diff --git a/flight/targets/boards/gpsplatinum/board_hw_defs.c b/flight/targets/boards/gpsplatinum/board_hw_defs.c index 778793eee..f72dd0ccb 100644 --- a/flight/targets/boards/gpsplatinum/board_hw_defs.c +++ b/flight/targets/boards/gpsplatinum/board_hw_defs.c @@ -58,7 +58,7 @@ static const struct pios_gpio pios_leds_gpsp[] = { .init = { .GPIO_Pin = GPIO_Pin_4, .GPIO_Mode = GPIO_Mode_OUT, - .GPIO_OType = GPIO_OType_OD, + .GPIO_OType = GPIO_OType_OD, .GPIO_Speed = GPIO_Speed_Level_1, }, }, @@ -89,19 +89,19 @@ void DMA1_Channel2_3_IRQHandler() __attribute__((alias("PIOS_SPI_mag_flash_irq_h static uint32_t pios_spi_mag_flash_id; static const struct pios_spi_cfg pios_spi_mag_flash_cfg = { .remap = GPIO_AF_0, - .regs = SPI1, - .init = { + .regs = SPI1, + .init = { .SPI_Mode = SPI_Mode_Master, .SPI_Direction = SPI_Direction_2Lines_FullDuplex, .SPI_DataSize = SPI_DataSize_8b, - .SPI_NSS = SPI_NSS_Soft, + .SPI_NSS = SPI_NSS_Soft, .SPI_FirstBit = SPI_FirstBit_MSB, .SPI_CRCPolynomial = 7, .SPI_CPOL = SPI_CPOL_High, .SPI_CPHA = SPI_CPHA_2Edge, .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8, }, - .dma = { + .dma = { .ahb_clk = RCC_AHBPeriph_DMA1, .irq = { @@ -113,37 +113,37 @@ static const struct pios_spi_cfg pios_spi_mag_flash_cfg = { }, }, - .rx = { + .rx = { .channel = DMA1_Channel2, .init = { - .DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR), - .DMA_DIR = DMA_DIR_PeripheralSRC, + .DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR), + .DMA_DIR = DMA_DIR_PeripheralSRC, .DMA_PeripheralInc = DMA_PeripheralInc_Disable, .DMA_MemoryInc = DMA_MemoryInc_Enable, .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, .DMA_Mode = DMA_Mode_Normal, .DMA_Priority = DMA_Priority_Medium, - .DMA_M2M = DMA_M2M_Disable, + .DMA_M2M = DMA_M2M_Disable, }, }, - .tx = { + .tx = { .channel = DMA1_Channel3, .init = { - .DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR), - .DMA_DIR = DMA_DIR_PeripheralDST, + .DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR), + .DMA_DIR = DMA_DIR_PeripheralDST, .DMA_PeripheralInc = DMA_PeripheralInc_Disable, .DMA_MemoryInc = DMA_MemoryInc_Enable, .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, .DMA_Mode = DMA_Mode_Normal, .DMA_Priority = DMA_Priority_Medium, - .DMA_M2M = DMA_M2M_Disable, + .DMA_M2M = DMA_M2M_Disable, }, }, }, .use_crc = false, - .sclk = { + .sclk = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_5, @@ -152,7 +152,7 @@ static const struct pios_spi_cfg pios_spi_mag_flash_cfg = { .GPIO_OType = GPIO_OType_PP, }, }, - .miso = { + .miso = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_6, @@ -161,7 +161,7 @@ static const struct pios_spi_cfg pios_spi_mag_flash_cfg = { .GPIO_OType = GPIO_OType_OD, }, }, - .mosi = { + .mosi = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_7, @@ -170,8 +170,8 @@ static const struct pios_spi_cfg pios_spi_mag_flash_cfg = { .GPIO_OType = GPIO_OType_PP, }, }, - .slave_count = 2, - .ssel = { + .slave_count = 2, + .ssel = { { .gpio = GPIOA, .init = { @@ -233,7 +233,7 @@ static const struct pios_exti_cfg pios_exti_mag_cfg __exti_config = { }, }, }; -#endif +#endif /* ifdef PIOS_HMC5x83_HAS_GPIOS */ static const struct pios_hmc5x83_cfg pios_mag_cfg = { #ifdef PIOS_HMC5x83_HAS_GPIOS @@ -241,9 +241,9 @@ static const struct pios_hmc5x83_cfg pios_mag_cfg = { #endif .M_ODR = PIOS_HMC5x83_ODR_75, .Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL, - .Gain = PIOS_HMC5x83_GAIN_1_9, - .Mode = PIOS_HMC5x83_MODE_CONTINUOUS, - .Driver = &PIOS_HMC5x83_SPI_DRIVER, + .Gain = PIOS_HMC5x83_GAIN_1_9, + .Mode = PIOS_HMC5x83_MODE_CONTINUOUS, + .Driver = &PIOS_HMC5x83_SPI_DRIVER, }; #endif /* PIOS_INCLUDE_HMC5883 */ @@ -255,24 +255,24 @@ static const struct pios_hmc5x83_cfg pios_mag_cfg = { #include "pios_usart_priv.h" static const struct pios_usart_cfg pios_usart_generic_main_cfg = { - .regs = USART1, + .regs = USART1, .remap = GPIO_AF_1, - .init = { + .init = { .USART_BaudRate = 115200, .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, + .USART_HardwareFlowControl = USART_HardwareFlowControl_None, + .