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Merge branch 'rcvr_mem_reduction'

Browse Source 
Conflicts:
	flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld
This commit is contained in:
Stacey Sheldon 2011-07-17 17:14:40 -04:00
commit 8dbace5ee2
14 changed files with 157 additions and 124 deletions
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78
flight/CopterControl/System/pios_board.c
View File

@ -865,7 +865,7 @@ void PIOS_I2C_main_adapter_er_irq_handler(void)
#if defined(PIOS_INCLUDE_RCVR)
#include "pios_rcvr_priv.h"
uint32_t pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_DEVS];
struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
uint32_t pios_rcvr_max_channel;
#endif /* PIOS_INCLUDE_RCVR */
@ -1040,28 +1040,32 @@ void PIOS_Board_Init(void) {
case MANUALCONTROLSETTINGS_INPUTMODE_PWM:
#if defined(PIOS_INCLUDE_PWM)
PIOS_PWM_Init();
for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) {
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
&pios_pwm_rcvr_driver,
i)) {
pios_rcvr_max_channel++;
} else {
PIOS_Assert(0);
}
uint32_t pios_pwm_rcvr_id;
if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) {
PIOS_Assert(0);
}
for (uint8_t i = 0;
i < PIOS_PWM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
i++) {
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_pwm_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
#endif /* PIOS_INCLUDE_PWM */
break;
case MANUALCONTROLSETTINGS_INPUTMODE_PPM:
#if defined(PIOS_INCLUDE_PPM)
PIOS_PPM_Init();
for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) {
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
&pios_ppm_rcvr_driver,
i)) {
pios_rcvr_max_channel++;
} else {
PIOS_Assert(0);
}
uint32_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) {
PIOS_Assert(0);
}
for (uint8_t i = 0;
i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
i++) {
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_ppm_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
#endif /* PIOS_INCLUDE_PPM */
break;
@ -1069,30 +1073,34 @@ void PIOS_Board_Init(void) {
#if defined(PIOS_INCLUDE_SPEKTRUM)
if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM ||
hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM) {
for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) {
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
&pios_spektrum_rcvr_driver,
i)) {
pios_rcvr_max_channel++;
} else {
PIOS_Assert(0);
}
}
uint32_t pios_spektrum_rcvr_id;
if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) {
PIOS_Assert(0);
}
for (uint8_t i = 0;
i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
i++) {
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
}
#endif /* PIOS_INCLUDE_SPEKTRUM */
break;
case MANUALCONTROLSETTINGS_INPUTMODE_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SBUS) {
for (uint8_t i = 0; i < SBUS_NUMBER_OF_CHANNELS && i < PIOS_RCVR_MAX_DEVS; i++) {
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
&pios_sbus_rcvr_driver,
i)) {
pios_rcvr_max_channel++;
} else {
PIOS_Assert(0);
}
}
uint32_t pios_sbus_rcvr_id;
if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, 0)) {
PIOS_Assert(0);
}
for (uint8_t i = 0;
i < SBUS_NUMBER_OF_CHANNELS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
i++) {
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_sbus_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
}
#endif /* PIOS_INCLUDE_SBUS */
break;

5
flight/Modules/ManualControl/manualcontrol.c
View File

@ -166,8 +166,9 @@ static void manualControlTask(void *parameters)
// Read channel values in us
for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) {
if (pios_rcvr_channel_to_id_map[n]) {
cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_channel_to_id_map[n]);
if (pios_rcvr_channel_to_id_map[n].id) {
cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_channel_to_id_map[n].id,
pios_rcvr_channel_to_id_map[n].channel);
} else {
cmd.Channel[n] = -1;
}

