOS_SPEKTRUM_Bind(cfg); } if (!PIOS_RTC_RegisterTickCallback(PIOS_SPEKTRUM_Supervisor, 0)) { @@ -98,48 +93,45 @@ static int32_t PIOS_SPEKTRUM_Get(uint32_t chan_id) /** * Spektrum bind function -* \output 1 Successful bind -* \output 0 Bind failed -* \note Applications shouldn't call these functions directly +* \output true Successful bind +* \output false Bind failed */ -uint8_t PIOS_SPEKTRUM_Bind(void) +static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg) { - GPIO_InitTypeDef GPIO_InitStructure = pios_spektrum_cfg.gpio_init; - GPIO_InitStructure.GPIO_Pin = pios_spektrum_cfg.pin; - GPIO_Init(pios_spektrum_cfg.port, &GPIO_InitStructure); + GPIO_Init(cfg->bind.gpio, &cfg->bind.init); - pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin; + GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin); //PIOS_DELAY_WaitmS(75); /* RX line, drive high for 10us */ - pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin; + GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin); PIOS_DELAY_WaituS(10); /* RX line, drive low for 120us */ - pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin; + GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin); PIOS_DELAY_WaituS(120); /* RX line, drive high for 120us */ - pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin; + GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin); PIOS_DELAY_WaituS(120); /* RX line, drive low for 120us */ - pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin; + GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin); PIOS_DELAY_WaituS(120); /* RX line, drive high for 120us */ - pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin; + GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin); PIOS_DELAY_WaituS(120); /* RX line, drive low for 120us */ - pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin; + GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin); PIOS_DELAY_WaituS(120); /* RX line, drive high for 120us */ - pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin; + GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin); PIOS_DELAY_WaituS(120); /* RX line, drive low for 120us */ - pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin; + GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin); PIOS_DELAY_WaituS(120); /* RX line, drive high for 120us */ - pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin; + GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin); PIOS_DELAY_WaituS(120); /* RX line, set input and wait for data, PIOS_SPEKTRUM_Init */ - return 1; + return true; } /** @@ -150,7 +142,7 @@ uint8_t PIOS_SPEKTRUM_Bind(void) * \return -2 if buffer full (retry) * \note Applications shouldn't call these functions directly */ -int32_t PIOS_SPEKTRUM_Decode(uint8_t b) +static int32_t PIOS_SPEKTRUM_Decode(uint8_t b) { static uint16_t channel = 0; /*, sync_word = 0;*/ uint8_t channeln = 0, frame = 0; @@ -226,11 +218,16 @@ int32_t PIOS_SPEKTRUM_Decode(uint8_t b) return 0; } -/* Interrupt handler for USART */ +/* Custom interrupt handler for USART */ void PIOS_SPEKTRUM_irq_handler(uint32_t usart_id) { + /* Grab the config for this device from the underlying USART device */ + const struct pios_usart_cfg * cfg; + cfg = PIOS_USART_GetConfig(usart_id); + PIOS_Assert(cfg); + /* by always reading DR after SR make sure to clear any error interrupts */ - volatile uint16_t sr = pios_spektrum_cfg.pios_usart_spektrum_cfg->regs->SR; - volatile uint8_t b = pios_spektrum_cfg.pios_usart_spektrum_cfg->regs->DR; + volatile uint16_t sr = cfg->regs->SR; + volatile uint8_t b = cfg->regs->DR; /* check if RXNE flag is set */ if (sr & USART_SR_RXNE) { @@ -241,7 +238,7 @@ void PIOS_SPEKTRUM_irq_handler(uint32_t usart_id) { if (sr & USART_SR_TXE) { // check if TXE flag is set /* Disable TXE interrupt (TXEIE=0) */ - USART_ITConfig(pios_spektrum_cfg.pios_usart_spektrum_cfg->regs, USART_IT_TXE, DISABLE); + USART_ITConfig(cfg->regs, USART_IT_TXE, DISABLE); } /* byte arrived so clear "watchdog" timer */ supv_timer=0; diff --git a/flight/PiOS/STM32F10x/pios_usart.c b/flight/PiOS/STM32F10x/pios_usart.c index 36b1b0c7a..1c087738c 100644 --- a/flight/PiOS/STM32F10x/pios_usart.c +++ b/flight/PiOS/STM32F10x/pios_usart.c @@ -51,6 +51,23 @@ const struct pios_com_driver pios_usart_com_driver = { .rx_avail = PIOS_USART_RxBufferUsed, }; +enum pios_usart_dev_magic { + PIOS_USART_DEV_MAGIC = 0x11223344, +}; + +struct pios_usart_dev { + enum pios_usart_dev_magic magic; + const struct pios_usart_cfg * cfg; + + // align to 32-bit to try and provide speed improvement; + uint8_t rx_buffer[PIOS_USART_RX_BUFFER_SIZE] __attribute__ ((aligned(4))); + t_fifo_buffer rx; + + // align to 32-bit to try and provide speed improvement; + uint8_t tx_buffer[PIOS_USART_TX_BUFFER_SIZE] __attribute__ ((aligned(4))); + t_fifo_buffer tx; +}; + static bool PIOS_USART_validate(struct pios_usart_dev * usart_dev) { return (usart_dev->magic == PIOS_USART_DEV_MAGIC); @@ -85,6 +102,34 @@ static struct pios_usart_dev * PIOS_USART_alloc(void) } #endif +/* Bind Interrupt Handlers + * + * Map all valid USART IRQs to the common interrupt handler + * and provide storage for a 32-bit device id IRQ to map + * each physical IRQ to a specific registered device instance. + */ +static void PIOS_USART_generic_irq_handler(uint32_t usart_id); + +static uint32_t PIOS_USART_1_id; +void USART1_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_1_irq_handler"))); +static void PIOS_USART_1_irq_handler (void) +{ + PIOS_USART_generic_irq_handler (PIOS_USART_1_id); +} + +static uint32_t PIOS_USART_2_id; +void USART2_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_2_irq_handler"))); +static void PIOS_USART_2_irq_handler (void) +{ + PIOS_USART_generic_irq_handler (PIOS_USART_2_id); +} + +static uint32_t PIOS_USART_3_id; +void USART3_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_3_irq_handler"))); +static void PIOS_USART_3_irq_handler (void) +{ + PIOS_USART_generic_irq_handler (PIOS_USART_3_id); +} /** * Initialise a single USART device @@ -134,6 +179,11 @@ int32_t PIOS_USART_Init(uint32_t * usart_id, const struct pios_usart_cfg * cfg) *usart_id = (uint32_t)usart_dev; /* Configure USART Interrupts */ + switch ((uint32_t)usart_dev->cfg->regs) { + case (uint32_t)USART1: PIOS_USART_1_id = (uint32_t)usart_dev; + case (uint32_t)USART2: PIOS_USART_2_id = (uint32_t)usart_dev; + case (uint32_t)USART3: PIOS_USART_3_id = (uint32_t)usart_dev; + } NVIC_Init(&usart_dev->cfg->irq.init); USART_ITConfig(usart_dev->cfg->regs, USART_IT_RXNE, ENABLE); USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, ENABLE); @@ -147,6 +197,19 @@ out_fail: return(-1); } +const struct pios_usart_cfg * PIOS_USART_GetConfig(uint32_t usart_id) +{ + struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id; + + bool valid = PIOS_USART_validate(usart_dev); + + if (!valid) { + return (NULL); + } + + return usart_dev->cfg; +} + /** * Changes the baud rate of the USART peripheral without re-initialising. * \param[in] usart_id USART name (GPS, TELEM, AUX) @@ -157,7 +220,7 @@ static void PIOS_USART_ChangeBaud(uint32_t usart_id, uint32_t baud) struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id; bool valid = PIOS_USART_validate(usart_dev); - PIOS_Assert(valid) + PIOS_Assert(valid); USART_InitTypeDef USART_InitStructure; @@ -337,12 +400,20 @@ static int32_t PIOS_USART_TxBufferPutMore(uint32_t usart_id, const uint8_t *buff return rc; } -void PIOS_USART_IRQ_Handler(uint32_t usart_id) +static void PIOS_USART_generic_irq_handler(uint32_t usart_id) { struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id; bool valid = PIOS_USART_validate(usart_dev); - PIOS_Assert(valid) + PIOS_Assert(valid); + + /* Call any user provided callback function instead of processing + * the interrupt ourselves. + */ + if (usart_dev->cfg->irq.handler) { + (usart_dev->cfg->irq.handler)(usart_id); + return; + } /* Force read of dr after sr to make sure to clear error flags */ volatile uint16_t sr = usart_dev->cfg->regs->SR; diff --git a/flight/PiOS/inc/pios_sbus_priv.h b/flight/PiOS/inc/pios_sbus_priv.h index a0a97a860..7b880a2c8 100644 --- a/flight/PiOS/inc/pios_sbus_priv.h +++ b/flight/PiOS/inc/pios_sbus_priv.h @@ -66,25 +66,20 @@ #define SBUS_NUMBER_OF_CHANNELS 8 /* - * S.Bus configuration includes USART and programmable invertor + * S.Bus configuration programmable invertor */ struct pios_sbus_cfg { - const struct pios_usart_cfg *pios_usart_sbus_cfg; + struct stm32_gpio inv; void (*gpio_clk_func)(uint32_t periph, FunctionalState state); uint32_t gpio_clk_periph; - GPIO_TypeDef* gpio_inv_port; - GPIO_InitTypeDef gpio_inv_init; BitAction gpio_inv_enable; }; extern void PIOS_SBUS_irq_handler(); -extern uint8_t pios_sbus_num_channels; -extern const struct pios_sbus_cfg pios_sbus_cfg; - extern const struct pios_rcvr_driver pios_sbus_rcvr_driver; -extern void PIOS_SBUS_Init(void); +extern void PIOS_SBUS_Init(const struct pios_sbus_cfg * cfg); #endif /* PIOS_SBUS_PRIV_H */ diff --git a/flight/PiOS/inc/pios_spektrum.h b/flight/PiOS/inc/pios_spektrum.h index 40a995cd1..765d2c8a5 100644 --- a/flight/PiOS/inc/pios_spektrum.h +++ b/flight/PiOS/inc/pios_spektrum.h @@ -34,8 +34,6 @@ /* Global Types */ /* Public Functions */ -extern uint8_t PIOS_SPEKTRUM_Bind(void); -extern int32_t PIOS_SPEKTRUM_Decode(uint8_t b); #endif /* PIOS_SPEKTRUM_H */ diff --git a/flight/PiOS/inc/pios_spektrum_priv.h b/flight/PiOS/inc/pios_spektrum_priv.h index b300cb212..083df8fd3 100644 --- a/flight/PiOS/inc/pios_spektrum_priv.h +++ b/flight/PiOS/inc/pios_spektrum_priv.h @@ -36,21 +36,15 @@ #include struct pios_spektrum_cfg { - const struct pios_usart_cfg * pios_usart_spektrum_cfg; - GPIO_InitTypeDef gpio_init; + struct stm32_gpio bind; uint32_t remap; /* GPIO_Remap_* */ - GPIO_TypeDef * port; - uint16_t pin; }; extern void PIOS_SPEKTRUM_irq_handler(); -extern uint8_t pios_spektrum_num_channels; -extern const struct pios_spektrum_cfg pios_spektrum_cfg; - extern const struct pios_rcvr_driver pios_spektrum_rcvr_driver; -extern void PIOS_SPEKTRUM_Init(void); +extern void PIOS_SPEKTRUM_Init(const struct pios_spektrum_cfg * cfg, bool bind); #endif /* PIOS_PWM_PRIV_H */ diff --git a/flight/PiOS/inc/pios_stm32.h b/flight/PiOS/inc/pios_stm32.h index 1433d460b..3ea6e1f95 100644 --- a/flight/PiOS/inc/pios_stm32.h +++ b/flight/PiOS/inc/pios_stm32.h @@ -32,7 +32,7 @@ #define PIOS_STM32_H struct stm32_irq { - void (*handler) (void); + void (*handler) (uint32_t); uint32_t flags; NVIC_InitTypeDef init; }; diff --git a/flight/PiOS/inc/pios_usart_priv.h b/flight/PiOS/inc/pios_usart_priv.h index 772e6f4d2..edca829aa 100644 --- a/flight/PiOS/inc/pios_usart_priv.h +++ b/flight/PiOS/inc/pios_usart_priv.h @@ -48,26 +48,8 @@ struct pios_usart_cfg { struct stm32_irq irq; }; -enum pios_usart_dev_magic { - PIOS_USART_DEV_MAGIC = 0x11223344, -}; - -struct pios_usart_dev { - enum pios_usart_dev_magic magic; - const struct pios_usart_cfg * cfg; - - // align to 32-bit to try and provide speed improvement; - uint8_t rx_buffer[PIOS_USART_RX_BUFFER_SIZE] __attribute__ ((aligned(4))); - t_fifo_buffer rx; - - // align to 32-bit to try and provide speed improvement; - uint8_t tx_buffer[PIOS_USART_TX_BUFFER_SIZE] __attribute__ ((aligned(4))); - t_fifo_buffer tx; -}; - extern int32_t PIOS_USART_Init(uint32_t * usart_id, const struct pios_usart_cfg * cfg); - -extern void PIOS_USART_IRQ_Handler(uint32_t usart_id); +extern const struct pios_usart_cfg * PIOS_USART_GetConfig(uint32_t usart_id); #endif /* PIOS_USART_PRIV_H */ diff --git a/flight/PipXtreme/pios_board.c b/flight/PipXtreme/pios_board.c index a0b85915a..5bbca2f9f 100644 --- a/flight/PipXtreme/pios_board.c +++ b/flight/PipXtreme/pios_board.c @@ -90,7 +90,7 @@ static const struct pios_spi_cfg pios_spi_port_cfg = .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { - .handler = PIOS_SPI_port_irq_handler, + .handler = NULL, .flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2), .init = { .NVIC_IRQChannel = DMA1_Channel2_IRQn, @@ -189,11 +189,11 @@ void PIOS_SPI_port_irq_handler(void) extern void PIOS_ADC_handler(void); void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler"))); // Remap the ADC DMA handler to this one -const struct pios_adc_cfg pios_adc_cfg = { +static const struct pios_adc_cfg pios_adc_cfg = { .dma = { .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { - .handler = PIOS_ADC_DMA_Handler, + .handler = NULL, .flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1), .init = { .NVIC_IRQChannel = DMA1_Channel1_IRQn, @@ -245,10 +245,7 @@ void PIOS_ADC_handler() { /* * SERIAL USART */ -void PIOS_USART_serial_irq_handler(void); -void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_serial_irq_handler"))); - -const struct pios_usart_cfg pios_usart_serial_cfg = +static const struct pios_usart_cfg pios_usart_serial_cfg = { .regs = USART1, .init = @@ -262,7 +259,7 @@ const struct pios_usart_cfg pios_usart_serial_cfg = }, .irq = { - .handler = PIOS_USART_serial_irq_handler, + .handler = NULL, .init = { .NVIC_IRQChannel = USART1_IRQn, @@ -293,12 +290,6 @@ const struct pios_usart_cfg pios_usart_serial_cfg = }, }; -static uint32_t pios_usart_serial_id; -void PIOS_USART_serial_irq_handler(void) -{ - PIOS_USART_IRQ_Handler(pios_usart_serial_id); -} - #endif /* PIOS_INCLUDE_USART */ // *********************************************************************************** @@ -334,6 +325,7 @@ void PIOS_Board_Init(void) { // Delay system PIOS_DELAY_Init(); + uint32_t pios_usart_serial_id; if (PIOS_USART_Init(&pios_usart_serial_id, &pios_usart_serial_cfg)) { PIOS_DEBUG_Assert(0); } From 9b9b5a1367d87f03567f176ec1cf3c1c56689f2e Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Tue, 5 Jul 2011 19:44:54 -0700 Subject: [PATCH 112/241] OP-423: remove ';' at the end of macro --- flight/Modules/AHRSComms/ahrs_comms.c | 2 +- flight/Modules/Actuator/actuator.c | 2 +- flight/Modules/Altitude/altitude.c | 2 +- flight/Modules/Attitude/attitude.c | 2 +- flight/Modules/Battery/battery.c | 2 +- flight/Modules/Example/example.c | 2 +- flight/Modules/FirmwareIAP/firmwareiap.c | 2 +- flight/Modules/FlightPlan/flightplan.c | 2 +- flight/Modules/GPS/GPS.c | 2 +- flight/Modules/Guidance/guidance.c | 2 +- flight/Modules/ManualControl/manualcontrol.c | 2 +- flight/Modules/Stabilization/stabilization.c | 2 +- flight/Modules/System/systemmod.c | 2 +- flight/Modules/Telemetry/telemetry.c | 2 +- flight/PiOS/inc/pios_initcall.h | 2 +- 15 files changed, 15 insertions(+), 15 deletions(-) diff --git a/flight/Modules/AHRSComms/ahrs_comms.c b/flight/Modules/AHRSComms/ahrs_comms.c index 18fe81642..69885270f 100644 --- a/flight/Modules/AHRSComms/ahrs_comms.c +++ b/flight/Modules/AHRSComms/ahrs_comms.c @@ -88,7 +88,7 @@ int32_t AHRSCommsInitialize(void) return 0; } -MODULE_INITCALL(AHRSCommsInitialize, 0, AHRSCommsStart, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(AHRSCommsInitialize, 