mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-20 10:54:14 +01:00
OP-265 CC: More work to get it running
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2425 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124
peabody124
parent
de51286524
commit
8a32d88b10
@ -71,7 +71,7 @@ MODULES =
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# - MODEL used for linker-script name (-T) and passed as define
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# - BOARD just passed as define (optional)
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MCU = cortex-m3
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CHIP = STM32F103RET
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CHIP = STM32F103CBT
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BOARD = STM32103CB_CC_Rev1
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MODEL = MD
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ifeq ($(USE_BOOTLOADER), YES)
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@ -166,39 +166,22 @@ SRC += $(OPUAVOBJ)/flighttelemetrystats.c
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SRC += $(OPUAVOBJ)/systemstats.c
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SRC += $(OPUAVOBJ)/systemalarms.c
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SRC += $(OPUAVOBJ)/systemsettings.c
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SRC += $(OPUAVOBJ)/telemetrysettings.c
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SRC += $(OPUAVOBJ)/stabilizationsettings.c
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SRC += $(OPUAVOBJ)/actuatorcommand.c
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#SRC += $(OPUAVOBJ)/actuatordesired.c
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#SRC += $(OPUAVOBJ)/actuatorsettings.c
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SRC += $(OPUAVOBJ)/actuatordesired.c
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SRC += $(OPUAVOBJ)/actuatorsettings.c
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SRC += $(OPUAVOBJ)/attituderaw.c
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SRC += $(OPUAVOBJ)/attitudeactual.c
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SRC += $(OPUAVOBJ)/attitudedesired.c
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SRC += $(OPUAVOBJ)/manualcontrolcommand.c
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#SRC += $(OPUAVOBJ)/manualcontrolsettings.c
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#SRC += $(OPUAVOBJ)/attitudedesired.c
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#SRC += $(OPUAVOBJ)/stabilizationsettings.c
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#SRC += $(OPUAVOBJ)/ahrsstatus.c
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SRC += $(OPUAVOBJ)/i2cstats.c
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#SRC += $(OPUAVOBJ)/baroaltitude.c
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#SRC += $(OPUAVOBJ)/ahrscalibration.c
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#SRC += $(OPUAVOBJ)/attitudeactual.c
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#SRC += $(OPUAVOBJ)/ahrssettings.c
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#SRC += $(OPUAVOBJ)/flightbatterystate.c
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#SRC += $(OPUAVOBJ)/attituderaw.c
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#SRC += $(OPUAVOBJ)/homelocation.c
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#SRC += $(OPUAVOBJ)/mixersettings.c
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#SRC += $(OPUAVOBJ)/mixerstatus.c
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#SRC += $(OPUAVOBJ)/positiondesired.c
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#SRC += $(OPUAVOBJ)/velocitydesired.c
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#SRC += $(OPUAVOBJ)/velocityactual.c
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#SRC += $(OPUAVOBJ)/guidancesettings.c
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#SRC += $(OPUAVOBJ)/firmwareiapobj.c
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#SRC += $(OPUAVOBJ)/ratedesired.c
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#SRC += $(OPUAVOBJ)/pipxtrememodemsettings.c
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#SRC += $(OPUAVOBJ)/pipxtrememodemstatus.c
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#SRC += $(OPUAVOBJ)/batterysettings.c
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#SRC += $(OPUAVOBJ)/flightplancontrol.c
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#SRC += $(OPUAVOBJ)/flightplanstatus.c
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#SRC += $(OPUAVOBJ)/flightplansettings.c
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SRC += $(OPUAVOBJ)/taskinfo.c
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SRC += $(OPUAVOBJ)/i2cstats.c
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SRC += $(OPUAVOBJ)/watchdogstatus.c
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#${wildcard ${OBJ}/$(shell echo $(VAR) | tr A-Z a-z)/*.c}
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#SRC += ${foreach OBJ, ${UAVOBJECTS}, $(UAVOBJECTS)/$(OBJ).c}
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# Cant use until i can automatically generate list of UAVObjects
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#SRC += ${OUTDIR}/InitObjects.c
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endif
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## PIOS Hardware (STM32F10x)
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@ -221,11 +204,11 @@ SRC += $(PIOSSTM32F10X)/pios_wdg.c
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# PIOS USB related files (seperated to make code maintenance more easy)
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#SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
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#SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c
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#SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
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#SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
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#SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
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SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
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SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c
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SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
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SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
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SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
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## PIOS Hardware (Common)
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SRC += $(PIOSCOMMON)/pios_sdcard.c
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@ -261,12 +244,12 @@ SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c
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SRC += $(STMSPDSRCDIR)/misc.c
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## STM32 USB Library
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#SRC += $(STMUSBSRCDIR)/usb_core.c
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#SRC += $(STMUSBSRCDIR)/usb_init.c
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#SRC += $(STMUSBSRCDIR)/usb_int.c
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#SRC += $(STMUSBSRCDIR)/usb_mem.c
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#SRC += $(STMUSBSRCDIR)/usb_regs.c
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#SRC += $(STMUSBSRCDIR)/usb_sil.c
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SRC += $(STMUSBSRCDIR)/usb_core.c
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SRC += $(STMUSBSRCDIR)/usb_init.c
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SRC += $(STMUSBSRCDIR)/usb_int.c
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SRC += $(STMUSBSRCDIR)/usb_mem.c
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SRC += $(STMUSBSRCDIR)/usb_regs.c
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SRC += $(STMUSBSRCDIR)/usb_sil.c
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## RTOS
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SRC += $(RTOSSRCDIR)/list.c
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@ -318,7 +301,7 @@ CPPSRCARM =
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# Even though the DOS/Win* filesystem matches both .s and .S the same,
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# it will preserve the spelling of the filenames, and gcc itself does
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# care about how the name is spelled on its command-line.