70
flight/OpenPilot/System/pios_board.c
View File

@ -975,7 +975,7 @@ static const struct stm32_gpio pios_debug_pins[] = {
#if defined(PIOS_INCLUDE_RCVR)
#include "pios_rcvr_priv.h"
uint32_t pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_DEVS];
struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
uint32_t pios_rcvr_max_channel;
#endif /* PIOS_INCLUDE_RCVR */
@ -1077,41 +1077,45 @@ void PIOS_Board_Init(void) {
switch (manualcontrolsettings_inputmode) {
case MANUALCONTROLSETTINGS_INPUTMODE_PWM:
#if defined(PIOS_INCLUDE_PWM)
#if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS)
#if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
#error More receiver inputs than available devices
#endif
PIOS_PWM_Init();
for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) {
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
&pios_pwm_rcvr_driver,
i)) {
pios_rcvr_max_channel++;
} else {
PIOS_Assert(0);
}
}
PIOS_PWM_Init();
uint32_t pios_pwm_rcvr_id;
if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) {
PIOS_Assert(0);
}
for (uint8_t i = 0;
i < PIOS_PWM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
i++) {
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_pwm_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
#endif /* PIOS_INCLUDE_PWM */
break;
case MANUALCONTROLSETTINGS_INPUTMODE_PPM:
#if defined(PIOS_INCLUDE_PPM)
#if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS)
#if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
#error More receiver inputs than available devices
#endif
PIOS_PPM_Init();
for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) {
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
&pios_ppm_rcvr_driver,
i)) {
pios_rcvr_max_channel++;
} else {
PIOS_Assert(0);
}
}
PIOS_PPM_Init();
uint32_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) {
PIOS_Assert(0);
}
for (uint8_t i = 0;
i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
i++) {
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_ppm_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
#endif /* PIOS_INCLUDE_PPM */
break;
case MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM:
#if defined(PIOS_INCLUDE_SPEKTRUM)
#if (PIOS_SPEKTRUM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS)
#if (PIOS_SPEKTRUM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
#error More receiver inputs than available devices
#endif
/* SPEKTRUM init must come before comms */
@ -1121,14 +1125,16 @@ void PIOS_Board_Init(void) {
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
PIOS_Assert(0);
}
for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) {
if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel],
&pios_spektrum_rcvr_driver,
i)) {
pios_rcvr_max_channel++;
} else {
PIOS_Assert(0);
}
uint32_t pios_spektrum_rcvr_id;
if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) {
PIOS_Assert(0);
}
for (uint8_t i = 0;
i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
i++) {
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
#endif
break;

3
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
View File

@ -225,7 +225,8 @@ extern uint32_t pios_com_sbus_id;
// PIOS_RCVR
// See also pios_board.c
//------------------------
#define PIOS_RCVR_MAX_DEVS 12
#define PIOS_RCVR_MAX_DEVS 1
#define PIOS_RCVR_MAX_CHANNELS 12
//-------------------------
// Receiver PPM input

3
flight/PiOS/Boards/STM3210E_OP.h
View File

@ -198,7 +198,8 @@ extern uint32_t pios_com_sbus_id;
// PIOS_RCVR
// See also pios_board.c
//------------------------
#define PIOS_RCVR_MAX_DEVS 12
#define PIOS_RCVR_MAX_DEVS 1
#define PIOS_RCVR_MAX_CHANNELS 12
//-------------------------
// Receiver PPM input

18
flight/PiOS/Common/pios_rcvr.c
View File

@ -5,6 +5,16 @@
#include <pios_rcvr_priv.h>
enum pios_rcvr_dev_magic {
PIOS_RCVR_DEV_MAGIC = 0x99aabbcc,
};
struct pios_rcvr_dev {
enum pios_rcvr_dev_magic magic;
uint32_t lower_id;
const struct pios_rcvr_driver * driver;
};
static bool PIOS_RCVR_validate(struct pios_rcvr_dev * rcvr_dev)
{
return (rcvr_dev->magic == PIOS_RCVR_DEV_MAGIC);
@ -56,8 +66,8 @@ int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * drive
rcvr_dev = (struct pios_rcvr_dev *) PIOS_RCVR_alloc();
if (!rcvr_dev) goto out_fail;
rcvr_dev->driver = driver;
rcvr_dev->id = lower_id;
rcvr_dev->driver = driver;
rcvr_dev->lower_id = lower_id;
*rcvr_id = (uint32_t)rcvr_dev;
return(0);
@ -66,7 +76,7 @@ out_fail:
return(-1);
}
int32_t PIOS_RCVR_Read(uint32_t rcvr_id)
int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel)
{
struct pios_rcvr_dev * rcvr_dev = (struct pios_rcvr_dev *)rcvr_id;
@ -77,7 +87,7 @@ int32_t PIOS_RCVR_Read(uint32_t rcvr_id)
PIOS_DEBUG_Assert(rcvr_dev->driver->read);
return rcvr_dev->driver->read(rcvr_dev->id);
return rcvr_dev->driver->read(rcvr_dev->lower_id, channel);
}
#endif