0, AHRSCommsStart, 0, MODULE_EXEC_NOORDER_FLAG) /** * Module thread, should not return. diff --git a/flight/Modules/Actuator/actuator.c b/flight/Modules/Actuator/actuator.c index a203a1b74..94a17ccfa 100644 --- a/flight/Modules/Actuator/actuator.c +++ b/flight/Modules/Actuator/actuator.c @@ -116,7 +116,7 @@ int32_t ActuatorInitialize() return 0; } -MODULE_INITCALL(ActuatorInitialize, 0, ActuatorStart, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(ActuatorInitialize, 0, ActuatorStart, 0, MODULE_EXEC_NOORDER_FLAG) /** * @brief Main Actuator module task diff --git a/flight/Modules/Altitude/altitude.c b/flight/Modules/Altitude/altitude.c index b81c3e3c3..d7a026f1e 100644 --- a/flight/Modules/Altitude/altitude.c +++ b/flight/Modules/Altitude/altitude.c @@ -90,7 +90,7 @@ int32_t AltitudeInitialize() return 0; } -MODULE_INITCALL(AltitudeInitialize, 0, AltitudeStart, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(AltitudeInitialize, 0, AltitudeStart, 0, MODULE_EXEC_NOORDER_FLAG) /** * Module thread, should not return. */ diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c index c0bd9e204..cfede6483 100644 --- a/flight/Modules/Attitude/attitude.c +++ b/flight/Modules/Attitude/attitude.c @@ -131,7 +131,7 @@ int32_t AttitudeInitialize(void) return 0; } -MODULE_INITCALL(AttitudeInitialize, 0, AttitudeStart, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(AttitudeInitialize, 0, AttitudeStart, 0, MODULE_EXEC_NOORDER_FLAG) /** * Module thread, should not return. diff --git a/flight/Modules/Battery/battery.c b/flight/Modules/Battery/battery.c index 9d892c3a8..19112bd13 100644 --- a/flight/Modules/Battery/battery.c +++ b/flight/Modules/Battery/battery.c @@ -75,7 +75,7 @@ static void onTimer(UAVObjEvent* ev); * Initialise the module, called on startup * \returns 0 on success or -1 if initialisation failed */ -MODULE_INITCALL(BatteryInitialize, 0, 0, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(BatteryInitialize, 0, 0, 0, MODULE_EXEC_NOORDER_FLAG) int32_t BatteryInitialize(void) { static UAVObjEvent ev; diff --git a/flight/Modules/Example/example.c b/flight/Modules/Example/example.c index 3df8e912c..8b2761616 100644 --- a/flight/Modules/Example/example.c +++ b/flight/Modules/Example/example.c @@ -59,4 +59,4 @@ void ExampleInitialize(void) { ExampleModEventInitialize(); } -MODULE_INITCALL(ExampleInitialize, 0, ExampleStart, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(ExampleInitialize, 0, ExampleStart, 0, MODULE_EXEC_NOORDER_FLAG) diff --git a/flight/Modules/FirmwareIAP/firmwareiap.c b/flight/Modules/FirmwareIAP/firmwareiap.c index bcd8a7f71..bc3e4ad61 100644 --- a/flight/Modules/FirmwareIAP/firmwareiap.c +++ b/flight/Modules/FirmwareIAP/firmwareiap.c @@ -88,7 +88,7 @@ static void resetTask(UAVObjEvent *); * \note * */ -MODULE_INITCALL(FirmwareIAPInitialize, 0, 0, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(FirmwareIAPInitialize, 0, 0, 0, MODULE_EXEC_NOORDER_FLAG) int32_t FirmwareIAPInitialize() { const struct pios_board_info * bdinfo = &pios_board_info_blob; diff --git a/flight/Modules/FlightPlan/flightplan.c b/flight/Modules/FlightPlan/flightplan.c index 894399946..16f454f5d 100644 --- a/flight/Modules/FlightPlan/flightplan.c +++ b/flight/Modules/FlightPlan/flightplan.c @@ -86,7 +86,7 @@ int32_t FlightPlanInitialize() return 0; } -MODULE_INITCALL(FlightPlanInitialize, 0, FlightPlanStart, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(FlightPlanInitialize, 0, FlightPlanStart, 0, MODULE_EXEC_NOORDER_FLAG) /** * Module task */ diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c index 8fd4723aa..022731155 100644 --- a/flight/Modules/GPS/GPS.c +++ b/flight/Modules/GPS/GPS.c @@ -129,7 +129,7 @@ int32_t GPSInitialize(void) return 0; } -MODULE_INITCALL(GPSInitialize, 0, GPSStart, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(GPSInitialize, 0, GPSStart, 0, MODULE_EXEC_NOORDER_FLAG) // **************** /** diff --git a/flight/Modules/Guidance/guidance.c b/flight/Modules/Guidance/guidance.c index 488d192c2..cad7c3e50 100644 --- a/flight/Modules/Guidance/guidance.c +++ b/flight/Modules/Guidance/guidance.c @@ -105,7 +105,7 @@ int32_t GuidanceInitialize() return 0; } -MODULE_INITCALL(GuidanceInitialize, 0, GuidanceStart, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(GuidanceInitialize, 0, GuidanceStart, 0, MODULE_EXEC_NOORDER_FLAG) static float northVelIntegral = 0; static float eastVelIntegral = 0; diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c index b95b2a1e6..9ed1a0958 100644 --- a/flight/Modules/ManualControl/manualcontrol.c +++ b/flight/Modules/ManualControl/manualcontrol.c @@ -170,7 +170,7 @@ int32_t ManualControlInitialize() //ManualControlStart(); return 0; } -MODULE_INITCALL(ManualControlInitialize, 0, ManualControlStart, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(ManualControlInitialize, 0, ManualControlStart, 0, MODULE_EXEC_NOORDER_FLAG) /** * Module task diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c index dae2ac687..22427c9c8 100644 --- a/flight/Modules/Stabilization/stabilization.c +++ b/flight/Modules/Stabilization/stabilization.c @@ -121,7 +121,7 @@ int32_t StabilizationInitialize() return 0; } -MODULE_INITCALL(StabilizationInitialize, 0, StabilizationStart, 0, MODULE_EXEC_NOORDER_FLAG); +MODULE_INITCALL(StabilizationInitialize, 0, StabilizationStart, 0, MODULE_EXEC_NOORDER_FLAG) /** * Module task diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c index ce0d61444..2c3d9de48 100644 --- a/flight/Modules/System/systemmod.c +++ b/flight/Modules/System/systemmod.c @@ -111,7 +111,7 @@ int32_t SystemModInitialize(void) return 0; } -MODULE_INITCALL(SystemModInitialize, 0, 0, 0, MODULE_EXEC_FIRST_FLAG); +MODULE_INITCALL(SystemModInitialize, 0, 0, 0, MODULE_EXEC_FIRST_FLAG) /** * System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS */ diff --git a/flight/Modules/Telemetry/telemetry.c b/flight/Modules/Telemetry/telemetry.c index 9b738e4d8..c711a9151 100644 --- a/flight/Modules/Telemetry/telemetry.c +++ b/flight/Modules/Telemetry/telemetry.c @@ -143,7 +143,7 @@ int32_t TelemetryInitialize(void) return 0; } -MODULE_INITCALL(TelemetryInitialize, 0, TelemetryStart, 0, MODULE_EXEC_LAST_FLAG); +MODULE_INITCALL(TelemetryInitialize, 0, TelemetryStart, 0, MODULE_EXEC_LAST_FLAG) /** * Register a new object, adds object to local list and connects the queue depending on the object's diff --git a/flight/PiOS/inc/pios_initcall.h b/flight/PiOS/inc/pios_initcall.h index 06c8b2ec0..041a7c1d5 100644 --- a/flight/PiOS/inc/pios_initcall.h +++ b/flight/PiOS/inc/pios_initcall.h @@ -71,7 +71,7 @@ extern initmodule_t __module_initcall_start[], __module_initcall_end[]; #define __define_module_initcall(level,ifn,iparam,sfn,sparam, param) \ static initmodule_t __initcall_##fn __attribute__((__used__)) \ - __attribute__((__section__(".initcall" level ".init"))) = { .flag = param, .param_minit = iparam, .fn_minit = ifn, .param_tinit = sparam, .fn_tinit = sfn } + __attribute__((__section__(".initcall" level ".init"))) = { .flag = param, .param_minit = iparam, .fn_minit = ifn, .param_tinit = sparam, .fn_tinit = sfn }; #define UAVOBJ_INITCALL(fn) __define_initcall("uavobj",fn,1) #define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags) __define_module_initcall("module", ifn, iparam, sfn, sparam, flags) From 2d995dc2f7ea0d2b8490bb0af3b20568baa6a5fe Mon Sep 17 00:00:00 2001 From: James Cotton Date: Tue, 5 Jul 2011 22:23:59 -0500 Subject: [PATCH 113/241] OP-539: Don't call the gyro setting callback during init because it clears the gyro bias estimation. --- flight/Modules/Attitude/attitude.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c index 686c36d19..21af4207e 100644 --- a/flight/Modules/Attitude/attitude.c +++ b/flight/Modules/Attitude/attitude.c @@ -136,16 +136,16 @@ static void AttitudeTask(void *parameters) PIOS_FLASH_DISABLE; PIOS_ADXL345_Init(); - zero_during_arming = false; + // Force settings update to make sure rotation loaded + settingsUpdatedCb(AttitudeSettingsHandle()); + // Main task loop while (1) { FlightStatusData flightStatus; FlightStatusGet(&flightStatus); - if(xTaskGetTickCount() < 7000) { - // Force settings update to make sure rotation loaded - settingsUpdatedCb(AttitudeSettingsHandle()); + if((xTaskGetTickCount() < 7000) && (xTaskGetTickCount() > 1000)) { // For first 7 seconds use accels to get gyro bias accelKp = 1; accelKi = 0.9; From 36f28f8037a9e49d8f02313eaff6f49cd8c10e60 Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Tue, 5 Jul 2011 21:45:39 -0700 Subject: [PATCH 114/241] OP-423: Fixing heap2 (puting back bytes from the post heap stack (used during init) back into the free list). Tested this heap2 at runtime with CC and new compiler since old one (current) triggers strict alliasing error. That's ok since strict aliasing is disabled on OP, and CC only use heap1. --- .../Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c index aec6b41c6..c361a5aaf 100644 --- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c +++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c @@ -280,10 +280,15 @@ void vPortInitialiseBlocks( void ) void xPortIncreaseHeapSize( size_t bytes ) { + xBlockLink *pxNewBlockLink; vTaskSuspendAll(); currentTOTAL_HEAP_SISE = configTOTAL_HEAP_SIZE + bytes; xEnd.xBlockSize = currentTOTAL_HEAP_SISE; xFreeBytesRemaining += bytes; + /* Insert the new block into the list of free blocks. */ + pxNewBlockLink = ( void * ) &xHeap.ucHeap[ configTOTAL_HEAP_SIZE ]; + pxNewBlockLink->xBlockSize = bytes; + prvInsertBlockIntoFreeList( ( pxNewBlockLink ) ); xTaskResumeAll(); } /*-----------------------------------------------------------*/ From ea0c1817d6aa1310b5c5248d4b49d28472ac63c4 Mon Sep 17 00:00:00 2001 From: dankers Date: Wed, 6 Jul 2011 19:18:46 +1000 Subject: [PATCH 115/241] Add Werner's MoveCopter to Credits and Milestones files --- CREDITS.txt | 4 ++++ MILESTONES.txt | 5 +++++ 2 files changed, 9 insertions(+) diff --git a/CREDITS.txt b/CREDITS.txt index 671ad47e6..b6e6db727 100644 --- a/CREDITS.txt +++ b/CREDITS.txt @@ -27,6 +27,10 @@ N: Pedro Assuncao E: pedro (dot) agda (plus) openpilot (at) gmail (dot) com D: Initial GCS Settings Gadget work +N: Werner Backes +E: werner (at) bit-1 (dot) de +D: Port of CopterControl to PS3 Move Controller (MoveCopter) + N: Jose Barros E: josembarros (at) hotmail (dot) com D: Next-Gen OP Map Lib, Y-Modem Library, Uploader Plugin diff --git a/MILESTONES.txt b/MILESTONES.txt index 9888bbdb1..27715f8fb 100644 --- a/MILESTONES.txt +++ b/MILESTONES.txt @@ -122,6 +122,11 @@ C: Michel Pet D: June 2011 V: http://www.youtube.com/watch?v=QsE2MQELPZY +M: MoveControl first flight +C: Werner Backes +D: July 2011 +V: http://vimeo.com/25983655 + M: First Altitude Hold using Sonar C: D: From f972933cd5ded5f2082d7ec409d10d5bca0788fd Mon Sep 17 00:00:00 2001 From: dankers Date: Wed, 6 Jul 2011 19:20:20 +1000 Subject: [PATCH 116/241] Chnage grammar to match the other entries --- MILESTONES.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/MILESTONES.txt b/MILESTONES.txt index 27715f8fb..65d8c7fbe 100644 --- a/MILESTONES.txt +++ b/MILESTONES.txt @@ -122,7 +122,7 @@ C: Michel Pet D: June 2011 V: http://www.youtube.com/watch?v=QsE2MQELPZY -M: MoveControl first flight +M: First MoveControl flight C: Werner Backes D: July 2011 V: http://vimeo.com/25983655 From e82539c654b178762c7e312db583893c9bbe594d Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Wed, 6 Jul 2011 22:34:59 -0400 Subject: [PATCH 117/241] bootcfg: additional validation during board init --- flight/CopterControl/System/pios_board.c | 14 +++++------ flight/OpenPilot/System/pios_board.c | 30 ++++++++++++------------ 2 files changed, 22 insertions(+), 22 deletions(-) diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index 3db2fda47..cec30ae93 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -869,7 +869,7 @@ void PIOS_Board_Init(void) { /* Set up the SPI interface to the serial flash */ if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg)) { - PIOS_DEBUG_Assert(0); + PIOS_Assert(0); } PIOS_Flash_W25X_Init(pios_spi_flash_accel_id); @@ -1022,13 +1022,13 @@ void PIOS_Board_Init(void) { case MANUALCONTROLSETTINGS_INPUTMODE_PWM: #if defined(PIOS_INCLUDE_PWM) PIOS_PWM_Init(); - for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) { + for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS && i < pios_rcvr_max_channel; i++) { if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], &pios_pwm_rcvr_driver, i)) { pios_rcvr_max_channel++; } else { - PIOS_DEBUG_Assert(0); + PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_PWM */ @@ -1036,13 +1036,13 @@ void PIOS_Board_Init(void) { case MANUALCONTROLSETTINGS_INPUTMODE_PPM: #if defined(PIOS_INCLUDE_PPM) PIOS_PPM_Init(); - for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS; i++) { + for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS && i < pios_rcvr_max_channel; i++) { if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], &pios_ppm_rcvr_driver, i)) { pios_rcvr_max_channel++; } else { - PIOS_DEBUG_Assert(0); + PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_PPM */ @@ -1051,7 +1051,7 @@ void PIOS_Board_Init(void) { #if defined(PIOS_INCLUDE_SPEKTRUM) if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM || hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM) { - for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) { + for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS && i < pios_rcvr_max_channel; i++) { if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], &pios_spektrum_rcvr_driver, i)) { @@ -1094,7 +1094,7 @@ void PIOS_Board_Init(void) { PIOS_USB_HID_Init(0); #if defined(PIOS_INCLUDE_COM) if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) { - PIOS_DEBUG_Assert(0); + PIOS_Assert(0); } #endif /* PIOS_INCLUDE_COM */ #endif /* PIOS_INCLUDE_USB_HID */ diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c index c9d800eb9..0aa5b8f5c 100644 --- a/flight/OpenPilot/System/pios_board.c +++ b/flight/OpenPilot/System/pios_board.c @@ -1024,7 +1024,7 @@ void PIOS_Board_Init(void) { #if defined(PIOS_INCLUDE_SPI) /* Set up the SPI interface to the SD card */ if (PIOS_SPI_Init(&pios_spi_sdcard_id, &pios_spi_sdcard_cfg)) { - PIOS_DEBUG_Assert(0); + PIOS_Assert(0); } /* Enable and mount the SDCard */ @@ -1053,7 +1053,7 @@ void PIOS_Board_Init(void) { /* Set up the SPI interface to the AHRS */ if (PIOS_SPI_Init(&pios_spi_ahrs_id, &pios_spi_ahrs_cfg)) { - PIOS_DEBUG_Assert(0); + PIOS_Assert(0); } /* Bind the AHRS comms layer to the AHRS SPI link */ @@ -1064,20 +1064,20 @@ void PIOS_Board_Init(void) { #if defined(PIOS_INCLUDE_TELEMETRY_RF) uint32_t pios_usart_telem_rf_id; if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) { - PIOS_DEBUG_Assert(0); + PIOS_Assert(0); } if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) { - PIOS_DEBUG_Assert(0); + PIOS_Assert(0); } #endif /* PIOS_INCLUDE_TELEMETRY_RF */ #if defined(PIOS_INCLUDE_GPS) uint32_t pios_usart_gps_id; if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) { - PIOS_DEBUG_Assert(0); + PIOS_Assert(0); } if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) { - PIOS_DEBUG_Assert(0); + PIOS_Assert(0); } #endif /* PIOS_INCLUDE_GPS */ #endif @@ -1095,15 +1095,15 @@ void PIOS_Board_Init(void) { uint32_t pios_usart_spektrum_id; if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) { - PIOS_DEBUG_Assert(0); + PIOS_Assert(0); } - for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) { + for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS && i < pios_rcvr_max_channel; i++) { if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], &pios_spektrum_rcvr_driver, i)) { pios_rcvr_max_channel++; } else { - PIOS_DEBUG_Assert(0); + PIOS_Assert(0); } } #endif @@ -1113,13 +1113,13 @@ void PIOS_Board_Init(void) { #error More receiver inputs than available devices #endif PIOS_PWM_Init(); - for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) { + for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS && i < pios_rcvr_max_channel; i++) { if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], &pios_pwm_rcvr_driver, i)) { pios_rcvr_max_channel++; } else { - PIOS_DEBUG_Assert(0); + PIOS_Assert(0); } } #endif @@ -1128,13 +1128,13 @@ void PIOS_Board_Init(void) { #error More receiver inputs than available devices #endif PIOS_PPM_Init(); - for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS; i++) { + for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS && i < pios_rcvr_max_channel; i++) { if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], &pios_ppm_rcvr_driver, i)) { pios_rcvr_max_channel++; } else { - PIOS_DEBUG_Assert(0); + PIOS_Assert(0); } } #endif @@ -1142,14 +1142,14 @@ void PIOS_Board_Init(void) { PIOS_USB_HID_Init(0); #if defined(PIOS_INCLUDE_COM) if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) { - PIOS_DEBUG_Assert(0); + PIOS_Assert(0); } #endif /* PIOS_INCLUDE_COM */ #endif /* PIOS_INCLUDE_USB_HID */ #if defined(PIOS_INCLUDE_I2C) if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) { - PIOS_DEBUG_Assert(0); + PIOS_Assert(0); } #endif /* PIOS_INCLUDE_I2C */ PIOS_IAP_Init(); From bf39ab7a2295fd2343888ebcac14916e5cc703e5 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Wed, 6 Jul 2011 22:36:15 -0400 Subject: [PATCH 118/241] remove left-over comment about compile time configs No functional changes. --- flight/CopterControl/Makefile | 3 --- 1 file changed, 3 deletions(-) diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index 91c78ccc6..6d50c2625 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -383,9 +383,6 @@ ifeq ($(ERASE_FLASH), YES) CDEFS += -DERASE_FLASH endif -# USART port functions. NO means do not use this function. -# YES means use with default USART port number (hardware-dependent). -# Number means use with specified USART port number (this value). ifneq ($(USE_GPS), NO) CDEFS += -DUSE_GPS endif From d9aac892a936c7f6c895007509101aecc9229d51 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Wed, 6 Jul 2011 22:37:17 -0400 Subject: [PATCH 119/241] hwsettings: Cosmetic change of SBUS to S.Bus in UAVObject --- shared/uavobjectdefinition/hwsettings.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/shared/uavobjectdefinition/hwsettings.xml b/shared/uavobjectdefinition/hwsettings.xml index 7242c174c..a3494f820 100644 --- a/shared/uavobjectdefinition/hwsettings.xml +++ b/shared/uavobjectdefinition/hwsettings.xml @@ -2,7 +2,7 @@ Selection of optional hardware configurations. - + From a8787ee0158e21164f124d21fcc45d7b051d2afc Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Wed, 6 Jul 2011 22:38:23 -0400 Subject: [PATCH 120/241] bootcfg: Add support for selecting S.Bus receivers in inputtype --- flight/CopterControl/System/pios_board.c | 7 ++----- shared/uavobjectdefinition/manualcontrolsettings.xml | 2 +- 2 files changed, 3 insertions(+), 6 deletions(-) diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index cec30ae93..ceaf044bc 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -1063,12 +1063,10 @@ void PIOS_Board_Init(void) { } #endif /* PIOS_INCLUDE_SPEKTRUM */ break; -#if THIS_IS_NOT_YET_A_VALID_INPUT_MODE case MANUALCONTROLSETTINGS_INPUTMODE_SBUS: #if defined(PIOS_INCLUDE_SBUS) - if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SBUS || - hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SBUS) { - for (uint8_t i = 0; i < PIOS_SBUS_NUM_INPUTS; i++) { + if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SBUS) { + for (uint8_t i = 0; i < SBUS_NUMBER_OF_CHANNELS && i < pios_rcvr_max_channel; i++) { if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], &pios_sbus_rcvr_driver, i)) { @@ -1080,7 +1078,6 @@ void PIOS_Board_Init(void) { } #endif /* PIOS_INCLUDE_SBUS */ break; -#endif /* THIS_IS_NOT_YET_A_VALID_INPUT_MODE */ } /* Remap AFIO pin */ diff --git a/shared/uavobjectdefinition/manualcontrolsettings.xml b/shared/uavobjectdefinition/manualcontrolsettings.xml index 95423a3f5..d806f806f 100644 --- a/shared/uavobjectdefinition/manualcontrolsettings.xml +++ b/shared/uavobjectdefinition/manualcontrolsettings.xml @@ -1,7 +1,7 @@ Settings to indicate how to decode receiver input by @ref ManualControlModule. - + From 226f095a2eef6b68c11d250d1729c0fe6cc3b9af Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Wed, 6 Jul 2011 23:03:54 -0400 Subject: [PATCH 121/241] bootcfg: remove baudrate #defines for USARTs The initial baud rates of each interface are now forced in the board init code. Any modules using USARTs should have fields added to their settings object to allow the user to change the baud rate from the default by using the COM layer APIs. Developers requiring custom baud rates before the settings objects are in place should locally edit the cfg structs to specify the desired baud rates. --- flight/AHRS/pios_board.c | 6 +--- flight/CopterControl/System/pios_board.c | 42 ++++-------------------- flight/INS/pios_board.c | 8 ----- flight/OpenPilot/System/pios_board.c | 23 ++----------- flight/PiOS/Boards/STM32103CB_AHRS.h | 1 - flight/PiOS/Boards/STM32103CB_CC_Rev1.h | 4 --- flight/PiOS/Boards/STM3210E_INS.h | 2 -- flight/PiOS/Boards/STM3210E_OP.h | 5 --- 8 files changed, 11 insertions(+), 80 deletions(-) diff --git a/flight/AHRS/pios_board.c b/flight/AHRS/pios_board.c index 15c5999c0..2e5fd4430 100644 --- a/flight/AHRS/pios_board.c +++ b/flight/AHRS/pios_board.c @@ -208,11 +208,7 @@ void PIOS_ADC_handler() { static const struct pios_usart_cfg pios_usart_aux_cfg = { .regs = USART3, .init = { -#if defined (PIOS_USART_BAUDRATE) - .USART_BaudRate = PIOS_USART_BAUDRATE, -#else - .USART_BaudRate = 57600, -#endif + .USART_BaudRate = 230400, .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, .USART_StopBits = USART_StopBits_1, diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index ceaf044bc..62eb6b3a0 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -208,11 +208,7 @@ void PIOS_ADC_handler() { static const struct pios_usart_cfg pios_usart_telem_main_cfg = { .regs = USART1, .init = { - #if defined (PIOS_COM_TELEM_BAUDRATE) - .USART_BaudRate = PIOS_COM_TELEM_BAUDRATE, - #else - .USART_BaudRate = 57600, - #endif + .USART_BaudRate = 57600, .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, .USART_StopBits = USART_StopBits_1, @@ -249,11 +245,7 @@ static const struct pios_usart_cfg pios_usart_telem_main_cfg = { static const struct pios_usart_cfg pios_usart_telem_flexi_cfg = { .regs = USART3, .init = { - #if defined (PIOS_COM_TELEM_BAUDRATE) - .USART_BaudRate = PIOS_COM_TELEM_BAUDRATE, - #else - .USART_BaudRate = 57600, - #endif + .USART_BaudRate = 57600, .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, .USART_StopBits = USART_StopBits_1, @@ -295,11 +287,7 @@ static const struct pios_usart_cfg pios_usart_telem_flexi_cfg = { static const struct pios_usart_cfg pios_usart_gps_main_cfg = { .regs = USART1, .init = { - #if defined (PIOS_COM_GPS_BAUDRATE) - .USART_BaudRate = PIOS_COM_GPS_BAUDRATE, - #else - .USART_BaudRate = 57600, - #endif + .USART_BaudRate = 57600, .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, .USART_StopBits = USART_StopBits_1, @@ -336,11 +324,7 @@ static const struct pios_usart_cfg pios_usart_gps_main_cfg = { static const struct pios_usart_cfg pios_usart_gps_flexi_cfg = { .regs = USART3, .init = { - #if defined (PIOS_COM_GPS_BAUDRATE) - .USART_BaudRate = PIOS_COM_GPS_BAUDRATE, - #else - .USART_BaudRate = 57600, - #endif + .USART_BaudRate = 57600, .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, .USART_StopBits = USART_StopBits_1, @@ -384,11 +368,7 @@ static const struct pios_usart_cfg pios_usart_gps_flexi_cfg = { static const struct pios_usart_cfg pios_usart_spektrum_main_cfg = { .regs = USART1, .init = { - #if defined (PIOS_COM_SPEKTRUM_BAUDRATE) - .USART_BaudRate = PIOS_COM_SPEKTRUM_BAUDRATE, - #else - .USART_BaudRate = 115200, - #endif + .USART_BaudRate = 115200, .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, .USART_StopBits = USART_StopBits_1, @@ -437,11 +417,7 @@ static const struct pios_spektrum_cfg pios_spektrum_main_cfg = { static const struct pios_usart_cfg pios_usart_spektrum_flexi_cfg = { .regs = USART3, .init = { - #if defined (PIOS_COM_SPEKTRUM_BAUDRATE) - .USART_BaudRate = PIOS_COM_SPEKTRUM_BAUDRATE, - #else - .USART_BaudRate = 115200, - #endif + .USART_BaudRate = 115200, .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, .USART_StopBits = USART_StopBits_1, @@ -498,11 +474,7 @@ static const struct pios_spektrum_cfg pios_spektrum_flexi_cfg = { static const struct pios_usart_cfg pios_usart_sbus_main_cfg = { .regs = USART1, .init = { - #if defined (PIOS_COM_SBUS_BAUDRATE) - .USART_BaudRate = PIOS_COM_SBUS_BAUDRATE, - #else - .USART_BaudRate = 100000, - #endif + .USART_BaudRate = 100000, .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_Even, .USART_StopBits = USART_StopBits_2, diff --git a/flight/INS/pios_board.c b/flight/INS/pios_board.c index 7010b7f00..239aa258b 100644 --- a/flight/INS/pios_board.c +++ b/flight/INS/pios_board.c @@ -268,11 +268,7 @@ void PIOS_SPI_accel_irq_handler(void) static const struct pios_usart_cfg pios_usart_gps_cfg = { .regs = USART1, .init = { -#if defined (PIOS_USART_BAUDRATE) - .USART_BaudRate = PIOS_USART_BAUDRATE, -#else .USART_BaudRate = 57600, -#endif .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, .USART_StopBits = USART_StopBits_1, @@ -316,11 +312,7 @@ static const struct pios_usart_cfg pios_usart_gps_cfg = { static const struct pios_usart_cfg pios_usart_aux_cfg = { .regs = USART4, .init = { -#if defined (PIOS_USART_BAUDRATE) - .USART_BaudRate = PIOS_USART_BAUDRATE, -#else .USART_BaudRate = 57600, -#endif .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, .USART_StopBits = USART_StopBits_1, diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c index 0aa5b8f5c..516797e5b 100644 --- a/flight/OpenPilot/System/pios_board.c +++ b/flight/OpenPilot/System/pios_board.c @@ -313,11 +313,7 @@ void PIOS_ADC_handler() { static const struct pios_usart_cfg pios_usart_telem_cfg = { .regs = USART2, .init = { - #if defined (PIOS_COM_TELEM_BAUDRATE) - .USART_BaudRate = PIOS_COM_TELEM_BAUDRATE, - #else - .USART_BaudRate = 57600, - #endif + .USART_BaudRate = 57600, .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, .USART_StopBits = USART_StopBits_1, @@ -358,11 +354,7 @@ static const struct pios_usart_cfg pios_usart_gps_cfg = { .regs = USART3, .remap = GPIO_PartialRemap_USART3, .init = { - #if defined (PIOS_COM_GPS_BAUDRATE) - .USART_BaudRate = PIOS_COM_GPS_BAUDRATE, - #else - .USART_BaudRate = 57600, - #endif + .USART_BaudRate = 57600, .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, .USART_StopBits = USART_StopBits_1, @@ -403,11 +395,6 @@ static const struct pios_usart_cfg pios_usart_gps_cfg = { static const struct pios_usart_cfg pios_usart_aux_cfg = { .regs = USART1, .init = { - #if defined (PIOS_COM_AUX_BAUDRATE) - .USART_BaudRate = PIOS_COM_AUX_BAUDRATE, - #else - .USART_BaudRate = 57600, - #endif .USART_BaudRate = 57600, .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, @@ -482,11 +469,7 @@ void PIOS_RTC_IRQ_Handler (void) static const struct pios_usart_cfg pios_usart_spektrum_cfg = { .regs = USART1, .init = { - #if defined (PIOS_COM_SPEKTRUM_BAUDRATE) - .USART_BaudRate = PIOS_COM_SPEKTRUM_BAUDRATE, - #else - .USART_BaudRate = 115200, - #endif + .USART_BaudRate = 115200, .USART_WordLength = USART_WordLength_8b, .USART_Parity = USART_Parity_No, .USART_StopBits = USART_StopBits_1, diff --git a/flight/PiOS/Boards/STM32103CB_AHRS.h b/flight/PiOS/Boards/STM32103CB_AHRS.h index b407c0f42..611d285fc 100644 --- a/flight/PiOS/Boards/STM32103CB_AHRS.h +++ b/flight/PiOS/Boards/STM32103CB_AHRS.h @@ -120,7 +120,6 @@ extern uint32_t pios_i2c_main_adapter_id; #define PIOS_USART_MAX_DEVS 2 #define PIOS_USART_RX_BUFFER_SIZE 256 #define PIOS_USART_TX_BUFFER_SIZE 256 -#define PIOS_USART_BAUDRATE 230400 //------------------------- // PIOS_COM diff --git a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h index b83114e8a..5929bf536 100644 --- a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h +++ b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h @@ -141,13 +141,11 @@ extern uint32_t pios_i2c_main_adapter_id; //------------------------- #define PIOS_COM_MAX_DEVS 4 -#define PIOS_COM_TELEM_BAUDRATE 57600 extern uint32_t pios_com_telem_rf_id; #define PIOS_COM_TELEM_RF (pios_com_telem_rf_id) #define PIOS_COM_DEBUG PIOS_COM_TELEM_RF #if defined(PIOS_INCLUDE_GPS) -#define PIOS_COM_GPS_BAUDRATE 57600 extern uint32_t pios_com_gps_id; #define PIOS_COM_GPS (pios_com_gps_id) #endif /* PIOS_INCLUDE_GPS */ @@ -156,13 +154,11 @@ extern uint32_t pios_com_telem_usb_id; #define PIOS_COM_TELEM_USB (pios_com_telem_usb_id) #ifdef PIOS_INCLUDE_SPEKTRUM -#define PIOS_COM_SPEKTRUM_BAUDRATE 115200 extern uint32_t pios_com_spektrum_id; #define PIOS_COM_SPEKTRUM (pios_com_spektrum_id) #endif #ifdef PIOS_INCLUDE_SBUS -#define PIOS_COM_SBUS_BAUDRATE 100000 extern uint32_t pios_com_sbus_id; #define PIOS_COM_SBUS (pios_com_sbus_id) #endif diff --git a/flight/PiOS/Boards/STM3210E_INS.h b/flight/PiOS/Boards/STM3210E_INS.h index d0c988b21..505db9bb6 100644 --- a/flight/PiOS/Boards/STM3210E_INS.h +++ b/flight/PiOS/Boards/STM3210E_INS.h @@ -135,12 +135,10 @@ extern uint32_t pios_i2c_gyro_adapter_id; //------------------------- #define PIOS_COM_MAX_DEVS 2 -#define PIOS_COM_GPS_BAUDRATE 57600 extern uint32_t pios_com_gps_id; #define PIOS_COM_GPS (pios_com_gps_id) #ifdef PIOS_ENABLE_AUX_UART -#define PIOS_COM_AUX_BAUDRATE 57600 extern uint32_t pios_com_aux_id; #define PIOS_COM_AUX (pios_com_aux_id) #define PIOS_COM_DEBUG PIOS_COM_AUX diff --git a/flight/PiOS/Boards/STM3210E_OP.h b/flight/PiOS/Boards/STM3210E_OP.h index dc598cf4b..823f83a6e 100644 --- a/flight/PiOS/Boards/STM3210E_OP.h +++ b/flight/PiOS/Boards/STM3210E_OP.h @@ -149,11 +149,9 @@ extern uint32_t pios_i2c_main_adapter_id; //------------------------- #define PIOS_COM_MAX_DEVS 4 -#define PIOS_COM_TELEM_BAUDRATE 57600 extern uint32_t pios_com_telem_rf_id; #define PIOS_COM_TELEM_RF (pios_com_telem_rf_id) -#define PIOS_COM_GPS_BAUDRATE 57600 extern uint32_t pios_com_gps_id; #define PIOS_COM_GPS (pios_com_gps_id) @@ -161,20 +159,17 @@ extern uint32_t pios_com_telem_usb_id; #define PIOS_COM_TELEM_USB (pios_com_telem_usb_id) #ifdef PIOS_ENABLE_AUX_UART -#define PIOS_COM_AUX_BAUDRATE 57600 extern uint32_t pios_com_aux_id; #define PIOS_COM_AUX (pios_com_aux_id) #define PIOS_COM_DEBUG PIOS_COM_AUX #endif #ifdef PIOS_INCLUDE_SPEKTRUM -#define PIOS_COM_SPEKTRUM_BAUDRATE 115200 extern uint32_t pios_com_spektrum_id; #define PIOS_COM_SPEKTRUM (pios_com_spektrum_id) #endif #ifdef PIOS_INCLUDE_SBUS -#define PIOS_COM_SBUS_BAUDRATE 100000 extern uint32_t pios_com_sbus_id; #define PIOS_COM_SBUS (pios_com_sbus_id) #endif From 1f004ee89681753ccc522da078f0eaddcc7ad385 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Thu, 7 Jul 2011 22:27:57 -0400 Subject: [PATCH 122/241] ppm: port PPM driver onto new CC driver layers This is a port of a work-in-progress by Sambas onto the new driver infrastructure needed for boot-time configuration. PPM and PWM still don't coexist in a build but this is closer. --- flight/CopterControl/System/pios_board.c | 48 +++++++- flight/PiOS/STM32F10x/pios_ppm.c | 142 +++++++++-------------- flight/PiOS/inc/pios_ppm_priv.h | 9 -- 3 files changed, 99 insertions(+), 100 deletions(-) diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index 62eb6b3a0..92f64a36d 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -632,18 +632,64 @@ const struct pios_servo_cfg pios_servo_cfg = { .num_channels = NELEMENTS(pios_servo_channels), }; +#if defined(PIOS_INCLUDE_PWM) && defined(PIOS_INCLUDE_PPM) +#error Cannot define both PIOS_INCLUDE_PWM and PIOS_INCLUDE_PPM at the same time (yet) +#endif + /* * PPM Inputs */ #if defined(PIOS_INCLUDE_PPM) #include -#endif + +void TIM4_IRQHandler(); +void TIM4_IRQHandler() __attribute__ ((alias ("PIOS_TIM4_irq_handler"))); +const struct pios_ppm_cfg pios_ppm_cfg = { + .tim_base_init = { + .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */ + .TIM_ClockDivision = TIM_CKD_DIV1, + .TIM_CounterMode = TIM_CounterMode_Up, + .TIM_Period = 0xFFFF, /* shared timer, make sure init correctly in outputs */ + .TIM_RepetitionCounter = 0x0000, + }, + .tim_ic_init = { + .TIM_Channel = TIM_Channel_1, + .TIM_ICPolarity = TIM_ICPolarity_Rising, + .TIM_ICSelection = TIM_ICSelection_DirectTI, + .TIM_ICPrescaler = TIM_ICPSC_DIV1, + .TIM_ICFilter = 0x0, + }, + .gpio_init = { + .GPIO_Pin = GPIO_Pin_6, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + .remap = 0, + .irq = { + .handler = TIM4_IRQHandler, + .init = { + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .timer = TIM4, + .port = GPIOB, + .ccr = TIM_IT_CC1, +}; + +void PIOS_TIM4_irq_handler() +{ + PIOS_PPM_irq_handler(); +} +#endif /* PIOS_INCLUDE_PPM */ /* * PWM Inputs */ #if defined(PIOS_INCLUDE_PWM) #include + static const struct pios_pwm_channel pios_pwm_channels[] = { { .timer = TIM4, diff --git a/flight/PiOS/STM32F10x/pios_ppm.c b/flight/PiOS/STM32F10x/pios_ppm.c index b9f087812..3805bd7d1 100644 --- a/flight/PiOS/STM32F10x/pios_ppm.c +++ b/flight/PiOS/STM32F10x/pios_ppm.c @@ -48,14 +48,15 @@ static uint32_t PreviousValue; static uint32_t CurrentValue; static uint32_t CapturedValue; static uint32_t CaptureValue[PIOS_PPM_NUM_INPUTS]; - -static uint8_t SupervisorState = 0; static uint32_t CapCounter[PIOS_PPM_NUM_INPUTS]; +static uint16_t TimerCounter; + +static uint8_t supv_timer = 0; +static uint8_t SupervisorState = 0; static uint32_t CapCounterPrev[PIOS_PPM_NUM_INPUTS]; -/** -* Initialises all the LED's -*/ +static void PIOS_PPM_Supervisor(uint32_t ppm_id); + void PIOS_PPM_Init(void) { /* Flush counter variables */ @@ -65,6 +66,7 @@ void PIOS_PPM_Init(void) PreviousValue = 0; CurrentValue = 0; CapturedValue = 0; + TimerCounter = 0; for (i = 0; i < PIOS_PPM_NUM_INPUTS; i++) { CaptureValue[i] = 0; @@ -127,13 +129,12 @@ void PIOS_PPM_Init(void) TIM_TimeBaseInit(pios_ppm_cfg.timer, &TIM_TimeBaseStructure); /* Enable the Capture Compare Interrupt Request */ - TIM_ITConfig(pios_ppm_cfg.timer, pios_ppm_cfg.ccr, ENABLE); + TIM_ITConfig(pios_ppm_cfg.timer, pios_ppm_cfg.ccr | TIM_IT_Update, ENABLE); /* Enable timers */ TIM_Cmd(pios_ppm_cfg.timer, ENABLE); /* Supervisor Setup */ -#if (PIOS_PPM_SUPV_ENABLED) /* Flush counter variables */ for (i = 0; i < PIOS_PPM_NUM_INPUTS; i++) { CapCounter[i] = 0; @@ -142,70 +143,15 @@ void PIOS_PPM_Init(void) CapCounterPrev[i] = 0; } - NVIC_InitStructure = pios_ppmsv_cfg.irq.init; - - /* Enable appropriate clock to timer module */ - switch((int32_t) pios_ppmsv_cfg.timer) { - case (int32_t)TIM1: - NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn; - RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); - break; - case (int32_t)TIM2: - NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); - break; - case (int32_t)TIM3: - NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); - break; - case (int32_t)TIM4: - NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); - break; -#ifdef STM32F10X_HD - - case (int32_t)TIM5: - NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE); - break; - case (int32_t)TIM6: - NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); - break; - case (int32_t)TIM7: - NVIC_InitStructure.NVIC_IRQChannel = TIM7_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE); - break; - case (int32_t)TIM8: - NVIC_InitStructure.NVIC_IRQChannel = TIM8_CC_IRQn; - RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE); - break; -#endif - } - - /* Configure interrupts */ - NVIC_Init(&NVIC_InitStructure); - - /* Time base configuration */ - TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); - TIM_TimeBaseStructure = pios_ppmsv_cfg.tim_base_init; - TIM_TimeBaseInit(pios_ppmsv_cfg.timer, &TIM_TimeBaseStructure); - - /* Enable the CCx Interrupt Request */ - TIM_ITConfig(pios_ppmsv_cfg.timer, pios_ppmsv_cfg.ccr, ENABLE); - - /* Clear update pending flag */ - TIM_ClearFlag(pios_ppmsv_cfg.timer, TIM_FLAG_Update); - - /* Enable counter */ - TIM_Cmd(pios_ppmsv_cfg.timer, ENABLE); -#endif - /* Setup local variable which stays in this scope */ /* Doing this here and using a local variable saves doing it in the ISR */ TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; TIM_ICInitStructure.TIM_ICFilter = 0x0; + + if (!PIOS_RTC_RegisterTickCallback(PIOS_PPM_Supervisor, 0)) { + PIOS_DEBUG_Assert(0); + } } /** @@ -230,6 +176,15 @@ static int32_t PIOS_PPM_Get(uint32_t chan_id) */ void PIOS_PPM_irq_handler(void) { + if (TIM_GetITStatus(pios_ppm_cfg.timer, TIM_IT_Update) == SET) { + TimerCounter+=pios_ppm_cfg.timer->ARR; + TIM_ClearITPendingBit(pios_ppm_cfg.timer, TIM_IT_Update); + if (TIM_GetITStatus(pios_ppm_cfg.timer, pios_ppm_cfg.ccr) != SET) { + return; + } + } + + /* Do this as it's more efficient */ if (TIM_GetITStatus(pios_ppm_cfg.timer, pios_ppm_cfg.ccr) == SET) { PreviousValue = CurrentValue; @@ -247,37 +202,44 @@ void PIOS_PPM_irq_handler(void) CurrentValue = TIM_GetCapture4(pios_ppm_cfg.timer); break; } - } + CurrentValue+=TimerCounter; + if(CurrentValue > 0xFFFF) { + CurrentValue-=0xFFFF; + } - /* Clear TIMx Capture compare interrupt pending bit */ - TIM_ClearITPendingBit(pios_ppm_cfg.timer, pios_ppm_cfg.ccr); + /* Clear TIMx Capture compare interrupt pending bit */ + TIM_ClearITPendingBit(pios_ppm_cfg.timer, pios_ppm_cfg.ccr); - /* Capture computation */ - if (CurrentValue > PreviousValue) { - CapturedValue = (CurrentValue - PreviousValue); - } else { - CapturedValue = ((0xFFFF - PreviousValue) + CurrentValue); - } + /* Capture computation */ + if (CurrentValue > PreviousValue) { + CapturedValue = (CurrentValue - PreviousValue); + } else { + CapturedValue = ((0xFFFF - PreviousValue) + CurrentValue); + } - /* sync pulse */ - if (CapturedValue > 8000) { - PulseIndex = 0; - /* trying to detect bad pulses, not sure this is working correctly yet. I need a scope :P */ - } else if (CapturedValue > 750 && CapturedValue < 2500) { - if (PulseIndex < PIOS_PPM_NUM_INPUTS) { - CaptureValue[PulseIndex] = CapturedValue; - CapCounter[PulseIndex]++; - PulseIndex++; + /* sync pulse */ + if (CapturedValue > 8000) { + PulseIndex = 0; + /* trying to detect bad pulses, not sure this is working correctly yet. I need a scope :P */ + } else if (CapturedValue > 750 && CapturedValue < 2500) { + if (PulseIndex < PIOS_PPM_NUM_INPUTS) { + CaptureValue[PulseIndex] = CapturedValue; + CapCounter[PulseIndex]++; + PulseIndex++; + } } } } -/** -* This function handles TIM3 global interrupt request. -*/ -void PIOS_PPMSV_irq_handler(void) { - /* Clear timer interrupt pending bit */ - TIM_ClearITPendingBit(pios_ppmsv_cfg.timer, pios_ppmsv_cfg.ccr); +static void PIOS_PPM_Supervisor(uint32_t ppm_id) { + /* + * RTC runs at 625Hz so divide down the base rate so + * that this loop runs at 25Hz. + */ + if(++supv_timer < 25) { + return; + } + supv_timer = 0; /* Simple state machine */ if (SupervisorState == 0) { diff --git a/flight/PiOS/inc/pios_ppm_priv.h b/flight/PiOS/inc/pios_ppm_priv.h index cd4ca40a6..fd863fc50 100644 --- a/flight/PiOS/inc/pios_ppm_priv.h +++ b/flight/PiOS/inc/pios_ppm_priv.h @@ -34,13 +34,6 @@ #include #include -struct pios_ppmsv_cfg { - TIM_TimeBaseInitTypeDef tim_base_init; - struct stm32_irq irq; - TIM_TypeDef * timer; - uint16_t ccr; -}; - struct pios_ppm_cfg { TIM_TimeBaseInitTypeDef tim_base_init; TIM_ICInitTypeDef tim_ic_init; @@ -53,11 +46,9 @@ struct pios_ppm_cfg { }; extern void PIOS_PPM_irq_handler(); -extern void PIOS_PPMSV_irq_handler(); extern uint8_t pios_ppm_num_channels; extern const struct pios_ppm_cfg pios_ppm_cfg; -extern const struct pios_ppmsv_cfg pios_ppmsv_cfg; extern const struct pios_rcvr_driver pios_ppm_rcvr_driver; From 2e8d3a9be32bb771ad0a17c471a8769d2e1630e9 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Thu, 7 Jul 2011 23:02:09 -0400 Subject: [PATCH 123/241] clean up cut/paste cruft --- flight/PiOS/inc/pios_rcvr.h | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/flight/PiOS/inc/pios_rcvr.h b/flight/PiOS/inc/pios_rcvr.h index 40e99c450..d2b8e2432 100644 --- a/flight/PiOS/inc/pios_rcvr.h +++ b/flight/PiOS/inc/pios_rcvr.h @@ -8,8 +8,7 @@ * * @file pios_rcvr.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) - * @brief COM layer functions header + * @brief RCVR layer functions header * @see The GNU Public License (GPL) Version 3 * *****************************************************************************/ From 9aa3265f71e5a8117280cb55ad202dffb9b3763e Mon Sep 17 00:00:00 2001 From: dankers Date: Wed, 6 Jul 2011 19:18:46 +1000 Subject: [PATCH 124/241] Add Werner's MoveCopter to Credits and Milestones files --- CREDITS.txt | 4 ++++ MILESTONES.txt | 5 +++++ 2 files changed, 9 insertions(+) diff --git a/CREDITS.txt b/CREDITS.txt index 671ad47e6..b6e6db727 100644 --- a/CREDITS.txt +++ b/CREDITS.txt @@ -27,6 +27,10 @@ N: Pedro Assuncao E: pedro (dot) agda (plus) openpilot (at) gmail (dot) com D: Initial GCS Settings Gadget work +N: Werner Backes +E: werner (at) bit-1 (dot) de +D: Port of CopterControl to PS3 Move Controller (MoveCopter) + N: Jose Barros E: josembarros (at) hotmail (dot) com D: Next-Gen OP Map Lib, Y-Modem Library, Uploader Plugin diff --git a/MILESTONES.txt b/MILESTONES.txt index 9888bbdb1..27715f8fb 100644 --- a/MILESTONES.txt +++ b/MILESTONES.txt @@ -122,6 +122,11 @@ C: Michel Pet D: June 2011 V: http://www.youtube.com/watch?v=QsE2MQELPZY +M: MoveControl first flight +C: Werner Backes +D: July 2011 +V: http://vimeo.com/25983655 + M: First Altitude Hold using Sonar C: D: From b3e9d80323ebbb898fe5cfa0e638ee7ef377a6b6 Mon Sep 17 00:00:00 2001 From: dankers Date: Wed, 6 Jul 2011 19:20:20 +1000 Subject: [PATCH 125/241] Chnage grammar to match the other entries --- MILESTONES.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/MILESTONES.txt b/MILESTONES.txt index 27715f8fb..65d8c7fbe 100644 --- a/MILESTONES.txt +++ b/MILESTONES.txt @@ -122,7 +122,7 @@ C: Michel Pet D: June 2011 V: http://www.youtube.com/watch?v=QsE2MQELPZY -M: MoveControl first flight +M: First MoveControl flight C: Werner Backes D: July 2011 V: http://vimeo.com/25983655 From b86ef4de8266004781befb1d6741a86cbe24604c Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Thu, 7 Jul 2011 23:59:12 -0400 Subject: [PATCH 126/241] bootcfg: fix incorrect bounds checking on rcvr registration This was preventing any receivers from registering their channels. --- flight/CopterControl/System/pios_board.c | 8 ++++---- flight/OpenPilot/System/pios_board.c | 6 +++--- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index 92f64a36d..8e2d67e77 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -1040,7 +1040,7 @@ void PIOS_Board_Init(void) { case MANUALCONTROLSETTINGS_INPUTMODE_PWM: #if defined(PIOS_INCLUDE_PWM) PIOS_PWM_Init(); - for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS && i < pios_rcvr_max_channel; i++) { + for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) { if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], &pios_pwm_rcvr_driver, i)) { @@ -1054,7 +1054,7 @@ void PIOS_Board_Init(void) { case MANUALCONTROLSETTINGS_INPUTMODE_PPM: #if defined(PIOS_INCLUDE_PPM) PIOS_PPM_Init(); - for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS && i < pios_rcvr_max_channel; i++) { + for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) { if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], &pios_ppm_rcvr_driver, i)) { @@ -1069,7 +1069,7 @@ void PIOS_Board_Init(void) { #if defined(PIOS_INCLUDE_SPEKTRUM) if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM || hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM) { - for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS && i < pios_rcvr_max_channel; i++) { + for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) { if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], &pios_spektrum_rcvr_driver, i)) { @@ -1084,7 +1084,7 @@ void PIOS_Board_Init(void) { case MANUALCONTROLSETTINGS_INPUTMODE_SBUS: #if defined(PIOS_INCLUDE_SBUS) if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SBUS) { - for (uint8_t i = 0; i < SBUS_NUMBER_OF_CHANNELS && i < pios_rcvr_max_channel; i++) { + for (uint8_t i = 0; i < SBUS_NUMBER_OF_CHANNELS && i < PIOS_RCVR_MAX_DEVS; i++) { if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], &pios_sbus_rcvr_driver, i)) { diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c index 516797e5b..5c8ba05d0 100644 --- a/flight/OpenPilot/System/pios_board.c +++ b/flight/OpenPilot/System/pios_board.c @@ -1080,7 +1080,7 @@ void PIOS_Board_Init(void) { if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) { PIOS_Assert(0); } - for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS && i < pios_rcvr_max_channel; i++) { + for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) { if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], &pios_spektrum_rcvr_driver, i)) { @@ -1096,7 +1096,7 @@ void PIOS_Board_Init(void) { #error More receiver inputs than available devices #endif PIOS_PWM_Init(); - for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS && i < pios_rcvr_max_channel; i++) { + for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) { if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], &pios_pwm_rcvr_driver, i)) { @@ -1111,7 +1111,7 @@ void PIOS_Board_Init(void) { #error More receiver inputs than available devices #endif PIOS_PPM_Init(); - for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS && i < pios_rcvr_max_channel; i++) { + for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) { if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], &pios_ppm_rcvr_driver, i)) { From a1ef3275b88b53e54a47f42d2194efca5215b401 Mon Sep 17 00:00:00 2001 From: dankers Date: Tue, 12 Jul 2011 20:05:39 +1000 Subject: [PATCH 127/241] Add Mat's first CC Y4 flight to the Milestones file. --- MILESTONES.txt | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/MILESTONES.txt b/MILESTONES.txt index 65d8c7fbe..a3c69bace 100644 --- a/MILESTONES.txt +++ b/MILESTONES.txt @@ -127,6 +127,12 @@ C: Werner Backes D: July 2011 V: http://vimeo.com/25983655 +M: CopterControl Y4 flight +C: Mat Wellington +D: July 2011 +V: http://www.youtube.com/watch?v=TxZ4MDGIj1o + + M: First Altitude Hold using Sonar C: D: From 3b3b76aa46e6efae34b9e49f7c6e6898e8eefaf4 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Tue, 12 Jul 2011 11:37:36 -0500 Subject: [PATCH 128/241] Revert "Drop 8 bytes per PID of unecessary information. Also trying to compute" This reverts commit 9c1e52326099c5cb4fd32e0778ff1b0e308a6e6c. --- flight/Modules/Stabilization/stabilization.c | 20 +++++++++++++------- 1 file changed, 13 insertions(+), 7 deletions(-) diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c index 3e4a43243..702020966 100644 --- a/flight/Modules/Stabilization/stabilization.c +++ b/flight/Modules/Stabilization/stabilization.c @@ -66,8 +66,10 @@ enum {ROLL,PITCH,YAW,MAX_AXES}; typedef struct { float p; float i; + float d; float iLim; float iAccumulator; + float lastErr; } pid_type; // Private variables @@ -285,14 +287,17 @@ static void stabilizationTask(void* parameters) float ApplyPid(pid_type * pid, const float err) { - // Scale up accumulator by 1000 while computing to avoid losing precision - pid->iAccumulator += err * (pid->i * dT * 1000); - if(pid->iAccumulator > (pid->iLim * 1000)) { - pid->iAccumulator = pid->iLim * 1000; - } else if (pid->iAccumulator < -(pid->iLim * 1000)) { - pid->iAccumulator = -pid->iLim * 1000; + float diff = (err - pid->lastErr); + pid->lastErr = err; + pid->iAccumulator += err * pid->i * dT; + if(fabs(pid->iAccumulator) > pid->iLim) { + if(pid->iAccumulator >0) { + pid->iAccumulator = pid->iLim; + } else { + pid->iAccumulator = -pid->iLim; + } } - return (err * pid->p) + pid->iAccumulator / 1000; + return ((err * pid->p) + pid->iAccumulator + (diff * pid->d / dT)); } @@ -300,6 +305,7 @@ static void ZeroPids(void) { for(int8_t ct = 0; ct < PID_MAX; ct++) { pids[ct].iAccumulator = 0; + pids[ct].lastErr = 0; } } From 557771d3ef3cf79778db66e8b115bf69aab540e5 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Tue, 12 Jul 2011 11:41:21 -0500 Subject: [PATCH 129/241] Change to OP MB code to make it work with input changes. Previously tried to register every possible input channel. Slipped through review because "obviously correct" change fixed previous bug masking this. Woohoo testing :) --- flight/OpenPilot/System/pios_board.c | 63 ++++++++++++------- .../OpenPilotOSX.xcodeproj/project.pbxproj | 3 + flight/Project/gdb/openpilot | 2 +- 3 files changed, 45 insertions(+), 23 deletions(-) diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c index 5c8ba05d0..16725c654 100644 --- a/flight/OpenPilot/System/pios_board.c +++ b/flight/OpenPilot/System/pios_board.c @@ -30,6 +30,7 @@ #include #include #include +#include "manualcontrolsettings.h" //#define I2C_DEBUG_PIN 0 //#define USART_GPS_DEBUG_PIN 1 @@ -1069,28 +1070,12 @@ void PIOS_Board_Init(void) { PIOS_ADC_Init(); PIOS_GPIO_Init(); -#if defined(PIOS_INCLUDE_SPEKTRUM) -#if (PIOS_SPEKTRUM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS) -#error More receiver inputs than available devices -#endif - /* SPEKTRUM init must come before comms */ - PIOS_SPEKTRUM_Init(&pios_spektrum_cfg, false); - - uint32_t pios_usart_spektrum_id; - if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) { - PIOS_Assert(0); - } - for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) { - if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], - &pios_spektrum_rcvr_driver, - i)) { - pios_rcvr_max_channel++; - } else { - PIOS_Assert(0); - } - } -#endif + /* Configure the selected receiver */ + uint8_t manualcontrolsettings_inputmode; + ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode); + switch (manualcontrolsettings_inputmode) { + case MANUALCONTROLSETTINGS_INPUTMODE_PWM: #if defined(PIOS_INCLUDE_PWM) #if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS) #error More receiver inputs than available devices @@ -1105,7 +1090,9 @@ void PIOS_Board_Init(void) { PIOS_Assert(0); } } -#endif +#endif /* PIOS_INCLUDE_PWM */ + break; + case MANUALCONTROLSETTINGS_INPUTMODE_PPM: #if defined(PIOS_INCLUDE_PPM) #if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS) #error More receiver inputs than available devices @@ -1120,7 +1107,39 @@ void PIOS_Board_Init(void) { PIOS_Assert(0); } } +#endif /* PIOS_INCLUDE_PPM */ + break; + case MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM: +#if defined(PIOS_INCLUDE_SPEKTRUM) +#if (PIOS_SPEKTRUM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS) +#error More receiver inputs than available devices #endif + /* SPEKTRUM init must come before comms */ + PIOS_SPEKTRUM_Init(&pios_spektrum_cfg, false); + + uint32_t pios_usart_spektrum_id; + if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) { + PIOS_Assert(0); + } + for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) { + if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], + &pios_spektrum_rcvr_driver, + i)) { + pios_rcvr_max_channel++; + } else { + PIOS_Assert(0); + } + } +#endif + break; + case MANUALCONTROLSETTINGS_INPUTMODE_SBUS: +#if defined(PIOS_INCLUDE_SBUS) +#error SBUS NOT ON OP YET +#endif /* PIOS_INCLUDE_SBUS */ + break; + } + + #if defined(PIOS_INCLUDE_USB_HID) PIOS_USB_HID_Init(0); #if defined(PIOS_INCLUDE_COM) diff --git a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj index 4f2252237..3bb55fcb4 100644 --- a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj +++ b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj @@ -86,6 +86,7 @@ 6549E0D31279B3CF00C5476F /* fifo_buffer.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = fifo_buffer.h; sourceTree = ""; }; 655268BC121FBD2900410C6E /* ahrscalibration.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ahrscalibration.xml; sourceTree = ""; }; 656268C612DC1923007B0A0F /* nedaccel.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = nedaccel.xml; sourceTree = ""; }; + 6562BE1713CCAD0600C823E8 /* pios_rcvr.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_rcvr.c; sourceTree = ""; }; 65632DF51251650300469B77 /* pios_board.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board.h; sourceTree = ""; }; 65632DF61251650300469B77 /* STM32103CB_AHRS.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM32103CB_AHRS.h; sourceTree = ""; }; 65632DF71251650300469B77 /* STM3210E_OP.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM3210E_OP.h; sourceTree = ""; }; @@ -7664,6 +7665,7 @@ 6528CCB412E406B800CF5144 /* pios_adxl345.c */, 6512D60712ED4CB8008175E5 /* pios_flash_w25x.c */, 65FF4D5E137EDEC100146BE4 /* pios_flashfs_objlist.c */, + 6562BE1713CCAD0600C823E8 /* pios_rcvr.c */, 65E8C743139A6D0900E1F979 /* pios_crc.c */, ); name = Common; @@ -8463,6 +8465,7 @@ }; buildConfigurationList = 1DEB928908733DD80010E9CD /* Build configuration list for PBXProject "OpenPilotOSX" */; compatibilityVersion = "Xcode 3.1"; + developmentRegion = English; hasScannedForEncodings = 1; knownRegions = ( English, diff --git a/flight/Project/gdb/openpilot b/flight/Project/gdb/openpilot index 28ae59b1c..7c02a7a0b 100644 --- a/flight/Project/gdb/openpilot +++ b/flight/Project/gdb/openpilot @@ -1,7 +1,7 @@ define connect target remote localhost:3333 monitor cortex_m3 vector_catch all - file ./build/openpilot/OpenPilot.elf + file ./build/fw_openpilot/fw_openpilot.elf end #monitor reset halt From 15a2b857294df1536c3fee6c30f6ee7b619fec8f Mon Sep 17 00:00:00 2001 From: James Cotton Date: Tue, 12 Jul 2011 12:34:40 -0500 Subject: [PATCH 130/241] For OpenPilot use the minimal stack size (512 words) for eventdispatcher as this is necessary for object saving. Creating a new define to override this for CopterControl down to 96. --- flight/CopterControl/System/inc/pios_config.h | 28 +++++++++---------- flight/UAVObjects/eventdispatcher.c | 8 +++++- 2 files changed, 21 insertions(+), 15 deletions(-) diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h index d5805062d..173d743ca 100644 --- a/flight/CopterControl/System/inc/pios_config.h +++ b/flight/CopterControl/System/inc/pios_config.h @@ -5,28 +5,28 @@ * @addtogroup OpenPilotCore OpenPilot Core * @{ * - * @file pios_config.h + * @file pios_config.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @brief PiOS configuration header. + * @brief PiOS configuration header. * Central compile time config for the project. * In particular, pios_config.h is where you define which PiOS libraries * and features are included in the firmware. * @see The GNU Public License (GPL) Version 3 * *****************************************************************************/ -/* - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 3 of the License, or +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License * for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ @@ -97,7 +97,7 @@ #define PIOS_SYSTEM_STACK_SIZE 560 #define PIOS_STABILIZATION_STACK_SIZE 524 #define PIOS_TELEM_STACK_SIZE 500 - +#define PIOS_EVENTDISPATCHER_STACK_SIZE 96 #define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998 //#define PIOS_QUATERNION_STABILIZATION diff --git a/flight/UAVObjects/eventdispatcher.c b/flight/UAVObjects/eventdispatcher.c index 4de43cd25..3cb504939 100644 --- a/flight/UAVObjects/eventdispatcher.c +++ b/flight/UAVObjects/eventdispatcher.c @@ -28,7 +28,13 @@ // Private constants #define MAX_QUEUE_SIZE 20 -#define STACK_SIZE 96 + +#if defined(PIOS_EVENTDISPATCHER_STACK_SIZE) +#define STACK_SIZE PIOS_EVENTDISPATCHER_STACK_SIZE +#else +#define STACK_SIZE configMINIMAL_STACK_SIZE +#endif /* PIOS_EVENTDISPATCHER_STACK_SIZE */ + #define TASK_PRIORITY (tskIDLE_PRIORITY + 3) #define MAX_UPDATE_PERIOD_MS 1000 From c33d3057ccf6eebd2f6a4967969821eeea6cf592 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Tue, 12 Jul 2011 12:36:20 -0500 Subject: [PATCH 131/241] Dos2unix evendispatcher file --- flight/UAVObjects/eventdispatcher.c | 766 ++++++++++++++-------------- 1 file changed, 383 insertions(+), 383 deletions(-) diff --git a/flight/UAVObjects/eventdispatcher.c b/flight/UAVObjects/eventdispatcher.c index 3cb504939..2d4bd2082 100644 --- a/flight/UAVObjects/eventdispatcher.c +++ b/flight/UAVObjects/eventdispatcher.c @@ -1,383 +1,383 @@ -/** - ****************************************************************************** - * - * @file eventdispatcher.c - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @brief Event dispatcher, distributes object events as callbacks. Alternative - * to using tasks and queues. All callbacks are invoked from the event task. - * @see The GNU Public License (GPL) Version 3 - * - *****************************************************************************/ -/* - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License - * for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - */ - -#include "openpilot.h" - -// Private constants -#define MAX_QUEUE_SIZE 20 - -#if defined(PIOS_EVENTDISPATCHER_STACK_SIZE) -#define STACK_SIZE PIOS_EVENTDISPATCHER_STACK_SIZE -#else -#define STACK_SIZE configMINIMAL_STACK_SIZE -#endif /* PIOS_EVENTDISPATCHER_STACK_SIZE */ - -#define TASK_PRIORITY (tskIDLE_PRIORITY + 3) -#define MAX_UPDATE_PERIOD_MS 1000 - -// Private types - - -/** - * Event callback information - */ -typedef struct { - UAVObjEvent ev; /** The actual event */ - UAVObjEventCallback cb; /** The callback function, or zero if none */ - xQueueHandle queue; /** The queue or zero if none */ -} EventCallbackInfo; - -/** - * List of object properties that are needed for the periodic updates. - */ -struct PeriodicObjectListStruct { - EventCallbackInfo evInfo; /** Event callback information */ - int32_t updatePeriodMs; /** Update period in ms or 0 if no periodic updates are needed */ - int32_t timeToNextUpdateMs; /** Time delay to the next update */ - struct PeriodicObjectListStruct* next; /** Needed by linked list library (utlist.h) */ -}; -typedef struct PeriodicObjectListStruct PeriodicObjectList; - -// Private variables -static PeriodicObjectList* objList; -static xQueueHandle queue; -static xTaskHandle eventTaskHandle; -static xSemaphoreHandle mutex; -static EventStats stats; - -// Private functions -static int32_t processPeriodicUpdates(); -static void eventTask(); -static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs); -static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs); -static uint32_t randomizePeriod(uint32_t periodMs); - - -/** - * Initialize the dispatcher - * \return Success (0), failure (-1) - */ -int32_t EventDispatcherInitialize() -{ - // Initialize variables - objList = NULL; - memset(&stats, 0, sizeof(EventStats)); - - // Create mutex - mutex = xSemaphoreCreateRecursiveMutex(); - if (mutex == NULL) - return -1; - - // Create event queue - queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(EventCallbackInfo)); - - // Create task - xTaskCreate( eventTask, (signed char*)"Event", STACK_SIZE, NULL, TASK_PRIORITY, &eventTaskHandle ); - - // Done - return 0; -} - -/** - * Get the statistics counters - * @param[out] statsOut The statistics counters will be copied there - */ -void EventGetStats(EventStats* statsOut) -{ - xSemaphoreTakeRecursive(mutex, portMAX_DELAY); - memcpy(statsOut, &stats, sizeof(EventStats)); - xSemaphoreGiveRecursive(mutex); -} - -/** - * Clear the statistics counters - */ -void EventClearStats() -{ - xSemaphoreTakeRecursive(mutex, portMAX_DELAY); - memset(&stats, 0, sizeof(EventStats)); - xSemaphoreGiveRecursive(mutex); -} - -/** - * Dispatch an event by invoking the supplied callback. The function - * returns