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ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
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ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)_CC.S
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# List Assembler source files here which must be assembled in ARM-Mode..
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ASRCARM =
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@ -533,6 +516,7 @@ PYTHON = python
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MSG_ERRORS_NONE = Errors: none
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MSG_BEGIN = ${quote}-------- begin (mode: $(RUN_MODE)) --------${quote}
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MSG_END = ${quote}-------- end --------${quote}
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MSG_OBJINIT = ${quote}**** Generating ObjInit.c${quote}
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MSG_MODINIT = ${quote}**** Generating ModInit.c${quote}
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MSG_SIZE_BEFORE = ${quote}Size before:${quote}
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MSG_SIZE_AFTER = ${quote}Size after build:${quote}
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@ -597,8 +581,18 @@ else
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quote =
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endif
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# Generate intermediate code
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gencode: ${OUTDIR}/InitMods.c #$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h
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# Generate intermediate code for objects
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gencode: ${OUTDIR}/InitObjects.c ${OUTDIR}/InitMods.c
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# Generate code for object initialization
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${OUTDIR}/InitObjects.c: Makefile
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@echo ${MSG_OBJINIT}
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@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitObjects.c
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@echo ${quote}${OBJ}Initialize(); }${quote} >> ${OUTDIR}/InitObjects.c
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@echo ${quote}void UAVObjectsInitializeAll() { ${quote} >> ${OUTDIR}/InitObjects.c
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@echo ${quote}${foreach OBJ, ${UAVOBJECTS}, ${OBJ}Initialize(); }${quote} >> ${OUTDIR}/InitObjects.c
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@echo ${quote}}${quote} >> ${OUTDIR}/InitObjects.c
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# Generate code for module initialization
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${OUTDIR}/InitMods.c: Makefile
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@ -84,24 +84,15 @@ int main()
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/* Brings up System using CMSIS functions, enables the LEDs. */
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PIOS_SYS_Init();
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for(;;) {
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PIOS_LED_Toggle(LED1);
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PIOS_DELAY_WaitmS(100);
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}
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/* Initialize the system thread */
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SystemModInitialize();
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/* Start the FreeRTOS scheduler */
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vTaskStartScheduler();
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/* If all is well we will never reach here as the scheduler will now be running. */
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/* If we do get here, it will most likely be because we ran out of heap space. */
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PIOS_LED_Off(LED1);
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for(;;) {
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PIOS_LED_Toggle(LED1);
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PIOS_DELAY_WaitmS(100);
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}
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return 0;
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}
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@ -118,226 +109,19 @@ void OpenPilotInit()
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* */
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PIOS_Board_Init();
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PIOS_DELAY_Init();
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PIOS_LED_Init();
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for(;;) {
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PIOS_LED_Toggle(LED1);
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PIOS_DELAY_WaitmS(1000);
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}
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/* Initialize modules */
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InitModules();
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/* Create test tasks */
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//xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
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//xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
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//xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
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//xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
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}
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#if INCLUDE_TEST_TASKS
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static void TaskTesting(void *pvParameters)
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{
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portTickType xDelay = 250 / portTICK_RATE_MS;
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portTickType xTimeout = 10 / portTICK_RATE_MS;
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//PIOS_BMP085_Init();
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for(;;)
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{
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/* This blocks the task until the BMP085 EOC */
