mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-01 09:24:10 +01:00
OP-1477 - some cleanup
This commit is contained in:
Alessio Morale
parent
7e55d6ff41
commit
71af403c9d
@ -58,7 +58,7 @@ static const struct pios_gpio pios_leds_gpsp[] = {
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.init = {
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.GPIO_Pin = GPIO_Pin_4,
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.GPIO_Mode = GPIO_Mode_OUT,
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.GPIO_OType = GPIO_OType_OD,
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.GPIO_OType = GPIO_OType_OD,
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.GPIO_Speed = GPIO_Speed_Level_1,
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},
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},
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@ -89,19 +89,19 @@ void DMA1_Channel2_3_IRQHandler() __attribute__((alias("PIOS_SPI_mag_flash_irq_h
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static uint32_t pios_spi_mag_flash_id;
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static const struct pios_spi_cfg pios_spi_mag_flash_cfg = {
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.remap = GPIO_AF_0,
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.regs = SPI1,
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.init = {
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.regs = SPI1,
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.init = {
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.SPI_Mode = SPI_Mode_Master,
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.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
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.SPI_DataSize = SPI_DataSize_8b,
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.SPI_NSS = SPI_NSS_Soft,
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.SPI_NSS = SPI_NSS_Soft,
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.SPI_FirstBit = SPI_FirstBit_MSB,
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.SPI_CRCPolynomial = 7,
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.SPI_CPOL = SPI_CPOL_High,
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.SPI_CPHA = SPI_CPHA_2Edge,
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.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
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},
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.dma = {
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.dma = {
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.ahb_clk = RCC_AHBPeriph_DMA1,
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.irq = {
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@ -113,37 +113,37 @@ static const struct pios_spi_cfg pios_spi_mag_flash_cfg = {
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},
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},
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.rx = {
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.rx = {
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.channel = DMA1_Channel2,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
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.DMA_DIR = DMA_DIR_PeripheralSRC,
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
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.DMA_DIR = DMA_DIR_PeripheralSRC,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_Medium,
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.DMA_M2M = DMA_M2M_Disable,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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.tx = {
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.tx = {
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.channel = DMA1_Channel3,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
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.DMA_DIR = DMA_DIR_PeripheralDST,
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
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.DMA_DIR = DMA_DIR_PeripheralDST,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_Medium,
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.DMA_M2M = DMA_M2M_Disable,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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},
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.use_crc = false,
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.sclk = {
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.sclk = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_5,
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@ -152,7 +152,7 @@ static const struct pios_spi_cfg pios_spi_mag_flash_cfg = {
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.GPIO_OType = GPIO_OType_PP,
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},
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},
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.miso = {
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.miso = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_6,
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@ -161,7 +161,7 @@ static const struct pios_spi_cfg pios_spi_mag_flash_cfg = {
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.GPIO_OType = GPIO_OType_OD,
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},
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},
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.mosi = {
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.mosi = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_7,
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@ -170,8 +170,8 @@ static const struct pios_spi_cfg pios_spi_mag_flash_cfg = {
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.GPIO_OType = GPIO_OType_PP,
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},
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},
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.slave_count = 2,
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.ssel = {
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.slave_count = 2,
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.ssel = {
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{
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.gpio = GPIOA,
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.init = {
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@ -233,7 +233,7 @@ static const struct pios_exti_cfg pios_exti_mag_cfg __exti_config = {
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},
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},
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};
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#endif
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#endif /* ifdef PIOS_HMC5x83_HAS_GPIOS */
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static const struct pios_hmc5x83_cfg pios_mag_cfg = {
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#ifdef PIOS_HMC5x83_HAS_GPIOS
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@ -241,9 +241,9 @@ static const struct pios_hmc5x83_cfg pios_mag_cfg = {
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#endif
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.M_ODR = PIOS_HMC5x83_ODR_75,
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.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
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.Gain = PIOS_HMC5x83_GAIN_1_9,
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.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
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.Driver = &PIOS_HMC5x83_SPI_DRIVER,
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.Gain = PIOS_HMC5x83_GAIN_1_9,
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.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
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.Driver = &PIOS_HMC5x83_SPI_DRIVER,
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};
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#endif /* PIOS_INCLUDE_HMC5883 */
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@ -255,24 +255,24 @@ static const struct pios_hmc5x83_cfg pios_mag_cfg = {