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, }, - .irq = { - .init = { + .irq = { + .init = { .NVIC_IRQChannel = USART1_IRQn, .NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelCmd = ENABLE, }, }, - .rx = { + .rx = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_10, @@ -281,7 +281,7 @@ static const struct pios_usart_cfg pios_usart_generic_main_cfg = { .GPIO_Mode = GPIO_Mode_AF, }, }, - .tx = { + .tx = { .gpio = GPIOA, .init = { .GPIO_Pin = GPIO_Pin_9, @@ -311,8 +311,8 @@ void RTC_IRQHandler() __attribute__((alias("PIOS_RTC_IRQ_Handler"))); static const struct pios_rtc_cfg pios_rtc_main_cfg = { .clksrc = RCC_RTCCLKSource_LSI, .prescaler = 100, - .irq = { - .init = { + .irq = { + .init = { .NVIC_IRQChannel = RTC_IRQn, .NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_MID, .NVIC_IRQChannelCmd = ENABLE, @@ -336,52 +336,56 @@ void PIOS_RTC_IRQ_Handler(void) */ void PIOS_I2C_gps_irq_handler(void); -void I2C2_IRQHandler() __attribute__((alias("PIOS_I2C_gps_irq_handler"))); +void I2C1_IRQHandler() __attribute__((alias("PIOS_I2C_gps_irq_handler"))); static const struct pios_i2c_adapter_cfg pios_i2c_gps_cfg = { - .regs = I2C2, - .init = { - .I2C_Mode = I2C_Mode_I2C, - .I2C_OwnAddress1 = 0, - .I2C_Ack = I2C_Ack_Enable, - .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit, - /* (3) Timing register value is computed with the AN4235 xls file, - fast Mode @400kHz with I2CCLK = 48MHz, rise time = 140ns, - fall time = 40ns */ - .I2C_Timing = (uint32_t)0x00B01A4B, + .remap = GPIO_AF_1, + .regs = I2C1, + .init = { + .I2C_Mode = I2C_Mode_I2C, + .I2C_AnalogFilter = I2C_AnalogFilter_Enable, + .I2C_DigitalFilter = 0x00, + .I2C_OwnAddress1 = 0x00, + .I2C_Ack = I2C_Ack_Enable, + .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit, + .I2C_Timing = (uint32_t)0x00210507, }, - .transfer_timeout_ms = 50, - .scl = { + .transfer_timeout_ms = 50, + .scl = { .gpio = GPIOB, .init = { + .GPIO_Pin = GPIO_Pin_6, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_NOPULL, .GPIO_Mode = GPIO_Mode_AF, - .GPIO_Pin = GPIO_Pin_10, }, + .pin_source = GPIO_PinSource6, }, - .sda = { + .sda = { .gpio = GPIOB, .init = { - .GPIO_Pin = GPIO_Pin_11, + .GPIO_Pin = GPIO_Pin_7, .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_NOPULL, .GPIO_Mode = GPIO_Mode_AF, }, + .pin_source = GPIO_PinSource7, }, - .event = { - .flags = 0, /* FIXME: check this */ + .event = { + .flags = 0, .init = { - .NVIC_IRQChannel = I2C2_IRQn, - .NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannel = I2C1_IRQn, + .NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelCmd = ENABLE, }, }, - .error = { - .flags = 0, /* FIXME: check this */ + .error = { + .flags = 0, .init = { - .NVIC_IRQChannel = I2C2_IRQn, - .NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannel = I2C1_IRQn, + .NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelCmd = ENABLE, }, }, @@ -395,7 +399,6 @@ void PIOS_I2C_gps_irq_handler(void) } - #endif /* PIOS_INCLUDE_I2C */ #if defined(PIOS_INCLUDE_COM_MSG) diff --git a/flight/targets/boards/gpsplatinum/bootloader/main.c b/flight/targets/boards/gpsplatinum/bootloader/main.c index 59fbdb6d0..cf01d9830 100644 --- a/flight/targets/boards/gpsplatinum/bootloader/main.c +++ b/flight/targets/boards/gpsplatinum/bootloader/main.c @@ -59,9 +59,9 @@ uint8_t tempcount = 0; /* Extern variables ----------------------------------------------------------*/ DFUStates DeviceState; -int16_t status = 0; -bool JumpToApp = false; -bool GO_dfu = false; +int16_t status = 0; +bool JumpToApp = false; +bool GO_dfu = false; bool User_DFU_request = false; static uint8_t mReceive_Buffer[63]; /* Private function prototypes -----------------------------------------------*/ diff --git a/flight/targets/boards/gpsplatinum/bootloader/pios_board.c b/flight/targets/boards/gpsplatinum/bootloader/pios_board.c index 5ceaf3648..6e2aa4d07 100644 --- a/flight/targets/boards/gpsplatinum/bootloader/pios_board.c +++ b/flight/targets/boards/gpsplatinum/bootloader/pios_board.c @@ -67,12 +67,14 @@ void PIOS_Board_Init(void) board_init_complete = true; } -void setupCom(){ +void setupCom() +{ uint32_t pios_usart_generic_id; + if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) { - PIOS_Assert(0); + PIOS_Assert(0); } if (PIOS_COM_MSG_Init(&PIOS_COM_TELEM_USB, &pios_usart_com_driver, pios_usart_generic_id)) { - PIOS_Assert(0); + PIOS_Assert(0); } } diff --git a/flight/targets/boards/gpsplatinum/firmware/Makefile b/flight/targets/boards/gpsplatinum/firmware/Makefile index 2594ebe4b..6441d2f03 100644 --- a/flight/targets/boards/gpsplatinum/firmware/Makefile +++ b/flight/targets/boards/gpsplatinum/firmware/Makefile @@ -51,8 +51,8 @@ SRC += $(CMSIS_DEVICEDIR)/system_stm32f0xx.c SRC += $(OPSYSTEM)/gpsp.c SRC += $(OPSYSTEM)/pios_board.c #SRC += $(FLIGHTLIB)/alarms.c -SRC += $(OPUAVOBJ)/uavobjectmanager.c -SRC += $(OPUAVOBJ)/eventdispatcher.c +#SRC += $(OPUAVOBJ)/uavobjectmanager.c +#SRC += $(OPUAVOBJ)/eventdispatcher.c SRC += $(PIOSCOMMON)/pios_hmc5x83.c diff --git a/flight/targets/boards/gpsplatinum/firmware/inc/FreeRTOSConfig.h b/flight/targets/boards/gpsplatinum/firmware/inc/FreeRTOSConfig.h index febd43614..1fbc08e78 100644 --- a/flight/targets/boards/gpsplatinum/firmware/inc/FreeRTOSConfig.h +++ b/flight/targets/boards/gpsplatinum/firmware/inc/FreeRTOSConfig.h @@ -1,22 +1,22 @@ /* - FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. - *************************************************************************** - * * - * 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 * - * * - * Thank you! * - * * - *************************************************************************** + *************************************************************************** + * * + * 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 * + * * + * Thank you! * + * * + *************************************************************************** This file is part of the FreeRTOS distribution. @@ -36,14 +36,14 @@ 1 tab == 4 spaces! - *************************************************************************** - * * - * 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, license and Real Time Engineers Ltd. contact details. @@ -61,23 +61,23 @@ mission critical applications that require provable dependability. 1 tab == 4 spaces! -*/ + */ #ifndef FREERTOS_CONFIG_H #define FREERTOS_CONFIG_H /*----------------------------------------------------------- - * 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. +*----------------------------------------------------------*/ /** * @addtogroup PIOS PIOS @@ -90,33 +90,33 @@ #define configUSE_PREEMPTION 1 #define configUSE_IDLE_HOOK 1 #define configUSE_TICK_HOOK 0 -#define configCPU_CLOCK_HZ ( 48000000 ) -#define configTICK_RATE_HZ ( ( TickType_t ) 1000 ) -#define configMAX_PRIORITIES ( 5 ) -#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 60 ) +#define configCPU_CLOCK_HZ (48000000) +#define configTICK_RATE_HZ ((TickType_t)1000) +#define configMAX_PRIORITIES (5) +#define configMINIMAL_STACK_SIZE ((unsigned short)40) #define configTOTAL_HEAP_SIZE ((size_t)(2048)) -#define configMAX_TASK_NAME_LEN ( 5 ) +#define configMAX_TASK_NAME_LEN (5) #define configUSE_TRACE_FACILITY 0 #define configUSE_16_BIT_TICKS 0 -#define configIDLE_SHOULD_YIELD 1 -#define configUSE_MUTEXES 1 -#define configQUEUE_REGISTRY_SIZE 4 -#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 +#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 */ - diff --git a/flight/targets/boards/gpsplatinum/firmware/inc/pios_config.h b/flight/targets/boards/gpsplatinum/firmware/inc/pios_config.h index e706898cf..a90406d99 100644 --- a/flight/targets/boards/gpsplatinum/firmware/inc/pios_config.h +++ b/flight/targets/boards/gpsplatinum/firmware/inc/pios_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 */ diff --git a/flight/targets/boards/gpsplatinum/firmware/pios_board.c b/flight/targets/boards/gpsplatinum/firmware/pios_board.c index 12ef3ede2..39dc0ae17 100644 --- a/flight/targets/boards/gpsplatinum/firmware/pios_board.c +++ b/flight/targets/boards/gpsplatinum/firmware/pios_board.c @@ -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 */ - } /** diff --git a/flight/targets/boards/gpsplatinum/pios_board.h b/flight/targets/boards/gpsplatinum/pios_board.h index d5615aecd..5d4999d78 100644 --- a/flight/targets/boards/gpsplatinum/pios_board.h +++ b/flight/targets/boards/gpsplatinum/pios_board.h @@ -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