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/*
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PIOS_BMP085_StartADC(TemperatureConv);
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xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
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PIOS_BMP085_ReadADC();
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PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u\r", PIOS_BMP085_GetTemperature());
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PIOS_BMP085_StartADC(PressureConv);
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xSemaphoreTake(PIOS_BMP085_EOC, xTimeout);
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PIOS_BMP085_ReadADC();
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PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u\r", PIOS_BMP085_GetPressure());
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*/
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#if defined(PIOS_INCLUDE_SPEKTRUM)
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PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u\r", PIOS_SPEKTRUM_Get(0), PIOS_SPEKTRUM_Get(1), PIOS_SPEKTRUM_Get(2), PIOS_SPEKTRUM_Get(3), PIOS_SPEKTRUM_Get(4), PIOS_SPEKTRUM_Get(5), PIOS_SPEKTRUM_Get(6), PIOS_SPEKTRUM_Get(7));
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#endif
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#if defined(PIOS_INCLUDE_PWM)
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PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u uS\r", PIOS_PWM_Get(0), PIOS_PWM_Get(1), PIOS_PWM_Get(2), PIOS_PWM_Get(3), PIOS_PWM_Get(4), PIOS_PWM_Get(5), PIOS_PWM_Get(6), PIOS_PWM_Get(7));
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#endif
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#if defined(PIOS_INCLUDE_PPM)
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PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u uS\r", PIOS_PPM_Get(0), PIOS_PPM_Get(1), PIOS_PPM_Get(2), PIOS_PPM_Get(3), PIOS_PPM_Get(4), PIOS_PPM_Get(5), PIOS_PPM_Get(6), PIOS_PPM_Get(7));
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#endif
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/* This blocks the task until there is something on the buffer */
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/*xSemaphoreTake(PIOS_USART1_Buffer, portMAX_DELAY);
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int32_t len = PIOS_COM_ReceiveBufferUsed(COM_USART1);
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for(int32_t i = 0; i < len; i++) {
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PIOS_COM_SendFormattedString(COM_DEBUG_USART, ">%c\r", PIOS_COM_ReceiveBuffer(COM_USART1));
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}*/
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//int32_t state = PIOS_USB_CableConnected();
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//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "State: %d\r", state);
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//PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x57, (uint8_t *)50, 1);
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/* Test ADC pins */
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//temp = ((1.43 - ((Vsense / 4096) * 3.3)) / 4.3) + 25;
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//uint32_t vsense = PIOS_ADC_PinGet(0);
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//uint32_t Temp = (1.42 - vsense * 3.3 / 4096) * 1000 / 4.35 + 25;
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//PIOS_COM_SendFormattedString(COM_DEBUG_USART, "Temp: %d, CS_I: %d, CS_V: %d, 5v: %d\r", PIOS_ADC_PinGet(0), PIOS_ADC_PinGet(1), PIOS_ADC_PinGet(2), PIOS_ADC_PinGet(3));
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//PIOS_COM_SendFormattedString(COM_DEBUG_USART, "AUX1: %d, AUX2: %d, AUX3: %d\r", PIOS_ADC_PinGet(4), PIOS_ADC_PinGet(5), PIOS_ADC_PinGet(6));
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vTaskDelay(xDelay);
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}
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}
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#endif
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#if INCLUDE_TEST_TASKS
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static void TaskHIDTest(void *pvParameters)
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{
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uint8_t byte;
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uint8_t line_buffer[128];
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uint16_t line_ix = 0;
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for(;;)
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{
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/* HID Loopback Test */
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#if 0
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if(PIOS_COM_ReceiveBufferUsed(COM_USB_HID) != 0) {
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byte = PIOS_COM_ReceiveBuffer(COM_USB_HID);
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if(byte == '\r' || byte == '\n' || byte == 0) {
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PIOS_COM_SendFormattedString(COM_USB_HID, "RX: %s\r", line_buffer);
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PIOS_COM_SendFormattedString(COM_DEBUG_USART, "RX: %s\r", line_buffer);
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line_ix = 0;
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} else if(line_ix < sizeof(line_buffer)) {
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line_buffer[line_ix++] = byte;
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line_buffer[line_ix] = 0;
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}
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}
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#endif
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/* HID Loopback Test */
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if(PIOS_COM_ReceiveBufferUsed(COM_USART2) != 0) {
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byte = PIOS_COM_ReceiveBuffer(COM_USART2);
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#if 0
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if(byte == '\r' || byte == '\n' || byte == 0) {
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PIOS_COM_SendFormattedString(COM_DEBUG_USART, "RX: %s\r", line_buffer);