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#include "pios_usart_priv.h"
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static const struct pios_usart_cfg pios_usart_generic_main_cfg = {
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.regs = USART1,
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.regs = USART1,
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.remap = GPIO_AF_1,
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.init = {
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.init = {
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.USART_BaudRate = 115200,
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.USART_WordLength = USART_WordLength_8b,
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.USART_Parity = USART_Parity_No,
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.USART_StopBits = USART_StopBits_1,
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.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
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.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
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.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
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.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
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},
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.irq = {
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.init = {
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.irq = {
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.init = {
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.NVIC_IRQChannel = USART1_IRQn,
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.NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_MID,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.rx = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_10,
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@ -281,7 +281,7 @@ static const struct pios_usart_cfg pios_usart_generic_main_cfg = {
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.GPIO_Mode = GPIO_Mode_AF,
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},
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},
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.tx = {
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.tx = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_9,
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@ -311,8 +311,8 @@ void RTC_IRQHandler() __attribute__((alias("PIOS_RTC_IRQ_Handler")));
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static const struct pios_rtc_cfg pios_rtc_main_cfg = {
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.clksrc = RCC_RTCCLKSource_LSI,
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.prescaler = 100,
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.irq = {
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.init = {
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.irq = {
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.init = {
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.NVIC_IRQChannel = RTC_IRQn,
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.NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_MID,
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.NVIC_IRQChannelCmd = ENABLE,
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@ -336,52 +336,56 @@ void PIOS_RTC_IRQ_Handler(void)
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*/
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void PIOS_I2C_gps_irq_handler(void);
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void I2C2_IRQHandler() __attribute__((alias("PIOS_I2C_gps_irq_handler")));
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void I2C1_IRQHandler() __attribute__((alias("PIOS_I2C_gps_irq_handler")));
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static const struct pios_i2c_adapter_cfg pios_i2c_gps_cfg = {
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.regs = I2C2,
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.init = {
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.I2C_Mode = I2C_Mode_I2C,
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.I2C_OwnAddress1 = 0,
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.I2C_Ack = I2C_Ack_Enable,
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.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
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/* (3) Timing register value is computed with the AN4235 xls file,
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fast Mode @400kHz with I2CCLK = 48MHz, rise time = 140ns,
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fall time = 40ns */
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.I2C_Timing = (uint32_t)0x00B01A4B,
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.remap = GPIO_AF_1,
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.regs = I2C1,
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.init = {
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.I2C_Mode = I2C_Mode_I2C,
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.I2C_AnalogFilter = I2C_AnalogFilter_Enable,
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.I2C_DigitalFilter = 0x00,
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.I2C_OwnAddress1 = 0x00,
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.I2C_Ack = I2C_Ack_Enable,
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.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
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.I2C_Timing = (uint32_t)0x00210507,
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},
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.transfer_timeout_ms = 50,
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.scl = {
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.transfer_timeout_ms = 50,
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.scl = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_6,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_OType = GPIO_OType_OD,
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.GPIO_PuPd = GPIO_PuPd_NOPULL,
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.GPIO_Mode = GPIO_Mode_AF,
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.GPIO_Pin = GPIO_Pin_10,
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},
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.pin_source = GPIO_PinSource6,
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},
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.sda = {
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.sda = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_11,
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.GPIO_Pin = GPIO_Pin_7,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_OType = GPIO_OType_OD,
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.GPIO_PuPd = GPIO_PuPd_NOPULL,
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.GPIO_Mode = GPIO_Mode_AF,
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},
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.pin_source = GPIO_PinSource7,
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},
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.event = {
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.flags = 0, /* FIXME: check this */
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.event = {
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.flags = 0,
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.init = {
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.NVIC_IRQChannel = I2C2_IRQn,
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.NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_HIGHEST,
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.NVIC_IRQChannel = I2C1_IRQn,
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.NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.error = {
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.flags = 0, /* FIXME: check this */
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.error = {