imidiatelly, the callback is invoked from the event task. - * \param[in] ev The event to be dispatched - * \param[in] cb The callback function - * \return Success (0), failure (-1) - */ -int32_t EventCallbackDispatch(UAVObjEvent* ev, UAVObjEventCallback cb) -{ - EventCallbackInfo evInfo; - // Initialize event callback information - memcpy(&evInfo.ev, ev, sizeof(UAVObjEvent)); - evInfo.cb = cb; - evInfo.queue = 0; - // Push to queue - return xQueueSend(queue, &evInfo, 0); // will not block if queue is full -} - -/** - * Dispatch an event at periodic intervals. - * \param[in] ev The event to be dispatched - * \param[in] cb The callback to be invoked - * \param[in] periodMs The period the event is generated - * \return Success (0), failure (-1) - */ -int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs) -{ - return eventPeriodicCreate(ev, cb, 0, periodMs); -} - -/** - * Update the period of a periodic event. - * \param[in] ev The event to be dispatched - * \param[in] cb The callback to be invoked - * \param[in] periodMs The period the event is generated - * \return Success (0), failure (-1) - */ -int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs) -{ - return eventPeriodicUpdate(ev, cb, 0, periodMs); -} - -/** - * Dispatch an event at periodic intervals. - * \param[in] ev The event to be dispatched - * \param[in] queue The queue that the event will be pushed in - * \param[in] periodMs The period the event is generated - * \return Success (0), failure (-1) - */ -int32_t EventPeriodicQueueCreate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs) -{ - return eventPeriodicCreate(ev, 0, queue, periodMs); -} - -/** - * Update the period of a periodic event. - * \param[in] ev The event to be dispatched - * \param[in] queue The queue - * \param[in] periodMs The period the event is generated - * \return Success (0), failure (-1) - */ -int32_t EventPeriodicQueueUpdate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs) -{ - return eventPeriodicUpdate(ev, 0, queue, periodMs); -} - -/** - * Dispatch an event through a callback at periodic intervals. - * \param[in] ev The event to be dispatched - * \param[in] cb The callback to be invoked or zero if none - * \param[in] queue The queue or zero if none - * \param[in] periodMs The period the event is generated - * \return Success (0), failure (-1) - */ -static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs) -{ - PeriodicObjectList* objEntry; - // Get lock - xSemaphoreTakeRecursive(mutex, portMAX_DELAY); - // Check that the object is not already connected - LL_FOREACH(objList, objEntry) - { - if (objEntry->evInfo.cb == cb && - objEntry->evInfo.queue == queue && - objEntry->evInfo.ev.obj == ev->obj && - objEntry->evInfo.ev.instId == ev->instId && - objEntry->evInfo.ev.event == ev->event) - { - // Already registered, do nothing - xSemaphoreGiveRecursive(mutex); - return -1; - } - } - // Create handle - objEntry = (PeriodicObjectList*)pvPortMalloc(sizeof(PeriodicObjectList)); - if (objEntry == NULL) return -1; - objEntry->evInfo.ev.obj = ev->obj; - objEntry->evInfo.ev.instId = ev->instId; - objEntry->evInfo.ev.event = ev->event; - objEntry->evInfo.cb = cb; - objEntry->evInfo.queue = queue; - objEntry->updatePeriodMs = periodMs; - objEntry->timeToNextUpdateMs = randomizePeriod(periodMs); // avoid bunching of updates - // Add to list - LL_APPEND(objList, objEntry); - // Release lock - xSemaphoreGiveRecursive(mutex); - return 0; -} - -/** - * Update the period of a periodic event. - * \param[in] ev The event to be dispatched - * \param[in] cb The callback to be invoked or zero if none - * \param[in] queue The queue or zero if none - * \param[in] periodMs The period the event is generated - * \return Success (0), failure (-1) - */ -static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs) -{ - PeriodicObjectList* objEntry; - // Get lock - xSemaphoreTakeRecursive(mutex, portMAX_DELAY); - // Find object - LL_FOREACH(objList, objEntry) - { - if (objEntry->evInfo.cb == cb && - objEntry->evInfo.queue == queue && - objEntry->evInfo.ev.obj == ev->obj && - objEntry->evInfo.ev.instId == ev->instId && - objEntry->evInfo.ev.event == ev->event) - { - // Object found, update period - objEntry->updatePeriodMs = periodMs; - objEntry->timeToNextUpdateMs = randomizePeriod(periodMs); // avoid bunching of updates - // Release lock - xSemaphoreGiveRecursive(mutex); - return 0; - } - } - // If this point is reached the object was not found - xSemaphoreGiveRecursive(mutex); - return -1; -} - -/** - * Event task, responsible of invoking callbacks. - */ -static void eventTask() -{ - int32_t timeToNextUpdateMs; - int32_t delayMs; - EventCallbackInfo evInfo; - - // Initialize time - timeToNextUpdateMs = xTaskGetTickCount()*portTICK_RATE_MS; - - // Loop forever - while (1) - { - // Calculate delay time - delayMs = timeToNextUpdateMs-(xTaskGetTickCount()*portTICK_RATE_MS); - if (delayMs < 0) - { - delayMs = 0; - } - - // Wait for queue message - if ( xQueueReceive(queue, &evInfo, delayMs/portTICK_RATE_MS) == pdTRUE ) - { - // Invoke callback, if one - if ( evInfo.cb != 0) - { - evInfo.cb(&evInfo.ev); // the function is expected to copy the event information - } - } - - // Process periodic updates - if ((xTaskGetTickCount()*portTICK_RATE_MS) >= timeToNextUpdateMs ) - { - timeToNextUpdateMs = processPeriodicUpdates(); - } - } -} - -/** - * Handle periodic updates for all objects. - * \return The system time until the next update (in ms) or -1 if failed - */ -static int32_t processPeriodicUpdates() -{ - PeriodicObjectList* objEntry; - int32_t timeNow; - int32_t timeToNextUpdate; - int32_t offset; - - // Get lock - xSemaphoreTakeRecursive(mutex, portMAX_DELAY); - - // Iterate through each object and update its timer, if zero then transmit object. - // Also calculate smallest delay to next update. - timeToNextUpdate = xTaskGetTickCount()*portTICK_RATE_MS + MAX_UPDATE_PERIOD_MS; - LL_FOREACH(objList, objEntry) - { - // If object is configured for periodic updates - if (objEntry->updatePeriodMs > 0) - { - // Check if time for the next update - timeNow = xTaskGetTickCount()*portTICK_RATE_MS; - if (objEntry->timeToNextUpdateMs <= timeNow) - { - // Reset timer - offset = ( timeNow - objEntry->timeToNextUpdateMs ) % objEntry->updatePeriodMs; - objEntry->timeToNextUpdateMs = timeNow + objEntry->updatePeriodMs - offset; - // Invoke callback, if one - if ( objEntry->evInfo.cb != 0) - { - objEntry->evInfo.cb(&objEntry->evInfo.ev); // the function is expected to copy the event information - } - // Push event to queue, if one - if ( objEntry->evInfo.queue != 0) - { - if ( xQueueSend(objEntry->evInfo.queue, &objEntry->evInfo.ev, 0) != pdTRUE ) // do not block if queue is full - { - ++stats.eventErrors; - } - } - } - // Update minimum delay - if (objEntry->timeToNextUpdateMs < timeToNextUpdate) - { - timeToNextUpdate = objEntry->timeToNextUpdateMs; - } - } - } - - // Done - xSemaphoreGiveRecursive(mutex); - return timeToNextUpdate; -} - -/** - * Return a psedorandom integer from 0 to periodMs - * Based on the Park-Miller-Carta Pseudo-Random Number Generator - * http://www.firstpr.com.au/dsp/rand31/ - */ -static uint32_t randomizePeriod(uint32_t periodMs) -{ - static uint32_t seed = 1; - uint32_t hi, lo; - lo = 16807 * (seed & 0xFFFF); - hi = 16807 * (seed >> 16); - lo += (hi & 0x7FFF) << 16; - lo += hi >> 15; - if (lo > 0x7FFFFFFF) lo -= 0x7FFFFFFF; - seed = lo; - return (uint32_t)( ((float)periodMs * (float)lo) / (float)0x7FFFFFFF ); -} - +/** + ****************************************************************************** + * + * @file eventdispatcher.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Event dispatcher, distributes object events as callbacks. Alternative + * to using tasks and queues. All callbacks are invoked from the event task. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#include "openpilot.h" + +// Private constants +#define MAX_QUEUE_SIZE 20 + +#if defined(PIOS_EVENTDISPATCHER_STACK_SIZE) +#define STACK_SIZE PIOS_EVENTDISPATCHER_STACK_SIZE +#else +#define STACK_SIZE configMINIMAL_STACK_SIZE +#endif /* PIOS_EVENTDISPATCHER_STACK_SIZE */ + +#define TASK_PRIORITY (tskIDLE_PRIORITY + 3) +#define MAX_UPDATE_PERIOD_MS 1000 + +// Private types + + +/** + * Event callback information + */ +typedef struct { + UAVObjEvent ev; /** The actual event */ + UAVObjEventCallback cb; /** The callback function, or zero if none */ + xQueueHandle queue; /** The queue or zero if none */ +} EventCallbackInfo; + +/** + * List of object properties that are needed for the periodic updates. + */ +struct PeriodicObjectListStruct { + EventCallbackInfo evInfo; /** Event callback information */ + int32_t updatePeriodMs; /** Update period in ms or 0 if no periodic updates are needed */ + int32_t timeToNextUpdateMs; /** Time delay to the next update */ + struct PeriodicObjectListStruct* next; /** Needed by linked list library (utlist.h) */ +}; +typedef struct PeriodicObjectListStruct PeriodicObjectList; + +// Private variables +static PeriodicObjectList* objList; +static xQueueHandle queue; +static xTaskHandle eventTaskHandle; +static xSemaphoreHandle mutex; +static EventStats stats; + +// Private functions +static int32_t processPeriodicUpdates(); +static void eventTask(); +static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs); +static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs); +static uint32_t randomizePeriod(uint32_t periodMs); + + +/** + * Initialize the dispatcher + * \return Success (0), failure (-1) + */ +int32_t EventDispatcherInitialize() +{ + // Initialize variables + objList = NULL; + memset(&stats, 0, sizeof(EventStats)); + + // Create mutex + mutex = xSemaphoreCreateRecursiveMutex(); + if (mutex == NULL) + return -1; + + // Create event queue + queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(EventCallbackInfo)); + + // Create task + xTaskCreate( eventTask, (signed char*)"Event", STACK_SIZE, NULL, TASK_PRIORITY, &eventTaskHandle ); + + // Done + return 0; +} + +/** + * Get the statistics counters + * @param[out] statsOut The statistics counters will be copied there + */ +void EventGetStats(EventStats* statsOut) +{ + xSemaphoreTakeRecursive(mutex, portMAX_DELAY); + memcpy(statsOut, &stats, sizeof(EventStats)); + xSemaphoreGiveRecursive(mutex); +} + +/** + * Clear the statistics counters + */ +void EventClearStats() +{ + xSemaphoreTakeRecursive(mutex, portMAX_DELAY); + memset(&stats, 0, sizeof(EventStats)); + xSemaphoreGiveRecursive(mutex); +} + +/** + * Dispatch an event by invoking the supplied callback. The function + * returns imidiatelly, the callback is invoked from the event task. + * \param[in] ev The event to be dispatched + * \param[in] cb The callback function + * \return Success (0), failure (-1) + */ +int32_t EventCallbackDispatch(UAVObjEvent* ev, UAVObjEventCallback cb) +{ + EventCallbackInfo evInfo; + // Initialize event callback information + memcpy(&evInfo.ev, ev, sizeof(UAVObjEvent)); + evInfo.cb = cb; + evInfo.queue = 0; + // Push to queue + return xQueueSend(queue, &evInfo, 0); // will not block if queue is full +} + +/** + * Dispatch an event at periodic intervals. + * \param[in] ev The event to be dispatched + * \param[in] cb The callback to be invoked + * \param[in] periodMs The period the event is generated + * \return Success (0), failure (-1) + */ +int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs) +{ + return eventPeriodicCreate(ev, cb, 0, periodMs); +} + +/** + * Update the period of a periodic event. + * \param[in] ev The event to be dispatched + * \param[in] cb The callback to be invoked + * \param[in] periodMs The period the event is generated + * \return Success (0), failure (-1) + */ +int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs) +{ + return eventPeriodicUpdate(ev, cb, 0, periodMs); +} + +/** + * Dispatch an event at periodic intervals. + * \param[in] ev The event to be dispatched + * \param[in] queue The queue that the event will be pushed in + * \param[in] periodMs The period the event is generated + * \return Success (0), failure (-1) + */ +int32_t EventPeriodicQueueCreate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs) +{ + return eventPeriodicCreate(ev, 0, queue, periodMs); +} + +/** + * Update the period of a periodic event. + * \param[in] ev The event to be dispatched + * \param[in] queue The queue + * \param[in] periodMs The period the event is generated + * \return Success (0), failure (-1) + */ +int32_t EventPeriodicQueueUpdate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs) +{ + return eventPeriodicUpdate(ev, 0, queue, periodMs); +} + +/** + * Dispatch an event through a callback at periodic intervals. + * \param[in] ev The event to be dispatched + * \param[in] cb The callback to be invoked or zero if none + * \param[in] queue The queue or zero if none + * \param[in] periodMs The period the event is generated + * \return Success (0), failure (-1) + */ +static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs) +{ + PeriodicObjectList* objEntry; + // Get lock + xSemaphoreTakeRecursive(mutex, portMAX_DELAY); + // Check that the object is not already connected + LL_FOREACH(objList, objEntry) + { + if (objEntry->evInfo.cb == cb && + objEntry->evInfo.queue == queue && + objEntry->evInfo.ev.obj == ev->obj && + objEntry->evInfo.ev.instId == ev->instId && + objEntry->evInfo.ev.event == ev->event) + { + // Already registered, do nothing + xSemaphoreGiveRecursive(mutex); + return -1; + } + } + // Create handle + objEntry = (PeriodicObjectList*)pvPortMalloc(sizeof(PeriodicObjectList)); + if (objEntry == NULL) return -1; + objEntry->evInfo.ev.obj = ev->obj; + objEntry->evInfo.ev.instId = ev->instId; + objEntry->evInfo.ev.event = ev->event; + objEntry->evInfo.cb = cb; + objEntry->evInfo.queue = queue; + objEntry->updatePeriodMs = periodMs; + objEntry->timeToNextUpdateMs = randomizePeriod(periodMs); // avoid bunching of updates + // Add to list + LL_APPEND(objList, objEntry); + // Release lock + xSemaphoreGiveRecursive(mutex); + return 0; +} + +/** + * Update the period of a periodic event. + * \param[in] ev The event to be dispatched + * \param[in] cb The callback to be invoked or zero if none + * \param[in] queue The queue or zero if none + * \param[in] periodMs The period the event is generated + * \return Success (0), failure (-1) + */ +static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs) +{ + PeriodicObjectList* objEntry; + // Get lock + xSemaphoreTakeRecursive(mutex, portMAX_DELAY); + // Find object + LL_FOREACH(objList, objEntry) + { + if (objEntry->evInfo.cb == cb && + objEntry->evInfo.queue == queue && + objEntry->evInfo.ev.obj == ev->obj && + objEntry->evInfo.ev.instId == ev->instId && + objEntry->evInfo.ev.event == ev->event) + { + // Object found, update period + objEntry->updatePeriodMs = periodMs; + objEntry->timeToNextUpdateMs = randomizePeriod(periodMs); // avoid bunching of updates + // Release lock + xSemaphoreGiveRecursive(mutex); + return 0; + } + } + // If this point is reached the object was not found + xSemaphoreGiveRecursive(mutex); + return -1; +} + +/** + * Event task, responsible of invoking callbacks. + */ +static void eventTask() +{ + int32_t timeToNextUpdateMs; + int32_t delayMs; + EventCallbackInfo evInfo; + + // Initialize time + timeToNextUpdateMs = xTaskGetTickCount()*portTICK_RATE_MS; + + // Loop forever + while (1) + { + // Calculate delay time + delayMs = timeToNextUpdateMs-(xTaskGetTickCount()*portTICK_RATE_MS); + if (delayMs < 0) + { + delayMs = 0; + } + + // Wait for queue message + if ( xQueueReceive(queue, &evInfo, delayMs/portTICK_RATE_MS) == pdTRUE ) + { + // Invoke callback, if one + if ( evInfo.cb != 0) + { + evInfo.cb(&evInfo.ev); // the function is expected to copy the event information + } + } + + // Process periodic updates + if ((xTaskGetTickCount()*portTICK_RATE_MS) >= timeToNextUpdateMs ) + { + timeToNextUpdateMs = processPeriodicUpdates(); + } + } +} + +/** + * Handle periodic updates for all objects. + * \return The system time until the next update (in ms) or -1 if failed + */ +static int32_t processPeriodicUpdates() +{ + PeriodicObjectList* objEntry; + int32_t timeNow; + int32_t timeToNextUpdate; + int32_t offset; + + // Get lock + xSemaphoreTakeRecursive(mutex, portMAX_DELAY); + + // Iterate through each object and update its timer, if zero then transmit object. + // Also calculate smallest delay to next update. + timeToNextUpdate = xTaskGetTickCount()*portTICK_RATE_MS + MAX_UPDATE_PERIOD_MS; + LL_FOREACH(objList, objEntry) + { + // If object is configured for periodic updates + if (objEntry->updatePeriodMs > 0) + { + // Check if time for the next update + timeNow = xTaskGetTickCount()*portTICK_RATE_MS; + if (objEntry->timeToNextUpdateMs <= timeNow) + { + // Reset timer + offset = ( timeNow - objEntry->timeToNextUpdateMs ) % objEntry->updatePeriodMs; + objEntry->timeToNextUpdateMs = timeNow + objEntry->updatePeriodMs - offset; + // Invoke callback, if one + if ( objEntry->evInfo.cb != 0) + { + objEntry->evInfo.cb(&objEntry->evInfo.ev); // the function is expected to copy the event information + } + // Push event to queue, if one + if ( objEntry->evInfo.queue != 0) + { + if ( xQueueSend(objEntry->evInfo.queue, &objEntry->evInfo.ev, 0) != pdTRUE ) // do not block if queue is full + { + ++stats.eventErrors; + } + } + } + // Update minimum delay + if (objEntry->timeToNextUpdateMs < timeToNextUpdate) + { + timeToNextUpdate = objEntry->timeToNextUpdateMs; + } + } + } + + // Done + xSemaphoreGiveRecursive(mutex); + return timeToNextUpdate; +} + +/** + * Return a psedorandom integer from 0 to periodMs + * Based on the Park-Miller-Carta Pseudo-Random Number Generator + * http://www.firstpr.com.au/dsp/rand31/ + */ +static uint32_t randomizePeriod(uint32_t periodMs) +{ + static uint32_t seed = 1; + uint32_t hi, lo; + lo = 16807 * (seed & 0xFFFF); + hi = 16807 * (seed >> 16); + lo += (hi & 0x7FFF) << 16; + lo += hi >> 15; + if (lo > 0x7FFFFFFF) lo -= 0x7FFFFFFF; + seed = lo; + return (uint32_t)( ((float)periodMs * (float)lo) / (float)0x7FFFFFFF ); +} + From 9e94f9fee97fffa53b334ad6bed158a551756a77 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Tue, 12 Jul 2011 12:48:06 -0500 Subject: [PATCH 132/241] Fix typo from SISE to SIZE --- .../FreeRTOS/Source/portable/MemMang/heap_1.c | 26 +++++++++---------- .../FreeRTOS/Source/portable/MemMang/heap_2.c | 16 ++++++------ 2 files changed, 21 insertions(+), 21 deletions(-) diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c index 638dc220a..f3abbb52c 100644 --- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c +++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c @@ -1,6 +1,6 @@ /* FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd. - + *************************************************************************** * * @@ -79,18 +79,18 @@ static union xRTOS_HEAP volatile portDOUBLE dDummy; #else volatile unsigned long ulDummy; - #endif + #endif unsigned char ucHeap[ configTOTAL_HEAP_SIZE ]; } xHeap __attribute__ ((section (".heap"))); static size_t xNextFreeByte = ( size_t ) 0; -static size_t currentTOTAL_HEAP_SISE = configTOTAL_HEAP_SIZE; +static size_t currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE; /*-----------------------------------------------------------*/ void *pvPortMalloc( size_t xWantedSize ) { -void *pvReturn = NULL; +void *pvReturn = NULL; /* Ensure that blocks are always aligned to the required number of bytes. */ #if portBYTE_ALIGNMENT != 1 @@ -104,17 +104,17 @@ void *pvReturn = NULL; vTaskSuspendAll(); { /* Check there is enough room left for the allocation. */ - if( ( ( xNextFreeByte + xWantedSize ) < currentTOTAL_HEAP_SISE ) && + if( ( ( xNextFreeByte + xWantedSize ) < currentTOTAL_HEAP_SIZE ) && ( ( xNextFreeByte + xWantedSize ) > xNextFreeByte ) )/* Check for overflow. */ { /* Return the next free byte then increment the index past this block. */ pvReturn = &( xHeap.ucHeap[ xNextFreeByte ] ); - xNextFreeByte += xWantedSize; - } + xNextFreeByte += xWantedSize; + } } xTaskResumeAll(); - + #if( configUSE_MALLOC_FAILED_HOOK == 1 ) { if( pvReturn == NULL ) @@ -123,7 +123,7 @@ void *pvReturn = NULL; vApplicationMallocFailedHook(); } } - #endif + #endif return pvReturn; } @@ -131,8 +131,8 @@ void *pvReturn = NULL; void vPortFree( void *pv ) { - /* Memory cannot be freed using this scheme. See heap_2.c and heap_3.c - for alternative implementations, and the memory management pages of + /* Memory cannot be freed using this scheme. See heap_2.c and heap_3.c + for alternative implementations, and the memory management pages of http://www.FreeRTOS.org for more information. */ ( void ) pv; } @@ -147,14 +147,14 @@ void vPortInitialiseBlocks( void ) size_t xPortGetFreeHeapSize( void ) { - return ( currentTOTAL_HEAP_SISE - xNextFreeByte ); + return ( currentTOTAL_HEAP_SIZE - xNextFreeByte ); } /*-----------------------------------------------------------*/ void xPortIncreaseHeapSize( size_t bytes ) { vTaskSuspendAll(); - currentTOTAL_HEAP_SISE = configTOTAL_HEAP_SIZE + bytes; + currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE + bytes; xTaskResumeAll(); } /*-----------------------------------------------------------*/ diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c index c361a5aaf..91258edd6 100644 --- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c +++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c @@ -1,6 +1,6 @@ /* FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd. - + *************************************************************************** * * @@ -101,7 +101,7 @@ static xBlockLink xStart, xEnd; /* Keeps track of the number of free bytes remaining, but says nothing about fragmentation. */ static size_t xFreeBytesRemaining = configTOTAL_HEAP_SIZE; -static size_t currentTOTAL_HEAP_SISE = configTOTAL_HEAP_SIZE; +static size_t currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE; /* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */ @@ -141,13 +141,13 @@ xBlockLink *pxFirstFreeBlock; \ xStart.xBlockSize = ( size_t ) 0; \ \ /* xEnd is used to mark the end of the list of free blocks. */ \ - xEnd.xBlockSize = currentTOTAL_HEAP_SISE; \ + xEnd.xBlockSize = currentTOTAL_HEAP_SIZE; \ xEnd.pxNextFreeBlock = NULL; \ \ /* To start with there is a single free block that is sized to take up the \ entire heap space. */ \ pxFirstFreeBlock = ( void * ) xHeap.ucHeap; \ - pxFirstFreeBlock->xBlockSize = currentTOTAL_HEAP_SISE; \ + pxFirstFreeBlock->xBlockSize = currentTOTAL_HEAP_SIZE; \ pxFirstFreeBlock->pxNextFreeBlock = &xEnd; \ } /*-----------------------------------------------------------*/ @@ -182,7 +182,7 @@ void *pvReturn = NULL; } } - if( ( xWantedSize > 0 ) && ( xWantedSize < currentTOTAL_HEAP_SISE ) ) + if( ( xWantedSize > 0 ) && ( xWantedSize < currentTOTAL_HEAP_SIZE ) ) { /* Blocks are stored in byte order - traverse the list from the start (smallest) block until one of adequate size is found. */ @@ -221,7 +221,7 @@ void *pvReturn = NULL; /* Insert the new block into the list of free blocks. */ prvInsertBlockIntoFreeList( ( pxNewBlockLink ) ); } - + xFreeBytesRemaining -= pxBlock->xBlockSize; } } @@ -282,8 +282,8 @@ void xPortIncreaseHeapSize( size_t bytes ) { xBlockLink *pxNewBlockLink; vTaskSuspendAll(); - currentTOTAL_HEAP_SISE = configTOTAL_HEAP_SIZE + bytes; - xEnd.xBlockSize = currentTOTAL_HEAP_SISE; + currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE + bytes; + xEnd.xBlockSize = currentTOTAL_HEAP_SIZE; xFreeBytesRemaining += bytes; /* Insert the new block into the list of free blocks. */ pxNewBlockLink = ( void * ) &xHeap.ucHeap[ configTOTAL_HEAP_SIZE ]; From 2c7cfe435f4bb23bd2bc9f9b4c73c6e94dd9449f Mon Sep 17 00:00:00 2001 From: James Cotton Date: Tue, 12 Jul 2011 14:18:19 -0500 Subject: [PATCH 133/241] Somehow this task runs quite a few times at the beginning so dT was going to zero and making the attitude get NaN. Wrote recovery code for that condition (should never occur) and also force minimum dT to 1 ms (also shouldn't occur) --- flight/Modules/Attitude/attitude.c | 39 +++++++++++++++++++++++------- 1 file changed, 30 insertions(+), 9 deletions(-) diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c index 36f1bafa9..0f6b13a19 100644 --- a/flight/Modules/Attitude/attitude.c +++ b/flight/Modules/Attitude/attitude.c @@ -121,14 +121,29 @@ int32_t AttitudeInitialize(void) attitude.q4 = 0; AttitudeActualSet(&attitude); - AttitudeSettingsConnectCallback(&settingsUpdatedCb); - + // Cannot trust the values to init right above if BL runs + gyro_correct_int[0] = 0; + gyro_correct_int[1] = 0; + gyro_correct_int[2] = 0; + + q[0] = 1; + q[1] = 0; + q[2] = 0; + q[3] = 0; + for(uint8_t i = 0; i < 3; i++) + for(uint8_t j = 0; j < 3; j++) + R[i][j] = 0; + // Create queue for passing gyro data, allow 2 back samples in case gyro_queue = xQueueCreate(1, sizeof(float) * 4); if(gyro_queue == NULL) return -1; + + PIOS_ADC_SetQueue(gyro_queue); + AttitudeSettingsConnectCallback(&settingsUpdatedCb); + return 0; } @@ -139,7 +154,6 @@ MODULE_INITCALL(AttitudeInitialize, 0, AttitudeStart, 0, MODULE_EXEC_NOORDER_FLA */ static void AttitudeTask(void *parameters) { - uint8_t init = 0; AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE); @@ -149,6 +163,7 @@ static void AttitudeTask(void *parameters) PIOS_FLASH_DISABLE; PIOS_ADXL345_Init(); + // Force settings update to make sure rotation loaded settingsUpdatedCb(AttitudeSettingsHandle()); @@ -259,14 +274,11 @@ static void updateSensors(AttitudeRawData * attitudeRaw) static void updateAttitude(AttitudeRawData * attitudeRaw) { + float dT; + portTickType thisSysTime = xTaskGetTickCount(); static portTickType lastSysTime = 0; - static portTickType thisSysTime; - static float dT = 0; - - thisSysTime = xTaskGetTickCount(); - if(thisSysTime > lastSysTime) // reuse dt in case of wraparound - dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f; + dT = (thisSysTime == lastSysTime) ? 0.001 : (portMAX_DELAY & (thisSysTime - lastSysTime)) / portTICK_RATE_MS / 1000.0f; lastSysTime = thisSysTime; // Bad practice to assume structure order, but saves memory @@ -326,6 +338,15 @@ static void updateAttitude(AttitudeRawData * attitudeRaw) q[2] = q[2] / qmag; q[3] = q[3] / qmag; + // If quaternion has become inappropriately short or is nan reinit. + // THIS SHOULD NEVER ACTUALLY HAPPEN + if((fabs(qmag) < 1e-3) || (qmag != qmag)) { + q[0] = 1; + q[1] = 0; + q[2] = 0; + q[3] = 0; + } + AttitudeActualData attitudeActual; AttitudeActualGet(&attitudeActual); From 0aec3b592c19af699dd423ef7f6eed1fec35dc29 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Tue, 12 Jul 2011 14:35:32 -0500 Subject: [PATCH 134/241] Changing stabilization so that the PIDs are zeroed when not armed, but NOT when the throttle is < 0. This will make things like axis-lock work while armed without throttle. HOWEVER don't hold your stick in the arming position for a long time or you can wind up the integrals now. --- flight/Modules/Stabilization/stabilization.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c index 922434a32..024dd5585 100644 --- a/flight/Modules/Stabilization/stabilization.c +++ b/flight/Modules/Stabilization/stabilization.c @@ -100,7 +100,7 @@ static void SettingsUpdatedCb(UAVObjEvent * ev); int32_t StabilizationStart() { // Initialize variables - + // Start main task xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); TaskMonitorAdd(TASKINFO_RUNNING_STABILIZATION, taskHandle); @@ -329,7 +329,7 @@ static void stabilizationTask(void* parameters) } if(flightStatus.Armed != FLIGHTSTATUS_ARMED_ARMED || - !shouldUpdate || (stabDesired.Throttle < 0)) + !shouldUpdate) { ZeroPids(); } From 283422b930c5c7bdff55bccbc9323913124067c9 Mon Sep 17 00:00:00 2001 From: zedamota Date: Tue, 12 Jul 2011 21:36:54 +0100 Subject: [PATCH 135/241] Fix for FW upload failing if placed on a folder with non latin1 chars --- ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp index a679bbb1b..238d21bef 100644 --- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp @@ -406,7 +406,7 @@ void deviceWidget::uploadFirmware() connect(m_dfu, SIGNAL(progressUpdated(int)), this, SLOT(setProgress(int))); connect(m_dfu, SIGNAL(operationProgress(QString)), this, SLOT(dfuStatus(QString))); connect(m_dfu, SIGNAL(uploadFinished(OP_DFU::Status)), this, SLOT(uploadFinished(OP_DFU::Status))); - bool retstatus = m_dfu->UploadFirmware(filename.toAscii(),verify, deviceID); + bool retstatus = m_dfu->UploadFirmware(filename,verify, deviceID); if(!retstatus ) { status("Could not start upload", STATUSICON_FAIL); return; From ca44469b929fb3b409e965cab63ba1cda5c41bca Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Tue, 12 Jul 2011 23:45:20 +0300 Subject: [PATCH 136/241] packaging: build unified firmware for Rx interfaces and remove flash-erase tool --- package/Makefile | 55 +++++++----------------------------------------- 1 file changed, 8 insertions(+), 47 deletions(-) diff --git a/package/Makefile b/package/Makefile index 9b495d00e..0a197844a 100644 --- a/package/Makefile +++ b/package/Makefile @@ -19,14 +19,10 @@ PACKAGE_DIR := $(BUILD_DIR)/package-$(PACKAGE_LBL) FW_DIR := $(PACKAGE_DIR)/firmware-$(PACKAGE_LBL) BL_DIR := $(FW_DIR)/bootloaders BU_DIR := $(FW_DIR)/bootloader-updaters -FE_DIR := $(FW_DIR)/flash-erase-tools # Clean build options (recommended for package testing only) ifeq ($(CLEAN_BUILD), NO) CLEAN_GROUND := NO -CLEAN_FLIGHT := YES -else ifeq ($(CLEAN_BUILD), NEVER) -CLEAN_GROUND := NO CLEAN_FLIGHT := NO else CLEAN_GROUND := YES @@ -34,11 +30,7 @@ CLEAN_FLIGHT := YES endif # Set up targets (PPM target seems to be broken at the moment) -FW_TARGETS_COMMON := $(addprefix fw_, ahrs pipxtreme) -FW_TARGETS_PWM := $(addprefix