mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +01:00
Link in the rfm module to the target
This commit is contained in:
James Cotton
parent
daad1d6f8f
commit
76bdb190d8
@ -28,10 +28,12 @@
|
||||
|
||||
|
||||
#ifndef STM3210E_INS_H_
|
||||
#define STM3210E_INS_H_
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#define DEBUG_LEVEL 0
|
||||
#define DEBUG_PRINTF(level, ...) {if(level <= DEBUG_LEVEL && pios_com_aux_id > 0) { PIOS_COM_SendFormattedStringNonBlocking(pios_com_aux_id, __VA_ARGS__); }}
|
||||
|
||||
//------------------------
|
||||
// Timers and Channels Used
|
||||
//------------------------
|
||||
@ -133,6 +135,26 @@ extern uint32_t pios_com_vcp_id;
|
||||
#define PIOS_COM_BRIDGE (pios_com_bridge_id)
|
||||
#define PIOS_COM_VCP (pios_com_vcp_id)
|
||||
#define PIOS_COM_DEBUG PIOS_COM_AUX
|
||||
#if defined(PIOS_INCLUDE_RFM22B)
|
||||
#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 512
|
||||
#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 512
|
||||
extern uint32_t pios_com_rfm22b_id;
|
||||
#define PIOS_COM_RADIO (pios_com_rfm22b_id)
|
||||
extern uint32_t pios_spi_telem_flash_id;
|
||||
#define PIOS_RFM22_SPI_PORT (pios_spi_telem_flash_id)
|
||||
#endif /* PIOS_INCLUDE_RFM22B */
|
||||
|
||||
//-------------------------
|
||||
// Packet Handler
|
||||
//-------------------------
|
||||
#if defined(PIOS_INCLUDE_PACKET_HANDLER)
|
||||
extern uint32_t pios_packet_handler;
|
||||
#define PIOS_PACKET_HANDLER (pios_packet_handler)
|
||||
#define PIOS_PH_MAX_PACKET 255
|
||||
#define PIOS_PH_WIN_SIZE 3
|
||||
#define PIOS_PH_MAX_CONNECTIONS 1
|
||||
#define RS_ECC_NPARITY 4
|
||||
#endif /* PIOS_INCLUDE_PACKET_HANDLER */
|
||||
|
||||
//------------------------
|
||||
// TELEMETRY
|
||||
|
||||
@ -28,7 +28,6 @@
|
||||
|
||||
|
||||
#ifndef STM3210E_INS_H_
|
||||
#define STM3210E_INS_H_
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
|
||||
@ -1,10 +1,10 @@
|
||||
#####
|
||||
# Project: OpenPilot INS
|
||||
# Project: OpenPilot RevoMini
|
||||
#
|
||||
#
|
||||
# Makefile for OpenPilot INS project
|
||||
# Makefile for OpenPilot RevoMini project
|
||||
#
|
||||
# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
|
||||
# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2012.
|
||||
#
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
@ -58,6 +58,7 @@ MODULES += GPS FirmwareIAP
|
||||
#MODULES += Airspeed/revolution
|
||||
#MODULES += AltitudeHold VtolPathFollower FixedWingPathFollower PathPlanner
|
||||
#MODULES += CameraStab
|
||||
MODULES += Radio
|
||||
MODULES += Telemetry
|
||||
PYMODULES =
|
||||
#FlightPlan
|
||||
@ -74,6 +75,8 @@ PIOSINC = $(PIOS)/inc
|
||||
OPMODULEDIR = ../Modules
|
||||
FLIGHTLIB = ../Libraries
|
||||
FLIGHTLIBINC = ../Libraries/inc
|
||||
RSCODE = $(FLIGHTLIB)/rscode
|
||||
RSCODEINC = $(FLIGHTLIB)/rscode
|
||||
PIOSSTM32F4XX = $(PIOS)/STM32F4xx
|
||||
PIOSCOMMON = $(PIOS)/Common
|
||||
PIOSBOARDS = $(PIOS)/Boards
|
||||
@ -85,8 +88,6 @@ STMSPDSRCDIR = $(STMSPDDIR)/src
|
||||
STMSPDINCDIR = $(STMSPDDIR)/inc
|
||||
OPUAVOBJ = ../UAVObjects
|
||||
OPUAVOBJINC = $(OPUAVOBJ)/inc
|
||||
BOOT = ../Bootloaders/INS
|
||||
BOOTINC = $(BOOT)/inc
|
||||
PYMITE = $(FLIGHTLIB)/PyMite
|
||||
PYMITELIB = $(PYMITE)/lib
|
||||
PYMITEPLAT = $(PYMITE)/platform/openpilot
|
||||
@ -144,6 +145,13 @@ SRC += $(FLIGHTLIB)/WorldMagModel.c
|
||||
SRC += $(FLIGHTLIB)/insgps13state.c
|
||||
SRC += $(FLIGHTLIB)/taskmonitor.c
|
||||
|
||||
## For RFM22b
|
||||
SRC += $(FLIGHTLIB)/packet_handler.c
|
||||
SRC += $(RSCODE)/berlekamp.c
|
||||
SRC += $(RSCODE)/crcgen.c
|
||||
SRC += $(RSCODE)/galois.c
|
||||
SRC += $(RSCODE)/rs.c
|
||||
|
||||
## PIOS Hardware (STM32F4xx)
|
||||
include $(PIOS)/STM32F4xx/library.mk
|
||||
|
||||
@ -157,6 +165,7 @@ SRC += $(PIOSCOMMON)/pios_hmc5883.c