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.flags = 0,
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.init = {
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.NVIC_IRQChannel = I2C2_IRQn,
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.NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_HIGHEST,
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.NVIC_IRQChannel = I2C1_IRQn,
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.NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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@ -395,7 +399,6 @@ void PIOS_I2C_gps_irq_handler(void)
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}
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#endif /* PIOS_INCLUDE_I2C */
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#if defined(PIOS_INCLUDE_COM_MSG)
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@ -59,9 +59,9 @@ uint8_t tempcount = 0;
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/* Extern variables ----------------------------------------------------------*/
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DFUStates DeviceState;
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int16_t status = 0;
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bool JumpToApp = false;
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bool GO_dfu = false;
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int16_t status = 0;
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bool JumpToApp = false;
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bool GO_dfu = false;
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bool User_DFU_request = false;
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static uint8_t mReceive_Buffer[63];
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/* Private function prototypes -----------------------------------------------*/
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@ -67,12 +67,14 @@ void PIOS_Board_Init(void)
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board_init_complete = true;
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}
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void setupCom(){
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void setupCom()
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{
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uint32_t pios_usart_generic_id;
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if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
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PIOS_Assert(0);
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PIOS_Assert(0);
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}
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if (PIOS_COM_MSG_Init(&PIOS_COM_TELEM_USB, &pios_usart_com_driver, pios_usart_generic_id)) {
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PIOS_Assert(0);
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PIOS_Assert(0);
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}
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}
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@ -51,8 +51,8 @@ SRC += $(CMSIS_DEVICEDIR)/system_stm32f0xx.c
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SRC += $(OPSYSTEM)/gpsp.c
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SRC += $(OPSYSTEM)/pios_board.c
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#SRC += $(FLIGHTLIB)/alarms.c
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SRC += $(OPUAVOBJ)/uavobjectmanager.c
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SRC += $(OPUAVOBJ)/eventdispatcher.c
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#SRC += $(OPUAVOBJ)/uavobjectmanager.c
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#SRC += $(OPUAVOBJ)/eventdispatcher.c
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SRC += $(PIOSCOMMON)/pios_hmc5x83.c
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@ -1,22 +1,22 @@
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/*
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FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd.
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FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that has become a de facto standard. *
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* *
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||||
* Help yourself get started quickly and support the FreeRTOS *
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||||
* project by purchasing a FreeRTOS tutorial book, reference *
|
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* manual, or both from: http://www.FreeRTOS.org/Documentation *
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* *
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* Thank you! *
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* *
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***************************************************************************
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
|
||||
* robust, strictly quality controlled, supported, and cross *
|
||||
* platform software that has become a de facto standard. *
|
||||
* *
|
||||
* Help yourself get started quickly and support the FreeRTOS *
|
||||
* project by purchasing a FreeRTOS tutorial book, reference *
|
||||
* manual, or both from: http://www.FreeRTOS.org/Documentation *
|
||||
* *
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* Thank you! *
|
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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@ -36,14 +36,14 @@
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1 tab == 4 spaces!
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***************************************************************************
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* *
|
||||
* Having a problem? Start by reading the FAQ "My application does *
|
||||
* not run, what could be wrong?" *
|
||||
* *
|
||||
* http://www.FreeRTOS.org/FAQHelp.html *
|
||||
* *
|
||||
***************************************************************************
|
||||
***************************************************************************
|
||||
* *
|
||||
* Having a problem? Start by reading the FAQ "My application does *
|
||||
* not run, what could be wrong?" *
|
||||
* *
|
||||
* http://www.FreeRTOS.org/FAQHelp.html *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
|
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license and Real Time Engineers Ltd. contact details.
|
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@ -61,23 +61,23 @@
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mission critical applications that require provable dependability.
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|
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1 tab == 4 spaces!
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||||
*/
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*/
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|
||||
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#ifndef FREERTOS_CONFIG_H
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#define FREERTOS_CONFIG_H
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|
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/*-----------------------------------------------------------
|
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* Application specific definitions.
|
||||
*
|
||||
* These definitions should be adjusted for your particular hardware and
|
||||
* application requirements.
|
||||
*
|
||||
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
|
||||
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
|
||||
*
|
||||
* See http://www.freertos.org/a00110.html.
|
||||
*----------------------------------------------------------*/
|
||||
* Application specific definitions.
|
||||
*
|
||||
* These definitions should be adjusted for your particular hardware and
|
||||
* application requirements.
|
||||
*
|
||||
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
|
||||
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
|
||||
*
|
||||
* See http://www.freertos.org/a00110.html.
