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Code Issues Releases Activity

Get flash chip working and saving to memory. Also get the I2C working with

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BMA180 driver.
This commit is contained in:
James Cotton 2011-11-19 00:13:02 -06:00
parent da75e9fdaf
commit 7637e9f669
7 changed files with 214 additions and 17 deletions
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1
flight/Modules/Attitude/revolution/attitude.c
View File

@ -343,7 +343,6 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
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
float gyro[3];
gyro[0] = attitudeRaw->gyros[0];
gyro[1] = attitudeRaw->gyros[1];

6
flight/PiOS/Boards/STM32F4xx_Revolution.h
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@ -201,6 +201,12 @@ extern uint32_t pios_com_telem_usb_id;
// None.
//-------------------------
//--------------------------
// Flash chip
//--------------------------
#define PIOS_FLASH_ENABLE PIOS_SPI_RC_PinSet(PIOS_SPI_FLASH,0,0)
#define PIOS_FLASH_DISABLE PIOS_SPI_RC_PinSet(PIOS_SPI_FLASH,0,1);

2
flight/PiOS/Common/pios_flash_w25x.c
View File

@ -90,7 +90,9 @@ int8_t PIOS_Flash_W25X_Init(uint32_t spi_id)
{
PIOS_SPI_FLASH = spi_id;
#if defined(PIOS_FLASH_CS_PIN)
PIOS_GPIO_Enable(PIOS_FLASH_CS_PIN);
#endif
device_type = PIOS_Flash_W25X_ReadID();
return 0;
}

6
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -79,6 +79,9 @@
65345C871288668B00A5E4E8 /* guidancesettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = guidancesettings.xml; sourceTree = "<group>"; };
6534B5571474F78B003DF47C /* pios_mpu6000.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_mpu6000.h; sourceTree = "<group>"; };
6534B5581474F7B1003DF47C /* pios_mpu6000.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_mpu6000.c; sourceTree = "<group>"; };
6534B559147634FF003DF47C /* pios_flash_m25p16.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_flash_m25p16.h; sourceTree = "<group>"; };
6534B55A14763566003DF47C /* pios_flash_m25p16.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_flash_m25p16.c; sourceTree = "<group>"; };
6534B55B1476D3A8003DF47C /* pios_ms5611.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_ms5611.h; sourceTree = "<group>"; };
6536D47B1307962C0042A298 /* stabilizationdesired.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = stabilizationdesired.xml; sourceTree = "<group>"; };
6536D4881307AB950042A298 /* UAVObjects.inc */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.pascal; path = UAVObjects.inc; sourceTree = "<group>"; };
65408AA812BB1648004DACC5 /* i2cstats.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = i2cstats.xml; sourceTree = "<group>"; };
@ -8494,6 +8497,7 @@
65E8F03611EFF25C00BBF654 /* pios_sdcard.c */,
65E8F03711EFF25C00BBF654 /* printf-stdarg.c */,
6528CCB412E406B800CF5144 /* pios_adxl345.c */,
6534B55A14763566003DF47C /* pios_flash_m25p16.c */,
6512D60712ED4CB8008175E5 /* pios_flash_w25x.c */,
65FF4D5E137EDEC100146BE4 /* pios_flashfs_objlist.c */,
6562BE1713CCAD0600C823E8 /* pios_rcvr.c */,
@ -8521,6 +8525,7 @@
65E8F03E11EFF25C00BBF654 /* pios_debug.h */,
65E8F03F11EFF25C00BBF654 /* pios_delay.h */,
65E8F04011EFF25C00BBF654 /* pios_exti.h */,
6534B559147634FF003DF47C /* pios_flash_m25p16.h */,
6512D60512ED4CA2008175E5 /* pios_flash_w25x.h */,
65FF4D61137EFA4F00146BE4 /* pios_flashfs_objlist.h */,
65FA9B7C14709E9E0019A260 /* pios_gcsrcvr_priv.h */,
@ -8536,6 +8541,7 @@
65FA9B8014709E9E0019A260 /* pios_initcall.h */,
65E8F04411EFF25C00BBF654 /* pios_irq.h */,
65E8F04511EFF25C00BBF654 /* pios_led.h */,
6534B55B1476D3A8003DF47C /* pios_ms5611.h */,
6534B5571474F78B003DF47C /* pios_mpu6000.h */,
65FA9B8114709E9E0019A260 /* pios_mpu6050.h */,
65E8F04611EFF25C00BBF654 /* pios_opahrs.h */,

2
flight/Revolution/Makefile
View File

@ -138,6 +138,8 @@ include $(PIOS)/STM32F4xx/library.mk
SRC += $(PIOSCOMMON)/pios_crc.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_rcvr.c
SRC += $(PIOSCOMMON)/pios_flash_w25x.c
SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c
SRC += $(PIOSCOMMON)/printf-stdarg.c
#SRC += $(PIOSCOMMON)/pios_bl_helper.c

4
flight/Revolution/System/inc/pios_config.h
View File

@ -71,6 +71,10 @@
#define PIOS_INCLUDE_COM_TELEM
#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