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line_ix = 0;
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} else if(line_ix < sizeof(line_buffer)) {
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line_buffer[line_ix++] = byte;
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line_buffer[line_ix] = 0;
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}
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#endif
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PIOS_COM_SendChar(COM_DEBUG_USART, (char)byte);
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}
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}
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}
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#endif
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#if INCLUDE_TEST_TASKS
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static void TaskServos(void *pvParameters)
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{
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/* For testing servo outputs */
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portTickType xDelay;
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/* Used to test servos, cycles all servos from one side to the other */
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for(;;) {
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/*xDelay = 250 / portTICK_RATE_MS;
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PIOS_Servo_Set(0, 2000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(1, 2000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(2, 2000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(3, 2000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(4, 2000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(5, 2000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(6, 2000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(7, 2000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(7, 1000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(6, 1000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(5, 1000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(4, 1000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(3, 1000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(2, 1000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(1, 1000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(0, 1000);
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vTaskDelay(xDelay);*/
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xDelay = 1 / portTICK_RATE_MS;
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for(int i = 1000; i < 2000; i++) {
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PIOS_Servo_Set(0, i);
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PIOS_Servo_Set(1, i);
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PIOS_Servo_Set(2, i);
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PIOS_Servo_Set(3, i);
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PIOS_Servo_Set(4, i);
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PIOS_Servo_Set(5, i);
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PIOS_Servo_Set(6, i);
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PIOS_Servo_Set(7, i);
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vTaskDelay(xDelay);
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}
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for(int i = 2000; i > 1000; i--) {
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PIOS_Servo_Set(0, i);
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PIOS_Servo_Set(1, i);
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PIOS_Servo_Set(2, i);
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PIOS_Servo_Set(3, i);
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PIOS_Servo_Set(4, i);
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PIOS_Servo_Set(5, i);
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PIOS_Servo_Set(6, i);
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PIOS_Servo_Set(7, i);
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vTaskDelay(xDelay);
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}
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}
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}
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#endif
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#if INCLUDE_TEST_TASKS
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static void TaskSDCard(void *pvParameters)
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{
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uint16_t second_delay_ctr = 0;
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portTickType xLastExecutionTime;
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/* Initialise the xLastExecutionTime variable on task entry */
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xLastExecutionTime = xTaskGetTickCount();
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for(;;) {
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vTaskDelayUntil(&xLastExecutionTime, 1 / portTICK_RATE_MS);
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/* Each second: */
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/* Check if SD card is available */
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/* High-speed access if SD card was previously available */
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if(++second_delay_ctr >= 1000) {
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second_delay_ctr = 0;
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uint8_t prev_sdcard_available = sdcard_available;
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sdcard_available = PIOS_SDCARD_CheckAvailable(prev_sdcard_available);
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if(sdcard_available && !prev_sdcard_available) {
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/* SD Card has been connected! */
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/* Switch to mass storage device */
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MSD_Init(0);
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} else if(!sdcard_available && prev_sdcard_available) {
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/* Re-init USB for HID */
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PIOS_USB_Init(1);
|
||||
/* SD Card disconnected! */
|
||||
}
|
||||
}
|
||||
|
||||
/* Each millisecond: */
|
||||
/* Handle USB access if device is available */