|
||||
*----------------------------------------------------------*/
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/**
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* @addtogroup PIOS PIOS
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@ -90,33 +90,33 @@
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#define configUSE_PREEMPTION 1
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#define configUSE_IDLE_HOOK 1
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#define configUSE_TICK_HOOK 0
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#define configCPU_CLOCK_HZ ( 48000000 )
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#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
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#define configMAX_PRIORITIES ( 5 )
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#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 60 )
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#define configCPU_CLOCK_HZ (48000000)
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#define configTICK_RATE_HZ ((TickType_t)1000)
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#define configMAX_PRIORITIES (5)
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#define configMINIMAL_STACK_SIZE ((unsigned short)40)
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#define configTOTAL_HEAP_SIZE ((size_t)(2048))
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#define configMAX_TASK_NAME_LEN ( 5 )
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#define configMAX_TASK_NAME_LEN (5)
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#define configUSE_TRACE_FACILITY 0
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#define configUSE_16_BIT_TICKS 0
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#define configIDLE_SHOULD_YIELD 1
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#define configUSE_MUTEXES 1
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#define configQUEUE_REGISTRY_SIZE 4
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#define configCHECK_FOR_STACK_OVERFLOW 2
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#define configUSE_RECURSIVE_MUTEXES 1
|
||||
#define configUSE_MALLOC_FAILED_HOOK 1
|
||||
#define configUSE_APPLICATION_TASK_TAG 0
|
||||
#define configUSE_COUNTING_SEMAPHORES 1
|
||||
#define configGENERATE_RUN_TIME_STATS 0
|
||||
#define configIDLE_SHOULD_YIELD 1
|
||||
#define configUSE_MUTEXES 1
|
||||
#define configQUEUE_REGISTRY_SIZE 0
|
||||
#define configCHECK_FOR_STACK_OVERFLOW 2
|
||||
#define configUSE_RECURSIVE_MUTEXES 1
|
||||
#define configUSE_MALLOC_FAILED_HOOK 1
|
||||
#define configUSE_APPLICATION_TASK_TAG 0
|
||||
#define configUSE_COUNTING_SEMAPHORES 1
|
||||
#define configGENERATE_RUN_TIME_STATS 0
|
||||
|
||||
/* Co-routine definitions. */
|
||||
#define configUSE_CO_ROUTINES 0
|
||||
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
|
||||
#define configUSE_CO_ROUTINES 0
|
||||
#define configMAX_CO_ROUTINE_PRIORITIES (2)
|
||||
|
||||
/* Software timer definitions. */
|
||||
#define configUSE_TIMERS 1
|
||||