|
||||
SRC += $(PIOSCOMMON)/pios_ms5611.c
|
||||
SRC += $(PIOSCOMMON)/pios_crc.c
|
||||
SRC += $(PIOSCOMMON)/pios_com.c
|
||||
SRC += $(PIOSCOMMON)/pios_rfm22b.c
|
||||
SRC += $(PIOSCOMMON)/pios_rcvr.c
|
||||
SRC += $(PIOSCOMMON)/pios_flash_jedec.c
|
||||
SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c
|
||||
@ -205,6 +214,7 @@ EXTRAINCDIRS += $(OPUAVOBJ)
|
||||
EXTRAINCDIRS += $(OPUAVOBJINC)
|
||||
EXTRAINCDIRS += $(UAVOBJSYNTHDIR)
|
||||
EXTRAINCDIRS += $(FLIGHTLIBINC)
|
||||
EXTRAINCDIRS += $(RSCODEINC)
|
||||
EXTRAINCDIRS += $(PIOSSTM32F4XX)
|
||||
EXTRAINCDIRS += $(PIOSCOMMON)
|
||||
EXTRAINCDIRS += $(PIOSBOARDS)
|
||||
|
||||
@ -56,6 +56,11 @@
|
||||
#define PIOS_INCLUDE_RTC
|
||||
#define PIOS_INCLUDE_WDG
|
||||
|
||||
/* Variables related to the RFM22B functionality */
|
||||
#define PIOS_INCLUDE_RFM22B
|
||||
#define PIOS_INCLUDE_PACKET_HANDLER
|
||||
#define RFM22_EXT_INT_USE
|
||||
|
||||
/* Select the sensors to include */
|
||||
#define PIOS_INCLUDE_HMC5883
|
||||
#define PIOS_INCLUDE_MPU6000
|
||||
|
||||
@ -292,8 +292,6 @@ static void PIOS_Board_configure_dsm(const struct pios_usart_cfg *pios_usart_dsm
|
||||
|
||||
void PIOS_Board_Init(void) {
|
||||
|
||||
const struct pios_board_info * bdinfo = &pios_board_info_blob;
|
||||
|
||||
/* Delay system */
|
||||
PIOS_DELAY_Init();
|
||||
|
||||
|
||||
@ -68,6 +68,8 @@ UAVOBJSRCFILENAMES += overosyncstats
|
||||
UAVOBJSRCFILENAMES += overosyncsettings
|
||||
UAVOBJSRCFILENAMES += pathplannersettings
|
||||
UAVOBJSRCFILENAMES += pathdesired
|
||||
UAVOBJSRCFILENAMES += pipxstatus
|
||||
UAVOBJSRCFILENAMES += pipxsettings
|
||||
UAVOBJSRCFILENAMES += positionactual
|
||||
UAVOBJSRCFILENAMES += ratedesired
|
||||
UAVOBJSRCFILENAMES += revocalibration
|
||||
|
||||
@ -314,6 +314,54 @@ void PIOS_SPI_telem_flash_irq_handler(void)
|
||||
PIOS_SPI_IRQ_Handler(pios_spi_telem_flash_id);
|
||||
}
|
||||
|
||||
|
||||
#if defined(PIOS_INCLUDE_RFM22B)
|
||||
#include <pios_rfm22b_priv.h>
|
||||
|
||||
static const struct pios_exti_cfg pios_exti_rfm22b_cfg __exti_config = {
|
||||
.vector = PIOS_RFM22_EXT_Int,
|
||||
.line = EXTI_Line0,
|
||||
.pin = {
|
||||
.gpio = GPIOD,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_0,
|
||||
.GPIO_Speed = GPIO_Speed_100MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IN,
|
||||
.GPIO_OType = GPIO_OType_OD,
|
||||
.GPIO_PuPd = GPIO_PuPd_NOPULL,
|
||||
},
|
||||
},
|
||||
.irq = {
|
||||
.init = {
|
||||
.NVIC_IRQChannel = EXTI0_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.exti = {
|
||||
.init = {
|
||||
.EXTI_Line = EXTI_Line0, // matches above GPIO pin
|
||||
.EXTI_Mode = EXTI_Mode_Interrupt,
|
||||
.EXTI_Trigger = EXTI_Trigger_Falling,
|
||||
.EXTI_LineCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
struct pios_rfm22b_cfg pios_rfm22b_cfg = {
|
||||
.spi_cfg = &pios_spi_telem_flash_cfg,
|
||||
.exti_cfg = &pios_exti_rfm22b_cfg,
|
||||
.frequencyHz = 434000000,
|
||||
.minFrequencyHz = 434000000 - 2000000,
|
||||
.maxFrequencyHz = 434000000 + 2000000,
|
||||
.RFXtalCap = 0x7f,
|
||||
.maxRFBandwidth = 128000,
|
||||
.maxTxPower = RFM22_tx_pwr_txpow_7, // +20dBm .. 100mW
|
||||
};
|
||||
|
||||
#endif /* PIOS_INCLUDE_RFM22B */
|
||||
|
||||
#endif /* PIOS_INCLUDE_SPI */
|
||||
|
||||
#include <pios_usart_priv.h>
|
||||
@ -331,8 +379,7 @@ static const struct pios_usart_cfg pios_usart_main_cfg = {
|
||||
.USART_WordLength = USART_WordLength_8b,
|
||||
.USART_Parity = USART_Parity_No,
|
||||
.USART_StopBits = USART_StopBits_1,
|
||||
.USART_HardwareFlowControl =
|
||||
USART_HardwareFlowControl_None,
|
||||
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
||||
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
|
||||
},
|
||||
.irq = {
|
||||
|
||||
Loading…
Reference in New Issue
Block a user