24
flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld
View File

@ -2,8 +2,6 @@
_irq_stack_size = 0x180;
/* This is the size of the stack for early init: life span is until scheduler starts */
_init_stack_size = 0x100;
/* there is probably a way to get that from the MEMORY section */
_eram = ORIGIN(SRAM) + LENGTH(SRAM);
/* Stub out these functions since we don't use them anyway */
PROVIDE ( vPortSVCHandler = 0 ) ;
@ -91,12 +89,11 @@ SECTIONS
_sbss = . ;
*(.bss .bss.*)
*(COMMON)
. = ALIGN(4);
_ebss = . ;
} > SRAM
.heap (NOLOAD) :
{
. = ALIGN(4);
_sheap = . ;
_sheap_pre_rtos = . ;
*(.heap)
@ -111,13 +108,22 @@ SECTIONS
_init_stack_top = . - 4 ;
} > SRAM
_free_ram = . ;
.free_ram (NOLOAD) :
{
. = ORIGIN(SRAM) + LENGTH(SRAM) - _free_ram ;
/* This is used by the startup in order to initialize the .bss section */
_ebss = . ;
_eram = . ;
} > SRAM
/* keep the heap section at the end of the SRAM */
/* this will allow to claim the remaining bytes not used
/* at run time! (done by the reset vector).
/* keep the heap section at the end of the SRAM
* this will allow to claim the remaining bytes not used
* at run time! (done by the reset vector).
*/
. = ALIGN(4);
_end = . ;
PROVIDE ( _end = _ebss ) ;
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }

27
flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld
View File

@ -2,8 +2,6 @@
_irq_stack_size = 0x400;
/* This is the size of the stack for early init: life span is until scheduler starts */
_init_stack_size = 0x400;
/* there is probably a way to get that from the MEMORY section */
_eram = ORIGIN(RAM) + LENGTH(RAM);
/* Check valid alignment for VTOR */
ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
@ -264,19 +262,16 @@ SECTIONS
.bss :
{
. = ALIGN(4);
/* This is used by the startup in order to initialize the .bss secion */
/* This is used by the startup in order to initialize the .bss section */
_sbss = .;
*(.bss)
*(COMMON)
. = ALIGN(4);
/* This is used by the startup in order to initialize the .bss secion */
_ebss = . ;
} >RAM
.heap (NOLOAD) :
{
. = ALIGN(4);
_sheap = . ;
_sheap_pre_rtos = . ;
*(.heap)
@ -290,10 +285,20 @@ SECTIONS
_eheap_post_rtos = . ;
_init_stack_top = . - 4 ;
} > RAM
/* keep the heap section at the end of the SRAM */
/* this will allow to claim the remaining bytes not used
/* at run time! (done by the reset vector).
_free_ram = . ;
.free_ram (NOLOAD) :
{
. = ORIGIN(RAM) + LENGTH(RAM) - _free_ram ;
/* This is used by the startup in order to initialize the .bss section */
_ebss = . ;
_eram = . ;
} > RAM
/* keep the heap section at the end of the SRAM
* this will allow to claim the remaining bytes not used
* at run time! (done by the reset vector).
*/
PROVIDE ( end = _ebss );
PROVIDE ( _end = _ebss );

8
flight/PiOS/STM32F10x/pios_ppm.c
View File

@ -35,7 +35,7 @@
#if defined(PIOS_INCLUDE_PPM)
/* Provide a RCVR driver */
static int32_t PIOS_PPM_Get(uint32_t chan_id);
static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel);
const struct pios_rcvr_driver pios_ppm_rcvr_driver = {
.read = PIOS_PPM_Get,
@ -160,13 +160,13 @@ void PIOS_PPM_Init(void)
* \output -1 Channel not available
* \output >0 Channel value
*/
static int32_t PIOS_PPM_Get(uint32_t chan_id)
static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel)
{
/* Return error if channel not available */
if (chan_id >= PIOS_PPM_NUM_INPUTS) {
if (channel >= PIOS_PPM_NUM_INPUTS) {
return -1;
}
return CaptureValue[chan_id];
return CaptureValue[channel];
}
/**

