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OP-1849 Initial commit

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This commit is contained in:
Steve Evans 2015-04-24 22:46:07 +01:00
parent 79339d677f
commit 7f93340f7f
6 changed files with 67 additions and 14 deletions
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8
flight/libraries/inc/CoordinateConversions.h
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@ -112,7 +112,7 @@ static inline void matrix_mult_3x3f(float a[3][3], float b[3][3], float result[3
result[2][2] = a[0][2] * b[2][0] + a[1][2] * b[2][1] + a[2][2] * b[2][2]; result[2][2] = a[0][2] * b[2][0] + a[1][2] * b[2][1] + a[2][2] * b[2][2];
} }
inline void matrix_inline_scale_3f(float a[3][3], float scale) static inline void matrix_inline_scale_3f(float a[3][3], float scale)
{ {
a[0][0] *= scale; a[0][0] *= scale;
a[0][1] *= scale; a[0][1] *= scale;
@ -127,7 +127,7 @@ inline void matrix_inline_scale_3f(float a[3][3], float scale)
a[2][2] *= scale; a[2][2] *= scale;
} }
inline void rot_about_axis_x(const float rotation, float R[3][3]) static inline void rot_about_axis_x(const float rotation, float R[3][3])
{ {
float s = sinf(rotation); float s = sinf(rotation);
float c = cosf(rotation); float c = cosf(rotation);
@ -145,7 +145,7 @@ inline void rot_about_axis_x(const float rotation, float R[3][3])
R[2][2] = c; R[2][2] = c;
} }
inline void rot_about_axis_y(const float rotation, float R[3][3]) static inline void rot_about_axis_y(const float rotation, float R[3][3])
{ {
float s = sinf(rotation); float s = sinf(rotation);
float c = cosf(rotation); float c = cosf(rotation);
@ -163,7 +163,7 @@ inline void rot_about_axis_y(const float rotation, float R[3][3])
R[2][2] = c; R[2][2] = c;
} }
inline void rot_about_axis_z(const float rotation, float R[3][3]) static inline void rot_about_axis_z(const float rotation, float R[3][3])
{ {
float s = sinf(rotation); float s = sinf(rotation);
float c = cosf(rotation); float c = cosf(rotation);

10
flight/pios/inc/pios_com.h
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@ -8,6 +8,7 @@
* *
* @file pios_com.h * @file pios_com.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief COM layer functions header * @brief COM layer functions header
* @see The GNU Public License (GPL) Version 3 * @see The GNU Public License (GPL) Version 3
* *
@ -35,19 +36,28 @@
#include <stdbool.h> /* bool */ #include <stdbool.h> /* bool */
typedef uint16_t (*pios_com_callback)(uint32_t context, uint8_t *buf, uint16_t buf_len, uint16_t *headroom, bool *task_woken); typedef uint16_t (*pios_com_callback)(uint32_t context, uint8_t *buf, uint16_t buf_len, uint16_t *headroom, bool *task_woken);
typedef void (*pios_com_callback_ctrl_line)(uint32_t context, uint32_t mask, uint32_t state);
struct pios_com_driver { struct pios_com_driver {
void (*init)(uint32_t id); void (*init)(uint32_t id);
void (*set_baud)(uint32_t id, uint32_t baud); void (*set_baud)(uint32_t id, uint32_t baud);
void (*set_ctrl_line)(uint32_t id, uint32_t mask, uint32_t state);
void (*tx_start)(uint32_t id, uint16_t tx_bytes_avail); void (*tx_start)(uint32_t id, uint16_t tx_bytes_avail);
void (*rx_start)(uint32_t id, uint16_t rx_bytes_avail); void (*rx_start)(uint32_t id, uint16_t rx_bytes_avail);
void (*bind_rx_cb)(uint32_t id, pios_com_callback rx_in_cb, uint32_t context); void (*bind_rx_cb)(uint32_t id, pios_com_callback rx_in_cb, uint32_t context);
void (*bind_tx_cb)(uint32_t id, pios_com_callback tx_out_cb, uint32_t context); void (*bind_tx_cb)(uint32_t id, pios_com_callback tx_out_cb, uint32_t context);
void (*bind_ctrl_line_cb)(uint32_t id, pios_com_callback_ctrl_line ctrl_line_cb, uint32_t context);