|
||||
if(sdcard_available) {
|
||||
MSD_Periodic_mS();
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
|
||||
@ -30,7 +30,7 @@
|
||||
#define configTICK_RATE_HZ ( ( portTickType ) 1000 )
|
||||
#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 )
|
||||
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 256 )
|
||||
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 5 * 1024 ) )
|
||||
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 10 * 1024 ) )
|
||||
#define configMAX_TASK_NAME_LEN ( 16 )
|
||||
#define configUSE_TRACE_FACILITY 0
|
||||
#define configUSE_16_BIT_TICKS 0
|
||||
|
||||
@ -43,12 +43,12 @@
|
||||
#define PIOS_INCLUDE_LED
|
||||
//#define PIOS_INCLUDE_SPEKTRUM
|
||||
//#define PIOS_INCLUDE_PPM
|
||||
#define PIOS_INCLUDE_PWM
|
||||
#define PIOS_INCLUDE_SERVO
|
||||
//#define PIOS_INCLUDE_PWM
|
||||
//#define PIOS_INCLUDE_SERVO
|
||||
#define PIOS_INCLUDE_SPI
|
||||
#define PIOS_INCLUDE_SYS
|
||||
#define PIOS_INCLUDE_USART
|
||||
//#define PIOS_INCLUDE_USB_HID
|
||||
#define PIOS_INCLUDE_USB_HID
|
||||
#define PIOS_INCLUDE_COM
|
||||
#define PIOS_INCLUDE_SETTINGS
|
||||
#define PIOS_INCLUDE_FREERTOS
|
||||
|
||||
@ -83,8 +83,8 @@ TIM8 | | | |
|
||||
//------------------------
|
||||
// WATCHDOG_SETTINGS
|
||||
//------------------------
|
||||
#define PIOS_WATCHDOG_TIMEOUT 250
|
||||
#define PIOS_WDG_REGISTER BKP_DR4
|
||||
#define PIOS_WATCHDOG_TIMEOUT 250
|
||||
#define PIOS_WDG_REGISTER BKP_DR4
|
||||
#define PIOS_WDG_ACTUATOR 0x0001
|
||||
#define PIOS_WDG_STABILIZATION 0x0002
|
||||
#define PIOS_WDG_AHRS 0x0004
|
||||
@ -293,7 +293,7 @@ TIM8 | | | |
|
||||
#define PIOS_PWM_TIM_IRQS { TIM1_CC_IRQn, TIM3_IRQn, TIM5_IRQn }
|
||||
#define PIOS_PWM_NUM_INPUTS 8
|
||||
#define PIOS_PWM_NUM_TIMS 3
|
||||
#define PIOS_PWM_SUPV_ENABLED 1
|
||||
#define PIOS_PWM_SUPV_ENABLED 0
|
||||
#define PIOS_PWM_SUPV_TIMER TIM6
|
||||
#define PIOS_PWM_SUPV_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE)
|
||||
#define PIOS_PWM_SUPV_HZ 25
|
||||
|
||||
@ -31,8 +31,6 @@
|
||||
/* Project Includes */
|
||||
#include "pios.h"
|
||||
|
||||
#if defined(PIOS_INCLUDE_SERVO)
|
||||
|
||||
/* Private Function Prototypes */
|
||||
|
||||
/* Local Variables */
|
||||
@ -44,6 +42,7 @@ static volatile uint16_t ServoPosition[PIOS_SERVO_NUM_TIMERS];
|
||||
void PIOS_Servo_Init(void)
|
||||
{
|
||||
#ifndef PIOS_ENABLE_DEBUG_PINS
|
||||
#if defined(PIOS_INCLUDE_SERVO)
|
||||
/* Initialise GPIOs as alternate function push/pull */
|
||||
GPIO_InitTypeDef GPIO_InitStructure;
|
||||
GPIO_StructInit(&GPIO_InitStructure);
|
||||
@ -110,6 +109,7 @@ void PIOS_Servo_Init(void)
|
||||
TIM_ARRPreloadConfig(TIM8, ENABLE);
|
||||
TIM_CtrlPWMOutputs(TIM8, ENABLE);
|
||||
TIM_Cmd(TIM8, ENABLE);
|
||||
#endif // PIOS_INCLUDE_SERVO
|
||||
#endif // PIOS_ENABLE_DEBUG_PINS
|
||||
}
|
||||
|
||||
@ -121,6 +121,7 @@ void PIOS_Servo_Init(void)
|
||||
void PIOS_Servo_SetHz(uint16_t onetofour, uint16_t fivetoeight)
|
||||
{
|
||||
#ifndef PIOS_ENABLE_DEBUG_PINS
|
||||
#if defined(PIOS_INCLUDE_SERVO)
|
||||
/* (Re)-Initialise Timers TIM4 and TIM8 */
|
||||
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
|
||||
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
|
||||
@ -144,6 +145,7 @@ void PIOS_Servo_SetHz(uint16_t onetofour, uint16_t fivetoeight)
|
||||
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
|
||||
TIM_TimeBaseStructure.TIM_Period = ((1000000 / fivetoeight) - 1);
|
||||
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
|
||||
#endif // PIOS_INCLUDE_SERVO
|
||||
#endif // PIOS_ENABLE_DEBUG_PINS
|
||||
}
|
||||
|
||||
@ -155,6 +157,7 @@ void PIOS_Servo_SetHz(uint16_t onetofour, uint16_t fivetoeight)
|
||||
void PIOS_Servo_Set(uint8_t Servo, uint16_t Position)
|
||||
{
|
||||
#ifndef PIOS_ENABLE_DEBUG_PINS
|
||||
#if defined(PIOS_INCLUDE_SERVO)
|
||||
/* Make sure servo exists */
|
||||
if (Servo < PIOS_SERVO_NUM_OUTPUTS && Servo >= 0) {
|
||||
/* Update the position */
|
||||
@ -187,7 +190,6 @@ void PIOS_Servo_Set(uint8_t Servo, uint16_t Position)
|
||||
break;
|
||||
}
|
||||
}
|
||||
#endif // PIOS_INCLUDE_SERVO
|
||||
#endif // PIOS_ENABLE_DEBUG_PINS
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
355
flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S
Normal file
355
flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S
Normal file
@ -0,0 +1,355 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file startup_stm32f10x_md.s
|
||||
* @author MCD Application Team / Angus Peart
|
||||
* @version V3.1.2
|
||||
* @date 09/28/2009
|
||||
* @brief STM32F10x Medium Density Devices vector table for RIDE7 toolchain.
|
||||
* This module performs:
|
||||
* - Set the initial SP
|
||||
* - Set the initial PC == Reset_Handler,
|
||||
* - Set the vector table entries with the exceptions ISR address
|
||||
* - Branches to main in the C library (which eventually
|
||||
* calls main()).
|
||||
* After Reset the Cortex-M3 processor is in Thread mode,
|
||||
* priority is Privileged, and the Stack is set to Main.
|
||||
*******************************************************************************
|
||||
* @copy
|
||||
*
|
||||
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
|
||||
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
|
||||
* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
|
||||
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
|
||||
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
|
||||
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
|
||||
*
|
||||
* <h2><center>© COPYRIGHT 2009 STMicroelectronics</center></h2>
|
||||
*/
|
||||
|
||||
.syntax unified
|
||||
.cpu cortex-m3
|
||||
.fpu softvfp
|
||||
.thumb
|
||||
|
||||
.global g_pfnVectors
|
||||
.global Default_Handler
|
||||
|
||||
/* start address for the initialization values of the .data section.
|
||||
defined in linker script */
|
||||
.word _sidata
|
||||
/* start address for the .data section. defined in linker script */
|
||||
.word _sdata
|
||||
/* end address for the .data section. defined in linker script */
|
||||
.word _edata
|
||||
/* start address for the .bss section. defined in linker script */
|
||||
.word _sbss
|
||||
/* end address for the .bss section. defined in linker script */
|
||||
.word _ebss
|
||||
|
||||
.equ BootRAM, 0xF108F85F
|
||||
/**
|
||||
* @brief This is the code that gets called when the processor first
|
||||
* starts execution following a reset event. Only the absolutely
|
||||
* necessary set is performed, after which the application
|
||||
* supplied main() routine is called.