210
flight/Revolution/System/pios_board.c
View File

@ -278,6 +278,127 @@ void PIOS_SPI_gyro_irq_handler(void)
PIOS_SPI_IRQ_Handler(pios_spi_gyro_id);
}
/* SPI3 Interface
* - Used for gyro communications
*/
void PIOS_SPI_flash_irq_handler(void);
void DMA1_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_flash_irq_handler")));
void DMA1_Stream2_IRQHandler(void) __attribute__((alias("PIOS_SPI_flash_irq_handler")));
static const struct pios_spi_cfg pios_spi_flash_cfg = {
.regs = SPI3,
.remap = GPIO_AF_SPI3,
.init = {
.SPI_Mode = SPI_Mode_Master,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
.SPI_DataSize = SPI_DataSize_8b,
.SPI_NSS = SPI_NSS_Soft,
.SPI_FirstBit = SPI_FirstBit_MSB,
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
},
.use_crc = false,
.dma = {
.irq = {
// Note this is the stream ID that triggers interrupts (in this case RX)
.flags = (DMA_IT_TCIF3 | DMA_IT_TEIF3 | DMA_IT_HTIF3),
.init = {
.NVIC_IRQChannel = DMA1_Stream0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA1_Stream0,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR),
.DMA_DIR = DMA_DIR_PeripheralToMemory,
.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,
//TODO: Enable FIFO
.DMA_FIFOMode = DMA_FIFOMode_Disable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
.tx = {
.channel = DMA1_Stream2,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR),
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
.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_FIFOMode = DMA_FIFOMode_Disable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
},
.sclk = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.miso = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.mosi = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.slave_count = 1,
.ssel = { {
.gpio = GPIOD,
.init = {
.GPIO_Pin = GPIO_Pin_2,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
} },
};
uint32_t pios_spi_flash_id;
void PIOS_SPI_flash_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_flash_id);
}
#endif /* PIOS_INCLUDE_SPI */
@ -614,7 +735,7 @@ static const struct pios_i2c_adapter_cfg pios_i2c_pressure_adapter_cfg = {
.I2C_Ack = I2C_Ack_Enable,
.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
.I2C_DutyCycle = I2C_DutyCycle_2,
.I2C_ClockSpeed = 400000, /* bits/s */
.I2C_ClockSpeed = 40000, /* bits/s */
},
.transfer_timeout_ms = 50,
.scl = {
@ -640,7 +761,7 @@ static const struct pios_i2c_adapter_cfg pios_i2c_pressure_adapter_cfg = {
.event = {
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_EV_IRQn,
.NVIC_IRQChannel = I2C3_EV_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
@ -649,7 +770,7 @@ static const struct pios_i2c_adapter_cfg pios_i2c_pressure_adapter_cfg = {
.error = {
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_ER_IRQn,
.NVIC_IRQChannel = I2C3_ER_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
@ -809,8 +930,8 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
* called from System/openpilot.c
*/
int32_t test_val;
uint8_t buf[2];
uint8_t rec[2];
uint8_t buf[4];
uint8_t rec[4];
struct pios_mpu6000_data test_gyro_data;
void PIOS_Board_Init(void) {
/* Brings up System using CMSIS functions, enables the LEDs. */
@ -823,6 +944,14 @@ void PIOS_Board_Init(void) {
PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif /* PIOS_DEBUG_ENABLE_DEBUG_PINS */
/* Set up the SPI interface to the flash */
if (PIOS_SPI_Init(&pios_spi_flash_id, &pios_spi_flash_cfg)) {
PIOS_DEBUG_Assert(0);
}
PIOS_Flash_W25X_Init(pios_spi_flash_id);
PIOS_FLASHFS_Init();
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
@ -902,24 +1031,73 @@ void PIOS_Board_Init(void) {
}
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
PIOS_MPU6000_Attach(pios_spi_gyro_id);
PIOS_MPU6000_Init(&pios_mpu6000_cfg);
PIOS_BMA180_Attach(pios_spi_accel_id);
PIOS_BMA180_Init(&pios_bma180_cfg);
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
uint8_t addr_buffer[] = {
0x1E,
};
uint8_t addr_buffer2[] = {
0x10,
};
struct pios_i2c_txn txn_list1[] = {
{
.info = __func__,
.addr = 0x77,
.rw = PIOS_I2C_TXN_WRITE,
.len = sizeof(addr_buffer),
.buf = addr_buffer,
},
};
const struct pios_i2c_txn txn_list2[] = {
{
.info = __func__,
.addr = 0x77,
.rw = PIOS_I2C_TXN_WRITE,
.len = sizeof(addr_buffer),
.buf = addr_buffer2,
},
{
.info = __func__,
.addr = 0x77,
.rw = PIOS_I2C_TXN_READ,
.len = sizeof(rec),
.buf = rec,
},
};
for(int i = 0; i < 0x80; i++) {
txn_list1[0].addr = i;
test_val = PIOS_I2C_Transfer(pios_i2c_pressure_adapter_id, txn_list1, NELEMENTS(txn_list1));
if(test_val == 0) {
rec[0] = i;
while(1) {
PIOS_LED_On(0);
PIOS_LED_On(1);
}
}
PIOS_DELAY_WaituS(100);
}
/*
test_val = PIOS_HMC5883_Test();
*/
/*
PIOS_MPU6050_Init(&pios_mpu6050_cfg);
PIOS_BMP085_Init(&pios_bmp085_cfg);
*/
// test_val = PIOS_BMA180_Test();
test_val = PIOS_I2C_Transfer(pios_i2c_pressure_adapter_id, txn_list1, NELEMENTS(txn_list1));
test_val += PIOS_I2C_Transfer(pios_i2c_pressure_adapter_id, txn_list2, NELEMENTS(txn_list2));
PIOS_DELAY_WaituS(100);
if(test_val == 0)
return;
while(1);
}