bool (*available)(uint32_t id); bool (*available)(uint32_t id);
}; };
/* Control line definitions */
#define COM_CTRL_LINE_DTR_MASK 0x01
#define COM_CTRL_LINE_RTS_MASK 0x02
/* Public Functions */ /* Public Functions */
extern int32_t PIOS_COM_Init(uint32_t *com_id, const struct pios_com_driver *driver, uint32_t lower_id, uint8_t *rx_buffer, uint16_t rx_buffer_len, uint8_t *tx_buffer, uint16_t tx_buffer_len);
extern int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud); extern int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud);
extern int32_t PIOS_COM_SetCtrlLine(uint32_t com_id, uint32_t mask, uint32_t state);
extern int32_t PIOS_COM_SendCharNonBlocking(uint32_t com_id, char c); extern int32_t PIOS_COM_SendCharNonBlocking(uint32_t com_id, char c);
extern int32_t PIOS_COM_SendChar(uint32_t com_id, char c); extern int32_t PIOS_COM_SendChar(uint32_t com_id, char c);
extern int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, uint16_t len); extern int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, uint16_t len);

8
flight/pios/inc/pios_instrumentation.h
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@ -47,7 +47,7 @@ extern int8_t pios_instrumentation_last_used_counter;
* @param counter_handle handle of the counter to update @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter * @param counter_handle handle of the counter to update @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
* @param newValue the updated value. * @param newValue the updated value.
*/ */
inline void PIOS_Instrumentation_updateCounter(pios_counter_t counter_handle, int32_t newValue) static inline void PIOS_Instrumentation_updateCounter(pios_counter_t counter_handle, int32_t newValue)
{ {
PIOS_Assert(pios_instrumentation_perf_counters && counter_handle); PIOS_Assert(pios_instrumentation_perf_counters && counter_handle);
vPortEnterCritical(); vPortEnterCritical();
@ -69,7 +69,7 @@ inline void PIOS_Instrumentation_updateCounter(pios_counter_t counter_handle, in
* Used to determine the time duration of a code block, mark the begin of the block. @see PIOS_Instrumentation_TimeEnd * Used to determine the time duration of a code block, mark the begin of the block. @see PIOS_Instrumentation_TimeEnd
* @param counter_handle handle of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter * @param counter_handle handle of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
*/ */
inline void PIOS_Instrumentation_TimeStart(pios_counter_t counter_handle) static inline void PIOS_Instrumentation_TimeStart(pios_counter_t counter_handle)
{ {
PIOS_Assert(pios_instrumentation_perf_counters && counter_handle); PIOS_Assert(pios_instrumentation_perf_counters && counter_handle);
vPortEnterCritical(); vPortEnterCritical();
@ -83,7 +83,7 @@ inline void PIOS_Instrumentation_TimeStart(pios_counter_t counter_handle)
* Used to determine the time duration of a code block, mark the end of the block. @see PIOS_Instrumentation_TimeStart * Used to determine the time duration of a code block, mark the end of the block. @see PIOS_Instrumentation_TimeStart
* @param counter_handle handle of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter * @param counter_handle handle of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
*/ */
inline void PIOS_Instrumentation_TimeEnd(pios_counter_t counter_handle) static inline void PIOS_Instrumentation_TimeEnd(pios_counter_t counter_handle)
{ {
PIOS_Assert(pios_instrumentation_perf_counters && counter_handle); PIOS_Assert(pios_instrumentation_perf_counters && counter_handle);
vPortEnterCritical(); vPortEnterCritical();
@ -106,7 +106,7 @@ inline void PIOS_Instrumentation_TimeEnd(pios_counter_t counter_handle)