8
flight/PiOS/STM32F10x/pios_pwm.c
View File

@ -35,7 +35,7 @@
#if defined(PIOS_INCLUDE_PWM)
/* Provide a RCVR driver */
static int32_t PIOS_PWM_Get(uint32_t chan_id);
static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t chan_id);
const struct pios_rcvr_driver pios_pwm_rcvr_driver = {
.read = PIOS_PWM_Get,
@ -140,13 +140,13 @@ void PIOS_PWM_Init(void)
* \output -1 Channel not available
* \output >0 Channel value
*/
static int32_t PIOS_PWM_Get(uint32_t chan_id)
static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t channel)
{
/* Return error if channel not available */
if (chan_id >= pios_pwm_cfg.num_channels) {
if (channel >= pios_pwm_cfg.num_channels) {
return -1;
}
return CaptureValue[chan_id];
return CaptureValue[channel];
}
void PIOS_PWM_irq_handler(TIM_TypeDef * timer)

8
flight/PiOS/STM32F10x/pios_sbus.c
View File

@ -37,7 +37,7 @@
/* Global Variables */
/* Provide a RCVR driver */
static int32_t PIOS_SBUS_Get(uint32_t chan_id);
static int32_t PIOS_SBUS_Get(uint32_t rcvr_id, uint8_t channel);
const struct pios_rcvr_driver pios_sbus_rcvr_driver = {
.read = PIOS_SBUS_Get,
@ -155,13 +155,13 @@ void PIOS_SBUS_Init(const struct pios_sbus_cfg *cfg)
* \output -1 channel not available
* \output >0 channel value
*/
static int32_t PIOS_SBUS_Get(uint32_t chan_id)
static int32_t PIOS_SBUS_Get(uint32_t rcvr_id, uint8_t channel)
{
/* return error if channel is not available */
if (chan_id >= SBUS_NUMBER_OF_CHANNELS) {
if (channel >= SBUS_NUMBER_OF_CHANNELS) {
return -1;
}
return channel_data[chan_id];
return channel_data[channel];
}
/**

8
flight/PiOS/STM32F10x/pios_spektrum.c
View File

@ -46,7 +46,7 @@
/* Global Variables */
/* Provide a RCVR driver */
static int32_t PIOS_SPEKTRUM_Get(uint32_t chan_id);
static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel);
const struct pios_rcvr_driver pios_spektrum_rcvr_driver = {
.read = PIOS_SPEKTRUM_Get,
@ -82,13 +82,13 @@ void PIOS_SPEKTRUM_Init(const struct pios_spektrum_cfg * cfg, bool bind)
* \output -1 Channel not available
* \output >0 Channel value
*/
static int32_t PIOS_SPEKTRUM_Get(uint32_t chan_id)
static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel)
{
/* Return error if channel not available */
if (chan_id >= PIOS_SPEKTRUM_NUM_INPUTS) {
if (channel >= PIOS_SPEKTRUM_NUM_INPUTS) {
return -1;
}
return CaptureValue[chan_id];
return CaptureValue[channel];
}
/**

11
flight/PiOS/inc/pios_rcvr.h
View File

@ -31,15 +31,20 @@
#ifndef PIOS_RCVR_H
#define PIOS_RCVR_H
extern uint32_t pios_rcvr_channel_to_id_map[];
struct pios_rcvr_channel_map {
uint32_t id;
uint8_t channel;
};
extern struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[];
struct pios_rcvr_driver {
void (*init)(uint32_t id);
int32_t (*read)(uint32_t id);
int32_t (*read)(uint32_t id, uint8_t channel);
};
/* Public Functions */
extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id);
extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel);
#endif /* PIOS_RCVR_H */

10
flight/PiOS/inc/pios_rcvr_priv.h
View File

@ -36,16 +36,6 @@
extern uint32_t pios_rcvr_max_channel;
enum pios_rcvr_dev_magic {
PIOS_RCVR_DEV_MAGIC = 0x99aabbcc,
};
struct pios_rcvr_dev {
enum pios_rcvr_dev_magic magic;
uint32_t id;
const struct pios_rcvr_driver * driver;
};
extern int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, const uint32_t lower_id);
extern void PIOS_RCVR_IRQ_Handler(uint32_t rcvr_id);