#define configTIMER_TASK_PRIORITY ( 2 )
|
||||
#define configTIMER_QUEUE_LENGTH 5
|
||||
#define configTIMER_TASK_STACK_DEPTH ( 80 )
|
||||
#define configUSE_TIMERS 0
|
||||
#define configTIMER_TASK_PRIORITY (2)
|
||||
#define configTIMER_QUEUE_LENGTH 5
|
||||
#define configTIMER_TASK_STACK_DEPTH (80)
|
||||
|
||||
/* Set the following definitions to 1 to include the API function, or zero
|
||||
to exclude the API function. */
|
||||
@ -135,7 +135,7 @@
|
||||
/* This is the raw value as per the Cortex-M3 NVIC. Values can be 255
|
||||
(lowest) to 1 (highest maskable) to 0 (highest non-maskable). */
|
||||
#define configKERNEL_INTERRUPT_PRIORITY 15 << 4 /* equivalent to NVIC priority 15 */
|
||||
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 3 << 4 /* equivalent to NVIC priority 3 */
|
||||
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 3 << 4 /* equivalent to NVIC priority 3 */
|
||||
|
||||
/* This is the value being used as per the ST library which permits 16
|
||||
priority values, 0 to 15. This must correspond to the
|
||||
@ -145,20 +145,21 @@
|
||||
|
||||
|
||||
/* Enable run time stats collection */
|
||||
#define configGENERATE_RUN_TIME_STATS 0
|
||||
#define INCLUDE_uxTaskGetRunTime 0
|
||||
#define INCLUDE_xTaskGetIdleTaskHandle 1
|
||||
|
||||
#define configGENERATE_RUN_TIME_STATS 0
|
||||
#define INCLUDE_uxTaskGetRunTime 0
|
||||
#define INCLUDE_xTaskGetIdleTaskHandle 1
|
||||
|
||||
|
||||
/* Normal assert() semantics without relying on the provision of an assert.h
|
||||
header file. */
|
||||
#define configASSERT( x ) if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
|
||||
header file. */
|
||||
#define configASSERT(x) \
|
||||
if ((x) == 0) { taskDISABLE_INTERRUPTS(); for (;;) {; } \
|
||||
}
|
||||
|
||||
/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
|
||||
standard names - or at least those used in the unmodified vector table. */
|
||||
#define vPortSVCHandler SVC_Handler
|
||||
#define xPortPendSVHandler PendSV_Handler
|
||||
standard names - or at least those used in the unmodified vector table. */
|
||||
#define vPortSVCHandler SVC_Handler
|
||||
#define xPortPendSVHandler PendSV_Handler
|
||||
#define xPortSysTickHandler SysTick_Handler
|
||||
|
||||
/**
|
||||
@ -166,4 +167,3 @@ standard names - or at least those used in the unmodified vector table. */
|
||||
*/
|
||||
|
||||
#endif /* FREERTOS_CONFIG_H */
|
||||
|
||||
|
||||
@ -45,7 +45,7 @@
|
||||
|
||||
|
||||
/* PIOS CallbackScheduler support */
|
||||
#define PIOS_INCLUDE_CALLBACKSCHEDULER
|
||||
// #define PIOS_INCLUDE_CALLBACKSCHEDULER
|
||||
|
||||
/* PIOS bootloader helper */
|
||||
#define PIOS_INCLUDE_BL_HELPER
|
||||
@ -55,32 +55,32 @@
|
||||
#define PIOS_INCLUDE_DELAY
|
||||
#define PIOS_INCLUDE_INITCALL
|
||||
#define PIOS_INCLUDE_SYS
|
||||
#define PIOS_INCLUDE_TASK_MONITOR
|
||||
// #define PIOS_INCLUDE_TASK_MONITOR
|
||||
|
||||
/* PIOS hardware peripherals */
|
||||
#define PIOS_INCLUDE_IRQ
|
||||
#define PIOS_INCLUDE_RTC
|
||||
//#define PIOS_INCLUDE_TIM
|
||||
// #define PIOS_INCLUDE_TIM
|
||||
#define PIOS_INCLUDE_USART
|
||||
//#define PIOS_INCLUDE_ADC
|
||||