* Used to determine the mean period between each call to the function * Used to determine the mean period between each call to the function
* @param counter_handle handle of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter * @param counter_handle handle of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
*/ */
inline void PIOS_Instrumentation_TrackPeriod(pios_counter_t counter_handle) static inline void PIOS_Instrumentation_TrackPeriod(pios_counter_t counter_handle)
{ {
PIOS_Assert(pios_instrumentation_perf_counters && counter_handle); PIOS_Assert(pios_instrumentation_perf_counters && counter_handle);
pios_perf_counter_t *counter = (pios_perf_counter_t *)counter_handle; pios_perf_counter_t *counter = (pios_perf_counter_t *)counter_handle;

50
flight/pios/stm32f4xx/pios_usart.c
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@ -40,17 +40,21 @@
/* Provide a COM driver */ /* Provide a COM driver */
static void PIOS_USART_ChangeBaud(uint32_t usart_id, uint32_t baud); static void PIOS_USART_ChangeBaud(uint32_t usart_id, uint32_t baud);
static void PIOS_USART_SetCtrlLine(uint32_t usart_id, uint32_t mask, uint32_t state);
static void PIOS_USART_RegisterRxCallback(uint32_t usart_id, pios_com_callback rx_in_cb, uint32_t context); static void PIOS_USART_RegisterRxCallback(uint32_t usart_id, pios_com_callback rx_in_cb, uint32_t context);
static void PIOS_USART_RegisterTxCallback(uint32_t usart_id, pios_com_callback tx_out_cb, uint32_t context); static void PIOS_USART_RegisterTxCallback(uint32_t usart_id, pios_com_callback tx_out_cb, uint32_t context);
static void PIOS_USART_RegisterCtrlLineCallback(uint32_t usart_id, pios_com_callback_ctrl_line ctrl_line_cb, uint32_t context);
static void PIOS_USART_TxStart(uint32_t usart_id, uint16_t tx_bytes_avail); static void PIOS_USART_TxStart(uint32_t usart_id, uint16_t tx_bytes_avail);
static void PIOS_USART_RxStart(uint32_t usart_id, uint16_t rx_bytes_avail); static void PIOS_USART_RxStart(uint32_t usart_id, uint16_t rx_bytes_avail);
const struct pios_com_driver pios_usart_com_driver = { const struct pios_com_driver pios_usart_com_driver = {
.set_baud = PIOS_USART_ChangeBaud, .set_baud = PIOS_USART_ChangeBaud,
.tx_start = PIOS_USART_TxStart, .set_ctrl_line = PIOS_USART_SetCtrlLine,
.rx_start = PIOS_USART_RxStart, .tx_start = PIOS_USART_TxStart,
.bind_tx_cb = PIOS_USART_RegisterTxCallback, .rx_start = PIOS_USART_RxStart,
.bind_rx_cb = PIOS_USART_RegisterRxCallback, .bind_tx_cb = PIOS_USART_RegisterTxCallback,
.bind_rx_cb = PIOS_USART_RegisterRxCallback,
.bind_ctrl_line_cb = PIOS_USART_RegisterCtrlLineCallback,
}; };
enum pios_usart_dev_magic { enum pios_usart_dev_magic {
@ -65,6 +69,8 @@ struct pios_usart_dev {
uint32_t rx_in_context; uint32_t rx_in_context;
pios_com_callback tx_out_cb; pios_com_callback tx_out_cb;
uint32_t tx_out_context; uint32_t tx_out_context;
pios_com_callback_ctrl_line ctrl_line_cb;
uint32_t ctrl_line_context;
}; };
static bool PIOS_USART_validate(struct pios_usart_dev *usart_dev) static bool PIOS_USART_validate(struct pios_usart_dev *usart_dev)
@ -194,6 +200,11 @@ int32_t PIOS_USART_Init(uint32_t *usart_id, const struct pios_usart_cfg *cfg)
*usart_id = (uint32_t)usart_dev; *usart_id = (uint32_t)usart_dev;
/* Set initial control line state */
PIOS_USART_SetCtrlLine((uint32_t)usart_dev,
COM_CTRL_LINE_DTR_MASK | COM_CTRL_LINE_RTS_MASK,
COM_CTRL_LINE_DTR_MASK | COM_CTRL_LINE_RTS_MASK);
/* Configure USART Interrupts */ /* Configure USART Interrupts */
switch ((uint32_t)usart_dev->cfg->regs) { switch ((uint32_t)usart_dev->cfg->regs) {
case (uint32_t)USART1: case (uint32_t)USART1:
@ -276,6 +287,19 @@ static void PIOS_USART_ChangeBaud(uint32_t usart_id, uint32_t baud)
USART_Init(usart_dev->cfg->regs, &USART_InitStructure); USART_Init(usart_dev->cfg->regs, &USART_InitStructure);
} }
static void PIOS_USART_SetCtrlLine(uint32_t usart_id, uint32_t mask, uint32_t state)
{
struct pios_usart_dev *usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid);
if (usart_dev->ctrl_line_cb) {
(usart_dev->ctrl_line_cb)(usart_dev->ctrl_line_context, mask, state);
}
}
static void PIOS_USART_RegisterRxCallback(uint32_t usart_id, pios_com_callback rx_in_cb, uint32_t context) static void PIOS_USART_RegisterRxCallback(uint32_t usart_id, pios_com_callback rx_in_cb, uint32_t context)
{ {
struct pios_usart_dev *usart_dev = (struct pios_usart_dev *)usart_id; struct pios_usart_dev *usart_dev = (struct pios_usart_dev *)usart_id;
@ -308,6 +332,22 @@ static void PIOS_USART_RegisterTxCallback(uint32_t usart_id, pios_com_callback t
usart_dev->tx_out_cb = tx_out_cb; usart_dev->tx_out_cb = tx_out_cb;
} }
static void PIOS_USART_RegisterCtrlLineCallback(uint32_t usart_id, pios_com_callback_ctrl_line ctrl_line_cb, uint32_t context)
{
struct pios_usart_dev *usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid);
/*
* Order is important in these assignments since ISR uses _cb
* field to determine if it's ok to dereference _cb and _context
*/
usart_dev->ctrl_line_context = context;
usart_dev->ctrl_line_cb = ctrl_line_cb;
}
static void PIOS_USART_generic_irq_handler(uint32_t usart_id) static void PIOS_USART_generic_irq_handler(uint32_t usart_id)
{ {
struct pios_usart_dev *usart_dev = (struct pios_usart_dev *)usart_id; struct pios_usart_dev *usart_dev = (struct pios_usart_dev *)usart_id;

3
flight/targets/boards/revolution/firmware/pios_board.c
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@ -866,6 +866,9 @@ void PIOS_Board_Init(void)
case HWSETTINGS_RM_RCVRPORT_TELEMETRY: case HWSETTINGS_RM_RCVRPORT_TELEMETRY:
PIOS_Board_configure_com(&pios_usart_rcvrport_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id); PIOS_Board_configure_com(&pios_usart_rcvrport_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
break; break;
case HWSETTINGS_RM_RCVRPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_rcvrport_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
} }

2
shared/uavobjectdefinition/hwsettings.xml
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@ -12,7 +12,7 @@
<field name="RV_TelemetryPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,ComAux,ComBridge" defaultvalue="Telemetry"/> <field name="RV_TelemetryPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,ComAux,ComBridge" defaultvalue="Telemetry"/>
<field name="RV_GPSPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,ComAux,ComBridge" defaultvalue="GPS"/> <field name="RV_GPSPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,ComAux,ComBridge" defaultvalue="GPS"/>
<field name="RM_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+PWM,PPM+Telemetry,PPM+Outputs,Outputs,Telemetry" defaultvalue="PWM"/> <field name="RM_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+PWM,PPM+Telemetry,PPM+Outputs,Outputs,Telemetry,ComBridge" defaultvalue="PWM"/>
<field name="RM_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM,DebugConsole,ComBridge,OsdHk" defaultvalue="Disabled"/> <field name="RM_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM,DebugConsole,ComBridge,OsdHk" defaultvalue="Disabled"/>
<field name="RM_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM,DebugConsole,ComBridge,OsdHk" defaultvalue="Disabled"/> <field name="RM_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM,DebugConsole,ComBridge,OsdHk" defaultvalue="Disabled"/>