|
||||
* @param None
|
||||
* @retval : None
|
||||
*/
|
||||
|
||||
.section .text.Reset_Handler
|
||||
.weak Reset_Handler
|
||||
.type Reset_Handler, %function
|
||||
Reset_Handler:
|
||||
|
||||
/* Copy the data segment initializers from flash to SRAM */
|
||||
movs r1, #0
|
||||
b LoopCopyDataInit
|
||||
|
||||
CopyDataInit:
|
||||
ldr r3, =_sidata
|
||||
ldr r3, [r3, r1]
|
||||
str r3, [r0, r1]
|
||||
adds r1, r1, #4
|
||||
|
||||
LoopCopyDataInit:
|
||||
ldr r0, =_sdata
|
||||
ldr r3, =_edata
|
||||
adds r2, r0, r1
|
||||
cmp r2, r3
|
||||
bcc CopyDataInit
|
||||
ldr r2, =_sbss
|
||||
b LoopFillZerobss
|
||||
/* Zero fill the bss segment. */
|
||||
FillZerobss:
|
||||
movs r3, #0
|
||||
str r3, [r2], #4
|
||||
|
||||
LoopFillZerobss:
|
||||
ldr r3, = _ebss
|
||||
cmp r2, r3
|
||||
bcc FillZerobss
|
||||
/* Call the application's entry point.*/
|
||||
bl main
|
||||
bx lr
|
||||
.size Reset_Handler, .-Reset_Handler
|
||||
|
||||
/**
|
||||
* @brief This is the code that gets called when the processor receives an
|
||||
* unexpected interrupt. This simply enters an infinite loop, preserving
|
||||
* the system state for examination by a debugger.
|
||||
*
|
||||
* @param None
|
||||
* @retval : None
|
||||
*/
|
||||
.section .text.Default_Handler,"ax",%progbits
|
||||
Default_Handler:
|
||||
Infinite_Loop:
|
||||
b Infinite_Loop
|
||||
.size Default_Handler, .-Default_Handler
|
||||
/******************************************************************************
|
||||
*
|
||||
* The minimal vector table for a Cortex M3. Note that the proper constructs
|
||||
* must be placed on this to ensure that it ends up at physical address
|
||||
* 0x0000.0000.
|
||||
*
|
||||
******************************************************************************/
|
||||
.section .isr_vector,"a",%progbits
|
||||
.type g_pfnVectors, %object
|
||||
.size g_pfnVectors, .-g_pfnVectors
|
||||
|
||||
|
||||
g_pfnVectors:
|
||||
.word _estack
|
||||
.word Reset_Handler
|
||||
.word NMI_Handler
|
||||
.word HardFault_Handler
|
||||
.word MemManage_Handler
|
||||
.word BusFault_Handler
|
||||
.word UsageFault_Handler
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word vPortSVCHandler
|
||||
.word DebugMon_Handler
|
||||
.word 0
|
||||
.word xPortPendSVHandler
|
||||
.word xPortSysTickHandler
|
||||
.word WWDG_IRQHandler
|
||||
.word PVD_IRQHandler
|
||||
.word TAMPER_IRQHandler
|
||||
.word RTC_IRQHandler
|
||||
.word FLASH_IRQHandler
|
||||
.word RCC_IRQHandler
|
||||
.word EXTI0_IRQHandler
|
||||
.word EXTI1_IRQHandler
|
||||
.word EXTI2_IRQHandler
|
||||
.word EXTI3_IRQHandler
|
||||
.word EXTI4_IRQHandler
|
||||
.word DMA1_Channel1_IRQHandler
|
||||
.word DMA1_Channel2_IRQHandler
|
||||
.word DMA1_Channel3_IRQHandler
|
||||
.word DMA1_Channel4_IRQHandler
|
||||
.word DMA1_Channel5_IRQHandler
|
||||
.word DMA1_Channel6_IRQHandler
|
||||
.word DMA1_Channel7_IRQHandler
|
||||
.word ADC1_2_IRQHandler
|
||||
.word USB_HP_CAN1_TX_IRQHandler
|
||||
.word USB_LP_CAN1_RX0_IRQHandler
|
||||
.word CAN1_RX1_IRQHandler
|
||||
.word CAN1_SCE_IRQHandler
|
||||
.word EXTI9_5_IRQHandler
|
||||
.word TIM1_BRK_IRQHandler
|
||||
.word TIM1_UP_IRQHandler
|
||||
.word TIM1_TRG_COM_IRQHandler
|
||||
.word TIM1_CC_IRQHandler
|
||||
.word TIM2_IRQHandler
|
||||
.word TIM3_IRQHandler
|
||||
.word TIM4_IRQHandler
|
||||
.word I2C1_EV_IRQHandler
|
||||
.word I2C1_ER_IRQHandler
|
||||
.word I2C2_EV_IRQHandler
|
||||
.word I2C2_ER_IRQHandler
|
||||
.word SPI1_IRQHandler
|
||||
.word SPI2_IRQHandler
|
||||
.word USART1_IRQHandler
|
||||
.word USART2_IRQHandler
|
||||
.word USART3_IRQHandler
|
||||
.word EXTI15_10_IRQHandler
|
||||
.word RTCAlarm_IRQHandler
|
||||
.word USBWakeUp_IRQHandler
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word BootRAM /* @0x108. This is for boot in RAM mode for
|
||||
STM32F10x Medium Density devices. */
|
||||
|
||||
/*******************************************************************************
|
||||
*
|
||||
* Provide weak aliases for each Exception handler to the Default_Handler.