fw_, coptercontrol openpilot) -FW_TARGETS_DSM2 := $(addprefix fw_, coptercontrol openpilot) -FW_TARGETS_SBUS := $(addprefix fw_, coptercontrol) -FW_TARGETS_PPM := $(addprefix fw_, openpilot) +FW_TARGETS := $(addprefix fw_, ahrs pipxtreme coptercontrol openpilot) FW_TARGETS_TOOLS := $(addprefix fw_, coptercontrol) BL_TARGETS := $(addprefix bl_, coptercontrol openpilot ahrs pipxtreme) BU_TARGETS := $(addprefix bu_, coptercontrol openpilot ahrs pipxtreme) @@ -57,16 +49,9 @@ help: @echo " Notes:" @echo " - package will be placed in $(PACKAGE_DIR)" @echo - @echo " - the build directory will be removed first on every run unless one" - @echo " of CLEAN_BUILD=NO or CLEAN_BUILD=NEVER options is defined." - @echo - @echo " CLEAN_BUILD=NO means no clean before build except for multi-input" - @echo " firmware binaries like CopterControl or OpenPilot. This usually is" - @echo " safe." - @echo - @echo " CLEAN_BUILD=NEVER means no clean will be done at all. This will," - @echo " probably, give invalid multi-input firmware and is recommended" - @echo " for package testing only. Do not use for release builds." + @echo " - the build directory will be removed first on every run unless" + @echo " CLEAN_BUILD=NO is defined. It means no clean before build." + @echo " This usually is safe." @echo # Clean and build uavobjects since all parts depend on them @@ -99,12 +84,8 @@ endif .PHONY: $(1) endef -# Firmware for different input drivers -$(eval $(call INSTALL_TEMPLATE,fw_common,uavobjects,$(FW_DIR),,-$(PACKAGE_LBL),,,$(FW_TARGETS_COMMON),install)) -$(eval $(call INSTALL_TEMPLATE,fw_pwm,uavobjects,$(FW_DIR),,-pwm-$(PACKAGE_LBL),,clean,$(FW_TARGETS_PWM),install)) -$(eval $(call INSTALL_TEMPLATE,fw_dsm2,uavobjects,$(FW_DIR),,-dsm2sat-$(PACKAGE_LBL),USE_SPEKTRUM=YES,clean,$(FW_TARGETS_DSM2),install)) -$(eval $(call INSTALL_TEMPLATE,fw_sbus,uavobjects,$(FW_DIR),,-sbus-$(PACKAGE_LBL),USE_SBUS=YES USE_TELEMETRY=3,clean,$(FW_TARGETS_SBUS),install)) -$(eval $(call INSTALL_TEMPLATE,fw_ppm,uavobjects,$(FW_DIR),,-ppm-$(PACKAGE_LBL),USE_PPM=YES,clean,$(FW_TARGETS_PPM),install)) +# Firmware +$(eval $(call INSTALL_TEMPLATE,all_fw,uavobjects,$(FW_DIR),,-$(PACKAGE_LBL),,,$(FW_TARGETS),install)) # Bootloaders (change 'install' to 'bin' if you don't want to install bootloaders) $(eval $(call INSTALL_TEMPLATE,all_bl,uavobjects,$(BL_DIR),,-$(PACKAGE_LBL),,,$(BL_TARGETS),install)) @@ -112,34 +93,14 @@ $(eval $(call INSTALL_TEMPLATE,all_bl,uavobjects,$(BL_DIR),,-$(PACKAGE_LBL),,,$( # Bootloader updaters $(eval $(call INSTALL_TEMPLATE,all_bu,all_bl,$(BU_DIR),,-$(PACKAGE_LBL),,,$(BU_TARGETS),install)) -# CopterControl flash eraser tool -$(eval $(call INSTALL_TEMPLATE,fw_tools,uavobjects,$(FE_DIR),,-flash-erase-$(PACKAGE_LBL),ERASE_FLASH=YES,clean,$(FW_TARGETS_TOOLS),install)) - # Order-only dependencies -# They are bit complicated to support parallel (-j) builds and to create -# the pwm/ppm/spektrum and CC flash eraser targets in some fixed order - -fw_pwm: | # default dependencies, will be built first - -fw_dsm2: | fw_pwm # ordered build - -fw_sbus: | fw_dsm2 # ordered build - -fw_ppm: | fw_sbus # ordered build - -fw_tools: | fw_ppm # ordered build - -package_fw: | fw_common fw_pwm fw_dsm2 fw_sbus fw_ppm - -package_bu: | all_bu - -package_flight: | package_fw package_bu fw_tools +package_flight: | all_fw all_bu package_ground: | ground_package package: | package_flight package_ground -.PHONY: help uavobjects all_clean package package_flight package_fw package_bu package_ground +.PHONY: help uavobjects all_clean package_flight package_ground package # Decide on a verbosity level based on the V= parameter export AT := @ From 612a439199382bb5ade3e0931557e953ea86f7bc Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Tue, 12 Jul 2011 20:44:32 -0700 Subject: [PATCH 137/241] OP-423: simplify the MODULE_INITCALL macro and remove the ordering loops --- flight/Modules/AHRSComms/ahrs_comms.c | 2 +- flight/Modules/Actuator/actuator.c | 2 +- flight/Modules/Altitude/altitude.c | 2 +- flight/Modules/Attitude/attitude.c | 2 +- flight/Modules/Battery/battery.c | 3 ++- flight/Modules/Example/example.c | 2 +- flight/Modules/FirmwareIAP/firmwareiap.c | 2 +- flight/Modules/FlightPlan/flightplan.c | 2 +- flight/Modules/GPS/GPS.c | 2 +- flight/Modules/Guidance/guidance.c | 2 +- flight/Modules/ManualControl/manualcontrol.c | 2 +- flight/Modules/Stabilization/stabilization.c | 2 +- flight/Modules/System/systemmod.c | 2 +- flight/Modules/Telemetry/telemetry.c | 2 +- flight/PiOS/inc/pios_initcall.h | 26 ++++++-------------- 15 files changed, 22 insertions(+), 33 deletions(-) diff --git a/flight/Modules/AHRSComms/ahrs_comms.c b/flight/Modules/AHRSComms/ahrs_comms.c index 69885270f..0c98969e3 100644 --- a/flight/Modules/AHRSComms/ahrs_comms.c +++ b/flight/Modules/AHRSComms/ahrs_comms.c @@ -88,7 +88,7 @@ int32_t AHRSCommsInitialize(void) return 0; } -MODULE_INITCALL(AHRSCommsInitialize, 0, AHRSCommsStart, 0, MODULE_EXEC_NOORDER_FLAG) +MODULE_INITCALL(AHRSCommsInitialize, AHRSCommsStart) /** * Module thread, should not return. diff --git a/flight/Modules/Actuator/actuator.c b/flight/Modules/Actuator/actuator.c index 94a17ccfa..269b9dda6 100644 --- a/flight/Modules/Actuator/actuator.c +++ b/flight/Modules/Actuator/actuator.c @@ -116,7 +116,7 @@ int32_t ActuatorInitialize() return 0; } -MODULE_INITCALL(ActuatorInitialize, 0, ActuatorStart, 0, MODULE_EXEC_NOORDER_FLAG) +MODULE_INITCALL(ActuatorInitialize, ActuatorStart) /** * @brief Main Actuator module task diff --git a/flight/Modules/Altitude/altitude.c b/flight/Modules/Altitude/altitude.c index d7a026f1e..363cba15f 100644 --- a/flight/Modules/Altitude/altitude.c +++ b/flight/Modules/Altitude/altitude.c @@ -90,7 +90,7 @@ int32_t AltitudeInitialize() return 0; } -MODULE_INITCALL(AltitudeInitialize, 0, AltitudeStart, 0, MODULE_EXEC_NOORDER_FLAG) +MODULE_INITCALL(AltitudeInitialize, AltitudeStart) /** * Module thread, should not return. */ diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c index 0f6b13a19..87daf3c52 100644 --- a/flight/Modules/Attitude/attitude.c +++ b/flight/Modules/Attitude/attitude.c @@ -147,7 +147,7 @@ int32_t AttitudeInitialize(void) return 0; } -MODULE_INITCALL(AttitudeInitialize, 0, AttitudeStart, 0, MODULE_EXEC_NOORDER_FLAG) +MODULE_INITCALL(AttitudeInitialize, AttitudeStart) /** * Module thread, should not return. diff --git a/flight/Modules/Battery/battery.c b/flight/Modules/Battery/battery.c index 19112bd13..fe36745bb 100644 --- a/flight/Modules/Battery/battery.c +++ b/flight/Modules/Battery/battery.c @@ -75,7 +75,8 @@ static void onTimer(UAVObjEvent* ev); * Initialise the module, called on startup * \returns 0 on success or -1 if initialisation failed */ -MODULE_INITCALL(BatteryInitialize, 0, 0, 0, MODULE_EXEC_NOORDER_FLAG) +MODULE_INITCALL(BatteryInitialize, 0) + int32_t BatteryInitialize(void) { static UAVObjEvent ev; diff --git a/flight/Modules/Example/example.c b/flight/Modules/Example/example.c index 8b2761616..d50809415 100644 --- a/flight/Modules/Example/example.c +++ b/flight/Modules/Example/example.c @@ -59,4 +59,4 @@ void ExampleInitialize(void) { ExampleModEventInitialize(); } -MODULE_INITCALL(ExampleInitialize, 0, ExampleStart, 0, MODULE_EXEC_NOORDER_FLAG) +MODULE_INITCALL(ExampleInitialize, ExampleStart) diff --git a/flight/Modules/FirmwareIAP/firmwareiap.c b/flight/Modules/FirmwareIAP/firmwareiap.c index b00099ff8..e3372019c 100644 --- a/flight/Modules/FirmwareIAP/firmwareiap.c +++ b/flight/Modules/FirmwareIAP/firmwareiap.c @@ -88,7 +88,7 @@ static void resetTask(UAVObjEvent *); * \note * */ -MODULE_INITCALL(FirmwareIAPInitialize, 0, 0, 0, MODULE_EXEC_NOORDER_FLAG) +MODULE_INITCALL(FirmwareIAPInitialize, 0) int32_t FirmwareIAPInitialize() { const struct pios_board_info * bdinfo = &pios_board_info_blob; diff --git a/flight/Modules/FlightPlan/flightplan.c b/flight/Modules/FlightPlan/flightplan.c index 16f454f5d..5537c8f15 100644 --- a/flight/Modules/FlightPlan/flightplan.c +++ b/flight/Modules/FlightPlan/flightplan.c @@ -86,7 +86,7 @@ int32_t FlightPlanInitialize() return 0; } -MODULE_INITCALL(FlightPlanInitialize, 0, FlightPlanStart, 0, MODULE_EXEC_NOORDER_FLAG) +MODULE_INITCALL(FlightPlanInitialize, FlightPlanStart) /** * Module task */ diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c index 022731155..163c3f577 100644 --- a/flight/Modules/GPS/GPS.c +++ b/flight/Modules/GPS/GPS.c @@ -129,7 +129,7 @@ int32_t GPSInitialize(void) return 0; } -MODULE_INITCALL(GPSInitialize, 0, GPSStart, 0, MODULE_EXEC_NOORDER_FLAG) +MODULE_INITCALL(GPSInitialize, GPSStart) // **************** /** diff --git a/flight/Modules/Guidance/guidance.c b/flight/Modules/Guidance/guidance.c index cad7c3e50..348210675 100644 --- a/flight/Modules/Guidance/guidance.c +++ b/flight/Modules/Guidance/guidance.c @@ -105,7 +105,7 @@ int32_t GuidanceInitialize() return 0; } -MODULE_INITCALL(GuidanceInitialize, 0, GuidanceStart, 0, MODULE_EXEC_NOORDER_FLAG) +MODULE_INITCALL(GuidanceInitialize, GuidanceStart) static float northVelIntegral = 0; static float eastVelIntegral = 0; diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c index 7f6088b0f..4d5b3af02 100644 --- a/flight/Modules/ManualControl/manualcontrol.c +++ b/flight/Modules/ManualControl/manualcontrol.c @@ -112,7 +112,7 @@ int32_t ManualControlInitialize() return 0; } -MODULE_INITCALL(ManualControlInitialize, 0, ManualControlStart, 0, MODULE_EXEC_NOORDER_FLAG) +MODULE_INITCALL(ManualControlInitialize, ManualControlStart) /** * Module task diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c index 024dd5585..665c0188c 100644 --- a/flight/Modules/Stabilization/stabilization.c +++ b/flight/Modules/Stabilization/stabilization.c @@ -129,7 +129,7 @@ int32_t StabilizationInitialize() return 0; } -MODULE_INITCALL(StabilizationInitialize, 0, StabilizationStart, 0, MODULE_EXEC_NOORDER_FLAG) +MODULE_INITCALL(StabilizationInitialize, StabilizationStart) /** * Module task diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c index 2c3d9de48..f555d227f 100644 --- a/flight/Modules/System/systemmod.c +++ b/flight/Modules/System/systemmod.c @@ -111,7 +111,7 @@ int32_t SystemModInitialize(void) return 0; } -MODULE_INITCALL(SystemModInitialize, 0, 0, 0, MODULE_EXEC_FIRST_FLAG) +MODULE_INITCALL(SystemModInitialize, 0) /** * System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS */ diff --git a/flight/Modules/Telemetry/telemetry.c b/flight/Modules/Telemetry/telemetry.c index c711a9151..ad0e39278 100644 --- a/flight/Modules/Telemetry/telemetry.c +++ b/flight/Modules/Telemetry/telemetry.c @@ -143,7 +143,7 @@ int32_t TelemetryInitialize(void) return 0; } -MODULE_INITCALL(TelemetryInitialize, 0, TelemetryStart, 0, MODULE_EXEC_LAST_FLAG) +MODULE_INITCALL(TelemetryInitialize, TelemetryStart) /** * Register a new object, adds object to local list and connects the queue depending on the object's diff --git a/flight/PiOS/inc/pios_initcall.h b/flight/PiOS/inc/pios_initcall.h index 041a7c1d5..68b9ef077 100644 --- a/flight/PiOS/inc/pios_initcall.h +++ b/flight/PiOS/inc/pios_initcall.h @@ -41,16 +41,10 @@ /* * Used for initialization calls.. */ -#define MODULE_EXEC_NOORDER_FLAG 0xFA000000 -#define MODULE_EXEC_FIRST_FLAG 0xFA000001 -#define MODULE_EXEC_LAST_FLAG 0xFA000002 typedef int32_t (*initcall_t)(void); typedef struct { - uint32_t flag; - uint32_t param_minit; initcall_t fn_minit; - uint32_t param_tinit; initcall_t fn_tinit; } initmodule_t; @@ -69,26 +63,20 @@ extern initmodule_t __module_initcall_start[], __module_initcall_end[]; static initcall_t __initcall_##fn##id __attribute__((__used__)) \ __attribute__((__section__(".initcall" level ".init"))) = fn -#define __define_module_initcall(level,ifn,iparam,sfn,sparam, param) \ +#define __define_module_initcall(level, ifn, sfn) \ static initmodule_t __initcall_##fn __attribute__((__used__)) \ - __attribute__((__section__(".initcall" level ".init"))) = { .flag = param, .param_minit = iparam, .fn_minit = ifn, .param_tinit = sparam, .fn_tinit = sfn }; + __attribute__((__section__(".initcall" level ".init"))) = { .fn_minit = ifn, .fn_tinit = sfn }; #define UAVOBJ_INITCALL(fn) __define_initcall("uavobj",fn,1) -#define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags) __define_module_initcall("module", ifn, iparam, sfn, sparam, flags) +#define MODULE_INITCALL(ifn, sfn) __define_module_initcall("module", ifn, sfn) #define MODULE_INITIALISE_ALL { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \ - if (fn->fn_minit && ( (fn->flag & MODULE_EXEC_FIRST_FLAG) == MODULE_EXEC_FIRST_FLAG) ) \ - (fn->fn_minit)(); \ - for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \ - if (fn->fn_minit && ( (fn->flag & (MODULE_EXEC_LAST_FLAG | MODULE_EXEC_FIRST_FLAG)) == MODULE_EXEC_NOORDER_FLAG) ) \ - (fn->fn_minit)(); \ - for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \ - if (fn->fn_minit && ( (fn->flag & MODULE_EXEC_LAST_FLAG) == MODULE_EXEC_LAST_FLAG) ) \ - (fn->fn_minit)(); } + if (fn->fn_minit) \ + (fn->fn_minit)(); } #define MODULE_TASKCREATE_ALL { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \ - if (fn->fn_tinit) \ - (fn->fn_tinit)(); } + if (fn->fn_tinit) \ + (fn->fn_tinit)(); } #endif /* PIOS_INITCALL_H */ From 61e5d14d0dbba5e86e2551a54b0b87c19dc8234b Mon Sep 17 00:00:00 2001 From: dankers Date: Wed, 13 Jul 2011 23:57:59 +1000 Subject: [PATCH 138/241] Add Joe's frame renders to the ModelView configuration. --- artwork/3D Model/multi/joes_cnc/CC.PNG | Bin 0 -> 98507 bytes artwork/3D Model/multi/joes_cnc/J14-QT_+.3DS | Bin 0 -> 2561252 bytes artwork/3D Model/multi/joes_cnc/J14-QT_+.jpg | Bin 0 -> 127973 bytes artwork/3D Model/multi/joes_cnc/J14-QT_X.3DS | Bin 0 -> 2561724 bytes artwork/3D Model/multi/joes_cnc/J14-QT_X.jpg | Bin 0 -> 135719 bytes artwork/3D Model/multi/joes_cnc/J14-Q_+.3DS | Bin 0 -> 1689397 bytes artwork/3D Model/multi/joes_cnc/J14-Q_+.jpg | Bin 0 -> 85812 bytes artwork/3D Model/multi/joes_cnc/J14-Q_X.3DS | Bin 0 -> 1689405 bytes artwork/3D Model/multi/joes_cnc/J14-Q_X.jpg | Bin 0 -> 86027 bytes artwork/3D Model/multi/joes_cnc/TEXTURE.PNG | Bin 0 -> 1122 bytes .../openpilotgcs/models/multi/joes_cnc/CC.PNG | Bin 0 -> 98507 bytes .../models/multi/joes_cnc/J14-QT_+.3DS | Bin 0 -> 2561252 bytes .../models/multi/joes_cnc/J14-QT_+.jpg | Bin 0 -> 127973 bytes .../models/multi/joes_cnc/J14-QT_X.3DS | Bin 0 -> 2561724 bytes .../models/multi/joes_cnc/J14-QT_X.jpg | Bin 0 -> 135719 bytes .../models/multi/joes_cnc/J14-Q_+.3DS | Bin 0 -> 1689397 bytes .../models/multi/joes_cnc/J14-Q_+.jpg | Bin 0 -> 85812 bytes .../models/multi/joes_cnc/J14-Q_X.3DS | Bin 0 -> 1689405 bytes .../models/multi/joes_cnc/J14-Q_X.jpg | Bin 0 -> 86027 bytes .../models/multi/joes_cnc/TEXTURE.PNG | Bin 0 -> 1122 bytes .../src/plugins/coreplugin/OpenPilotGCS.xml | 44 ++++++++++++++++++ 21 files changed, 44 insertions(+) create mode 100644 artwork/3D 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