//#define PIOS_INCLUDE_I2C
|
||||
// #define PIOS_INCLUDE_ADC
|
||||
#define PIOS_INCLUDE_I2C
|
||||
#define PIOS_INCLUDE_SPI
|
||||
#define PIOS_INCLUDE_GPIO
|
||||
#define PIOS_INCLUDE_EXTI
|
||||
//#define PIOS_INCLUDE_WDG
|
||||
// #define PIOS_INCLUDE_WDG
|
||||
|
||||
/* PIOS USB functions */
|
||||
//#define PIOS_INCLUDE_USB
|
||||
//#define PIOS_INCLUDE_USB_HID
|
||||
//#define PIOS_INCLUDE_USB_CDC
|
||||
//#define PIOS_INCLUDE_USB_RCTX
|
||||
// #define PIOS_INCLUDE_USB
|
||||
// #define PIOS_INCLUDE_USB_HID
|
||||
// #define PIOS_INCLUDE_USB_CDC
|
||||
// #define PIOS_INCLUDE_USB_RCTX
|
||||
|
||||
/* PIOS sensor interfaces */
|
||||
//#define PIOS_INCLUDE_ADXL345
|
||||
// #define PIOS_INCLUDE_ADXL345
|
||||
/* #define PIOS_INCLUDE_BMA180 */
|
||||
/* #define PIOS_INCLUDE_L3GD20 */
|
||||
//#define PIOS_INCLUDE_MPU6000
|
||||
//#define PIOS_MPU6000_ACCEL
|
||||
// #define PIOS_INCLUDE_MPU6000
|
||||
// #define PIOS_MPU6000_ACCEL
|
||||
/* #define PIOS_INCLUDE_HMC5843 */
|
||||
/* #define PIOS_INCLUDE_HMC5883 */
|
||||
#define PIOS_INCLUDE_HMC5X83
|
||||
@ -92,28 +92,28 @@
|
||||
/* #define PIOS_INCLUDE_HCSR04 */
|
||||
|
||||
/* PIOS receiver drivers */
|
||||
//#define PIOS_INCLUDE_PWM
|
||||
//#define PIOS_INCLUDE_PPM
|
||||
//#define PIOS_INCLUDE_PPM_FLEXI
|
||||
//#define PIOS_INCLUDE_DSM
|
||||
//#define PIOS_INCLUDE_SBUS
|
||||
//#define PIOS_INCLUDE_GCSRCVR
|
||||
//#define PIOS_INCLUDE_OPLINKRCVR
|
||||
// #define PIOS_INCLUDE_PWM
|
||||
// #define PIOS_INCLUDE_PPM
|
||||
// #define PIOS_INCLUDE_PPM_FLEXI
|
||||
// #define PIOS_INCLUDE_DSM
|
||||
// #define PIOS_INCLUDE_SBUS
|
||||
// #define PIOS_INCLUDE_GCSRCVR
|
||||
// #define PIOS_INCLUDE_OPLINKRCVR
|
||||
|
||||
/* PIOS abstract receiver interface */
|
||||
//#define PIOS_INCLUDE_RCVR
|
||||
// #define PIOS_INCLUDE_RCVR
|
||||
|
||||
/* PIOS common peripherals */
|
||||
#define PIOS_INCLUDE_LED
|
||||
#define PIOS_INCLUDE_IAP
|
||||
//#define PIOS_INCLUDE_SERVO
|
||||
// #define PIOS_INCLUDE_SERVO
|
||||
/* #define PIOS_INCLUDE_I2C_ESC */
|
||||
/* #define PIOS_INCLUDE_OVERO */
|
||||
/* #define PIOS_OVERO_SPI */
|
||||
/* #define PIOS_INCLUDE_SDCARD */
|
||||
/* #define LOG_FILENAME "startup.log" */
|
||||
//#define PIOS_INCLUDE_FLASH
|
||||
//#define PIOS_INCLUDE_FLASH_LOGFS_SETTINGS
|
||||
// #define PIOS_INCLUDE_FLASH
|
||||
// #define PIOS_INCLUDE_FLASH_LOGFS_SETTINGS
|
||||
/* #define FLASH_FREERTOS */
|
||||
/* #define PIOS_INCLUDE_FLASH_EEPROM */
|
||||
/* #define PIOS_INCLUDE_FLASH_INTERNAL */
|
||||
@ -133,41 +133,41 @@
|
||||
#define PIOS_INCLUDE_COM
|
||||
#define PIOS_INCLUDE_DEBUG_CONSOLE
|
||||
/* #define PIOS_INCLUDE_COM_MSG */
|
||||
//#define PIOS_INCLUDE_TELEMETRY_RF
|
||||
// #define PIOS_INCLUDE_TELEMETRY_RF
|
||||
/* #define PIOS_INCLUDE_COM_TELEM */
|
||||
/* #define PIOS_INCLUDE_COM_FLEXI */
|
||||
/* #define PIOS_INCLUDE_COM_AUX */
|
||||
/* #define PIOS_TELEM_PRIORITY_QUEUE */
|
||||
//#define PIOS_INCLUDE_GPS
|
||||
//#define PIOS_GPS_MINIMAL
|
||||
//#define PIOS_INCLUDE_GPS_NMEA_PARSER
|
||||
//#define PIOS_INCLUDE_GPS_UBX_PARSER
|
||||
// #define PIOS_INCLUDE_GPS
|
||||