|
||||
* As they are weak aliases, any function with the same name will override
|
||||
* this definition.
|
||||
*
|
||||
*******************************************************************************/
|
||||
|
||||
.weak NMI_Handler
|
||||
.thumb_set NMI_Handler,Default_Handler
|
||||
|
||||
.weak HardFault_Handler
|
||||
.thumb_set HardFault_Handler,Default_Handler
|
||||
|
||||
.weak MemManage_Handler
|
||||
.thumb_set MemManage_Handler,Default_Handler
|
||||
|
||||
.weak BusFault_Handler
|
||||
.thumb_set BusFault_Handler,Default_Handler
|
||||
|
||||
.weak UsageFault_Handler
|
||||
.thumb_set UsageFault_Handler,Default_Handler
|
||||
|
||||
.weak SVC_Handler
|
||||
.thumb_set SVC_Handler,Default_Handler
|
||||
|
||||
.weak DebugMon_Handler
|
||||
.thumb_set DebugMon_Handler,Default_Handler
|
||||
|
||||
.weak PendSV_Handler
|
||||
.thumb_set PendSV_Handler,Default_Handler
|
||||
|
||||
.weak SysTick_Handler
|
||||
.thumb_set SysTick_Handler,Default_Handler
|
||||
|
||||
.weak WWDG_IRQHandler
|
||||
.thumb_set WWDG_IRQHandler,Default_Handler
|
||||
|
||||
.weak PVD_IRQHandler
|
||||
.thumb_set PVD_IRQHandler,Default_Handler
|
||||
|
||||
.weak TAMPER_IRQHandler
|
||||
.thumb_set TAMPER_IRQHandler,Default_Handler
|
||||
|
||||
.weak RTC_IRQHandler
|
||||
.thumb_set RTC_IRQHandler,Default_Handler
|
||||
|
||||
.weak FLASH_IRQHandler
|
||||
.thumb_set FLASH_IRQHandler,Default_Handler
|
||||
|
||||
.weak RCC_IRQHandler
|
||||
.thumb_set RCC_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI0_IRQHandler
|
||||
.thumb_set EXTI0_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI1_IRQHandler
|
||||
.thumb_set EXTI1_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI2_IRQHandler
|
||||
.thumb_set EXTI2_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI3_IRQHandler
|
||||
.thumb_set EXTI3_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI4_IRQHandler
|
||||
.thumb_set EXTI4_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Channel1_IRQHandler
|
||||
.thumb_set DMA1_Channel1_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Channel2_IRQHandler
|
||||
.thumb_set DMA1_Channel2_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Channel3_IRQHandler
|
||||
.thumb_set DMA1_Channel3_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Channel4_IRQHandler
|
||||
.thumb_set DMA1_Channel4_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Channel5_IRQHandler
|
||||
.thumb_set DMA1_Channel5_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Channel6_IRQHandler
|
||||
.thumb_set DMA1_Channel6_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Channel7_IRQHandler
|
||||
.thumb_set DMA1_Channel7_IRQHandler,Default_Handler
|
||||
|
||||
.weak ADC1_2_IRQHandler
|
||||
.thumb_set ADC1_2_IRQHandler,Default_Handler
|
||||
|
||||
.weak USB_HP_CAN1_TX_IRQHandler
|
||||
.thumb_set USB_HP_CAN1_TX_IRQHandler,Default_Handler
|
||||
|
||||
.weak USB_LP_CAN1_RX0_IRQHandler
|
||||
.thumb_set USB_LP_CAN1_RX0_IRQHandler,Default_Handler
|
||||
|
||||
.weak CAN1_RX1_IRQHandler
|
||||
.thumb_set CAN1_RX1_IRQHandler,Default_Handler
|
||||
|
||||
.weak CAN1_SCE_IRQHandler
|
||||
.thumb_set CAN1_SCE_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI9_5_IRQHandler
|
||||
.thumb_set EXTI9_5_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM1_BRK_IRQHandler
|
||||
.thumb_set TIM1_BRK_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM1_UP_IRQHandler
|
||||
.thumb_set TIM1_UP_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM1_TRG_COM_IRQHandler
|
||||
.thumb_set TIM1_TRG_COM_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM1_CC_IRQHandler
|
||||
.thumb_set TIM1_CC_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM2_IRQHandler
|
||||
.thumb_set TIM2_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM3_IRQHandler
|
||||
.thumb_set TIM3_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM4_IRQHandler
|
||||
.thumb_set TIM4_IRQHandler,Default_Handler
|
||||
|
||||
