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Link in the rfm module to the target
This commit is contained in:
James Cotton
parent
daad1d6f8f
commit
76bdb190d8
@ -28,10 +28,12 @@
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#ifndef STM3210E_INS_H_
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#define STM3210E_INS_H_
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#include <stdbool.h>
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#define DEBUG_LEVEL 0
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#define DEBUG_PRINTF(level, ...) {if(level <= DEBUG_LEVEL && pios_com_aux_id > 0) { PIOS_COM_SendFormattedStringNonBlocking(pios_com_aux_id, __VA_ARGS__); }}
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//------------------------
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// Timers and Channels Used
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//------------------------
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@ -133,6 +135,26 @@ extern uint32_t pios_com_vcp_id;
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#define PIOS_COM_BRIDGE (pios_com_bridge_id)
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#define PIOS_COM_VCP (pios_com_vcp_id)
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#define PIOS_COM_DEBUG PIOS_COM_AUX
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#if defined(PIOS_INCLUDE_RFM22B)
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#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 512
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#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 512
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extern uint32_t pios_com_rfm22b_id;
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#define PIOS_COM_RADIO (pios_com_rfm22b_id)
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extern uint32_t pios_spi_telem_flash_id;
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#define PIOS_RFM22_SPI_PORT (pios_spi_telem_flash_id)
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#endif /* PIOS_INCLUDE_RFM22B */
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//-------------------------
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// Packet Handler
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//-------------------------
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#if defined(PIOS_INCLUDE_PACKET_HANDLER)
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extern uint32_t pios_packet_handler;
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#define PIOS_PACKET_HANDLER (pios_packet_handler)
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#define PIOS_PH_MAX_PACKET 255
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#define PIOS_PH_WIN_SIZE 3
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#define PIOS_PH_MAX_CONNECTIONS 1
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#define RS_ECC_NPARITY 4
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#endif /* PIOS_INCLUDE_PACKET_HANDLER */
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//------------------------
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// TELEMETRY
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@ -28,7 +28,6 @@
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#ifndef STM3210E_INS_H_
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#define STM3210E_INS_H_
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#include <stdbool.h>
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@ -1,10 +1,10 @@
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#####
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# Project: OpenPilot INS
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# Project: OpenPilot RevoMini
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#
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#
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# Makefile for OpenPilot INS project
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# Makefile for OpenPilot RevoMini project
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#
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# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
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# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2012.
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#
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#
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# This program is free software; you can redistribute it and/or modify
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@ -58,6 +58,7 @@ MODULES += GPS FirmwareIAP
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#MODULES += Airspeed/revolution
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#MODULES += AltitudeHold VtolPathFollower FixedWingPathFollower PathPlanner
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#MODULES += CameraStab
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MODULES += Radio
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MODULES += Telemetry
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PYMODULES =
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#FlightPlan
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@ -74,6 +75,8 @@ PIOSINC = $(PIOS)/inc
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OPMODULEDIR = ../Modules
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FLIGHTLIB = ../Libraries
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FLIGHTLIBINC = ../Libraries/inc
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RSCODE = $(FLIGHTLIB)/rscode
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RSCODEINC = $(FLIGHTLIB)/rscode
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PIOSSTM32F4XX = $(PIOS)/STM32F4xx
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PIOSCOMMON = $(PIOS)/Common
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PIOSBOARDS = $(PIOS)/Boards
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@ -85,8 +88,6 @@ STMSPDSRCDIR = $(STMSPDDIR)/src
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STMSPDINCDIR = $(STMSPDDIR)/inc
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OPUAVOBJ = ../UAVObjects
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OPUAVOBJINC = $(OPUAVOBJ)/inc
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BOOT = ../Bootloaders/INS
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BOOTINC = $(BOOT)/inc
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PYMITE = $(FLIGHTLIB)/PyMite
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PYMITELIB = $(PYMITE)/lib
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PYMITEPLAT = $(PYMITE)/platform/openpilot
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@ -144,6 +145,13 @@ SRC += $(FLIGHTLIB)/WorldMagModel.c
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SRC += $(FLIGHTLIB)/insgps13state.c
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SRC += $(FLIGHTLIB)/taskmonitor.c
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## For RFM22b
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SRC += $(FLIGHTLIB)/packet_handler.c
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SRC += $(RSCODE)/berlekamp.c
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SRC += $(RSCODE)/crcgen.c
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SRC += $(RSCODE)/galois.c
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SRC += $(RSCODE)/rs.c
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## PIOS Hardware (STM32F4xx)