// #define PIOS_GPS_MINIMAL
|
||||
// #define PIOS_INCLUDE_GPS_NMEA_PARSER
|
||||
// #define PIOS_INCLUDE_GPS_UBX_PARSER
|
||||
/* #define PIOS_GPS_SETS_HOMELOCATION */
|
||||
|
||||
/* Stabilization options */
|
||||
/* #define PIOS_QUATERNION_STABILIZATION */
|
||||
|
||||
/* Alarm Thresholds */
|
||||
#define HEAP_LIMIT_WARNING 220
|
||||
#define HEAP_LIMIT_CRITICAL 40
|
||||
#define IRQSTACK_LIMIT_WARNING 100
|
||||
#define IRQSTACK_LIMIT_CRITICAL 60
|
||||
#define CPULOAD_LIMIT_WARNING 85
|
||||
#define CPULOAD_LIMIT_CRITICAL 95
|
||||
#define HEAP_LIMIT_WARNING 220
|
||||
#define HEAP_LIMIT_CRITICAL 40
|
||||
#define IRQSTACK_LIMIT_WARNING 100
|
||||
#define IRQSTACK_LIMIT_CRITICAL 60
|
||||
#define CPULOAD_LIMIT_WARNING 85
|
||||
#define CPULOAD_LIMIT_CRITICAL 95
|
||||
|
||||
/* Task stack sizes */
|
||||
//#define PIOS_ACTUATOR_STACK_SIZE 1020
|
||||
//#define PIOS_MANUAL_STACK_SIZE 850
|
||||
//#ifdef DIAG_TASKS
|
||||
//#define PIOS_SYSTEM_STACK_SIZE 720
|
||||
//#else
|
||||
//#define PIOS_SYSTEM_STACK_SIZE 660
|
||||
//#endif
|
||||
//#define PIOS_TELEM_STACK_SIZE 540
|
||||
//#define PIOS_EVENTDISPATCHER_STACK_SIZE 160
|
||||
// #define PIOS_ACTUATOR_STACK_SIZE 1020
|
||||
// #define PIOS_MANUAL_STACK_SIZE 850
|
||||
// #ifdef DIAG_TASKS
|
||||
// #define PIOS_SYSTEM_STACK_SIZE 720
|
||||
// #else
|
||||
// #define PIOS_SYSTEM_STACK_SIZE 660
|
||||
// #endif
|
||||
// #define PIOS_TELEM_STACK_SIZE 540
|
||||
// #define PIOS_EVENTDISPATCHER_STACK_SIZE 160
|
||||
|
||||
/* This can't be too high to stop eventdispatcher thread overflowing */
|
||||
//#define PIOS_EVENTDISAPTCHER_QUEUE 10
|
||||
// #define PIOS_EVENTDISAPTCHER_QUEUE 10
|
||||
|
||||
/* Revolution series */
|
||||
/* #define REVOLUTION */
|
||||
|
||||
@ -43,12 +43,11 @@
|
||||
*/
|
||||
#include "../board_hw_defs.c"
|
||||
|
||||
#define PIOS_COM_MAIN_RX_BUF_LEN 16
|
||||
#define PIOS_COM_MAIN_TX_BUF_LEN 255
|
||||
#define PIOS_COM_MAIN_RX_BUF_LEN 16
|
||||
#define PIOS_COM_MAIN_TX_BUF_LEN 128
|
||||
|
||||
uint32_t pios_com_main_id;
|
||||
|
||||
|
||||
/**
|
||||
* PIOS_Board_Init()
|
||||
* initializes all the core subsystems on this specific hardware
|
||||
@ -80,10 +79,7 @@ void PIOS_Board_Init(void)
|
||||
#endif
|
||||
|
||||
#endif
|
||||
/* Initialize the task monitor */
|
||||
if (PIOS_TASK_MONITOR_Initialize(3)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
#if defined(PIOS_INCLUDE_RTC)
|
||||
/* Initialize the real-time clock and its associated tick */
|
||||
PIOS_RTC_Init(&pios_rtc_main_cfg);
|
||||
@ -127,7 +123,6 @@ if (PIOS_TASK_MONITOR_Initialize(3)) {
|
||||
}
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_I2C */
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
@ -98,8 +98,8 @@
|
||||
// See also pios_board.c
|
||||
// ------------------------
|
||||
#define PIOS_I2C_MAX_DEVS 1
|
||||
extern uint32_t pios_i2c_gps_adapter_id;
|
||||
#define PIOS_I2C_GPS (pios_i2c_gps_adapter_id)
|
||||
extern uint32_t pios_i2c_gps_id;
|
||||
#define PIOS_I2C_GPS (pios_i2c_gps_id)
|
||||
|
||||
// -------------------------
|
||||
// SPI
|
||||
|
||||
Loading…
Reference in New Issue
Block a user