.weak I2C1_EV_IRQHandler
|
||||
.thumb_set I2C1_EV_IRQHandler,Default_Handler
|
||||
|
||||
.weak I2C1_ER_IRQHandler
|
||||
.thumb_set I2C1_ER_IRQHandler,Default_Handler
|
||||
|
||||
.weak I2C2_EV_IRQHandler
|
||||
.thumb_set I2C2_EV_IRQHandler,Default_Handler
|
||||
|
||||
.weak I2C2_ER_IRQHandler
|
||||
.thumb_set I2C2_ER_IRQHandler,Default_Handler
|
||||
|
||||
.weak SPI1_IRQHandler
|
||||
.thumb_set SPI1_IRQHandler,Default_Handler
|
||||
|
||||
.weak SPI2_IRQHandler
|
||||
.thumb_set SPI2_IRQHandler,Default_Handler
|
||||
|
||||
.weak USART1_IRQHandler
|
||||
.thumb_set USART1_IRQHandler,Default_Handler
|
||||
|
||||
.weak USART2_IRQHandler
|
||||
.thumb_set USART2_IRQHandler,Default_Handler
|
||||
|
||||
.weak USART3_IRQHandler
|
||||
.thumb_set USART3_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI15_10_IRQHandler
|
||||
.thumb_set EXTI15_10_IRQHandler,Default_Handler
|
||||
|
||||
.weak RTCAlarm_IRQHandler
|
||||
.thumb_set RTCAlarm_IRQHandler,Default_Handler
|
||||
|
||||
.weak USBWakeUp_IRQHandler
|
||||
.thumb_set USBWakeUp_IRQHandler,Default_Handler
|
||||
|
||||
|
||||
99
flight/UAVObjects/uavobjectsinit_cc.c
Normal file
99
flight/UAVObjects/uavobjectsinit_cc.c
Normal file
@ -0,0 +1,99 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file uavobjectsinit.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Initialize all objects.
|
||||
* Automatically generated by the UAVObjectGenerator.
|
||||
*
|
||||
* @note This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "openpilot.h"
|
||||
#include "actuatorcommand.h"
|
||||
#include "actuatordesired.h"
|
||||
#include "actuatorsettings.h"
|
||||
#include "ahrscalibration.h"
|
||||
#include "ahrssettings.h"
|
||||
#include "ahrsstatus.h"
|
||||
#include "attitudeactual.h"
|
||||
#include "attitudedesired.h"
|
||||
#include "attituderaw.h"
|
||||
#include "baroaltitude.h"
|
||||
#include "batterysettings.h"
|
||||
#include "firmwareiapobj.h"
|
||||
#include "flightbatterystate.h"
|
||||
#include "flightplancontrol.h"
|
||||
#include "flightplansettings.h"
|
||||
#include "flightplanstatus.h"
|
||||
#include "flighttelemetrystats.h"
|
||||
#include "gcstelemetrystats.h"
|
||||
#include "gpsposition.h"
|
||||
#include "gpssatellites.h"
|
||||
#include "gpstime.h"
|
||||
#include "guidancesettings.h"
|
||||
#include "homelocation.h"
|
||||
#include "i2cstats.h"
|
||||
#include "manualcontrolcommand.h"
|
||||
#include "manualcontrolsettings.h"
|
||||
#include "mixersettings.h"
|
||||
#include "mixerstatus.h"
|
||||
#include "objectpersistence.h"
|
||||
#include "pipxtrememodemsettings.h"
|
||||
#include "pipxtrememodemstatus.h"
|
||||
#include "positionactual.h"
|
||||
#include "positiondesired.h"
|
||||
#include "ratedesired.h"
|
||||
#include "stabilizationsettings.h"
|
||||
#include "systemalarms.h"
|
||||
#include "systemsettings.h"
|
||||
#include "systemstats.h"
|
||||
#include "taskinfo.h"
|
||||
#include "telemetrysettings.h"
|
||||
#include "velocityactual.h"
|
||||
#include "velocitydesired.h"
|
||||
#include "watchdogstatus.h"
|
||||
|
||||
|
||||
/**
|
||||
* Function used to initialize the first instance of each object.
|
||||
* This file is automatically updated by the UAVObjectGenerator.
|
||||
*/
|
||||
void UAVObjectsInitializeAll()
|
||||
{
|
||||
ObjectPersistenceInitialize();
|
||||
GCSTelemetryStatsInitialize();
|
||||
FlightTelemetryStatsInitialize();
|
||||
SystemStatsInitialize();
|
||||
SystemAlarmsInitialize();
|
||||
SystemSettingsInitialize();
|
||||
StabilizationSettingsInitialize();
|
||||
ActuatorCommandInitialize();
|
||||
ActuatorDesiredInitialize();
|
||||
ActuatorSettingsInitialize();
|
||||
AttitudeRawInitialize();
|
||||
AttitudeActualInitialize();
|
||||
AttitudeDesiredInitialize();
|
||||
ManualControlCommandInitialize();
|
||||
TaskInfoInitialize();
|
||||
I2CStatsInitialize();
|
||||
WatchdogStatusInitialize();
|
||||
}
|
||||
Loading…
x
Reference in New Issue
Block a user