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include $(PIOS)/STM32F4xx/library.mk
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@ -157,6 +165,7 @@ SRC += $(PIOSCOMMON)/pios_hmc5883.c
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SRC += $(PIOSCOMMON)/pios_ms5611.c
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SRC += $(PIOSCOMMON)/pios_crc.c
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SRC += $(PIOSCOMMON)/pios_com.c
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SRC += $(PIOSCOMMON)/pios_rfm22b.c
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SRC += $(PIOSCOMMON)/pios_rcvr.c
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SRC += $(PIOSCOMMON)/pios_flash_jedec.c
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SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c
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@ -205,6 +214,7 @@ EXTRAINCDIRS += $(OPUAVOBJ)
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EXTRAINCDIRS += $(OPUAVOBJINC)
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EXTRAINCDIRS += $(UAVOBJSYNTHDIR)
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EXTRAINCDIRS += $(FLIGHTLIBINC)
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EXTRAINCDIRS += $(RSCODEINC)
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EXTRAINCDIRS += $(PIOSSTM32F4XX)
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EXTRAINCDIRS += $(PIOSCOMMON)
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EXTRAINCDIRS += $(PIOSBOARDS)
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@ -56,6 +56,11 @@
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#define PIOS_INCLUDE_RTC
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#define PIOS_INCLUDE_WDG
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/* Variables related to the RFM22B functionality */
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#define PIOS_INCLUDE_RFM22B
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#define PIOS_INCLUDE_PACKET_HANDLER
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#define RFM22_EXT_INT_USE
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/* Select the sensors to include */
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#define PIOS_INCLUDE_HMC5883
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#define PIOS_INCLUDE_MPU6000
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@ -292,8 +292,6 @@ static void PIOS_Board_configure_dsm(const struct pios_usart_cfg *pios_usart_dsm
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void PIOS_Board_Init(void) {
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const struct pios_board_info * bdinfo = &pios_board_info_blob;
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/* Delay system */
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PIOS_DELAY_Init();
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@ -68,6 +68,8 @@ UAVOBJSRCFILENAMES += overosyncstats
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UAVOBJSRCFILENAMES += overosyncsettings
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UAVOBJSRCFILENAMES += pathplannersettings
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UAVOBJSRCFILENAMES += pathdesired
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UAVOBJSRCFILENAMES += pipxstatus
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UAVOBJSRCFILENAMES += pipxsettings
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UAVOBJSRCFILENAMES += positionactual
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UAVOBJSRCFILENAMES += ratedesired
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UAVOBJSRCFILENAMES += revocalibration
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@ -314,6 +314,54 @@ void PIOS_SPI_telem_flash_irq_handler(void)
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PIOS_SPI_IRQ_Handler(pios_spi_telem_flash_id);
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}
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#if defined(PIOS_INCLUDE_RFM22B)
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#include <pios_rfm22b_priv.h>
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static const struct pios_exti_cfg pios_exti_rfm22b_cfg __exti_config = {
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.vector = PIOS_RFM22_EXT_Int,
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.line = EXTI_Line0,
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.pin = {
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.gpio = GPIOD,
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.init = {
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.GPIO_Pin = GPIO_Pin_0,
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.GPIO_Speed = GPIO_Speed_100MHz,
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.GPIO_Mode = GPIO_Mode_IN,
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.GPIO_OType = GPIO_OType_OD,
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.GPIO_PuPd = GPIO_PuPd_NOPULL,
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},
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},
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.irq = {
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.init = {
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.NVIC_IRQChannel = EXTI0_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.exti = {
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.init = {
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.EXTI_Line = EXTI_Line0, // matches above GPIO pin
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.EXTI_Mode = EXTI_Mode_Interrupt,
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.EXTI_Trigger = EXTI_Trigger_Falling,
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.EXTI_LineCmd = ENABLE,
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},
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},
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};
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struct pios_rfm22b_cfg pios_rfm22b_cfg = {
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.spi_cfg = &pios_spi_telem_flash_cfg,
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.exti_cfg = &pios_exti_rfm22b_cfg,
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.frequencyHz = 434000000,
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.minFrequencyHz = 434000000 - 2000000,
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.maxFrequencyHz = 434000000 + 2000000,
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.RFXtalCap = 0x7f,
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.maxRFBandwidth = 128000,
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.maxTxPower = RFM22_tx_pwr_txpow_7, // +20dBm .. 100mW
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};
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#endif /* PIOS_INCLUDE_RFM22B */
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#endif /* PIOS_INCLUDE_SPI */
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#include <pios_usart_priv.h>
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@ -331,8 +379,7 @@ static const struct pios_usart_cfg pios_usart_main_cfg = {
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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 =
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USART_HardwareFlowControl_None,
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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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