Merged in webbbn/librepilot/LP-537-update-f0-gps-to-be-more-similar (pull request #445)

LP-537 update f0 gps to be more similar

Approved-by: Philippe Renon <philippe_renon@yahoo.fr>
Approved-by: Alessio Morale <alessiomorale@gmail.com>
Approved-by: Lalanne Laurent <f5soh@free.fr>
Approved-by: Brian Webb <webbbn@gmail.com>

flight/modules/gpsp/gpsdsysmod.c

@@ -44,6 +44,7 @@
 #include "inc/gps9flashhandler.h"
 #include "inc/gps9protocol.h"
 #include "pios_board_info.h"
+#include "pios_board_init.h"
 
 extern uint32_t pios_com_main_id;
 
@@ -93,8 +94,7 @@ int32_t GPSPSystemModStart(void)
  */
 int32_t GPSPSystemModInitialize(void)
 {
-    GPSPSystemModStart();
+    // Module started in main
-
     return 0;
 }
 
@@ -107,9 +107,17 @@ static void gpspSystemTask(__attribute__((unused)) void *parameters)
 #ifdef PIOS_INCLUDE_WDG
     PIOS_WDG_UpdateFlag(PIOS_WDG_SYSTEM);
 #endif
+
+    /* board driver init */
+    PIOS_Board_Init();
+
+    /* Initialize all modules */
+    MODULE_INITIALISE_ALL;
+
     while (!initTaskDone) {
         vTaskDelay(10);
     }
+
 #ifndef PIOS_INCLUDE_WDG
 // if no watchdog is enabled, don't reset watchdog in MODULE_TASKCREATE_ALL loop
 #define PIOS_WDG_Clear()
@@ -127,6 +135,7 @@ static void gpspSystemTask(__attribute__((unused)) void *parameters)
 #if defined(PIOS_INCLUDE_IAP)
     PIOS_IAP_WriteBootCount(0);
 #endif
+
     /* Right now there is no configuration and uart speed is fixed at 57600.
      * TODO:
      * 1) add a tiny ubx parser on gps side to intercept CFG-RINV and use that for config storage;
@@ -143,7 +152,7 @@ static void gpspSystemTask(__attribute__((unused)) void *parameters)
         PIOS_WDG_UpdateFlag(PIOS_WDG_SYSTEM);
 #endif
         uint32_t ledPeriod = PIOS_DELAY_DiffuS(ledTimer) / 1000;
-        if (ledPeriod < HB_LED_BLINK_ON_PERIOD_MS) {
+        if (ledPeriod < HB_LED_BLINK_OFF_PERIOD_MS) {
             PIOS_LED_Off(PIOS_LED_HEARTBEAT);
         } else {
             PIOS_LED_On(PIOS_LED_HEARTBEAT);

flight/pios/common/pios_ubx_dcc.c

@@ -27,7 +27,7 @@
 #include <stdint.h>
 #include <pios_i2c.h>
 #include <pios_helpers.h>
-#define GPS_I2C_ADDRESS              (0x42 << 1)
+#define GPS_I2C_ADDRESS              0x42
 #define GPS_I2C_STREAM_REG           0xFF
 #define GPS_I2C_STREAM_SIZE_HIGH_REG 0xFD
 #define GPS_I2C_STREAM_SIZE_LOW_REG  0xFE

flight/pios/stm32f0x/pios_flash_internal.c

@@ -28,7 +28,7 @@
 
 #ifdef PIOS_INCLUDE_FLASH_INTERNAL
 
-#include "stm32f10x_flash.h"
+#include "stm32f0xx_flash.h"
 #include "pios_flash_internal_priv.h"
 #include "pios_flash.h"
 #include <stdbool.h>

flight/pios/stm32f0x/pios_i2c.c

@@ -274,12 +274,12 @@ void go_txn_setup(struct pios_i2c_adapter *i2c_adapter)
 
     I2C_ITConfig(i2c_adapter->cfg->regs, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR, ENABLE);
     if (i2c_adapter->active_txn->rw == PIOS_I2C_TXN_READ) {
-        I2C_TransferHandling(i2c_adapter->cfg->regs, i2c_adapter->active_txn->addr, i2c_adapter->active_txn->len,
+        I2C_TransferHandling(i2c_adapter->cfg->regs, (i2c_adapter->active_txn->addr << 1), i2c_adapter->active_txn->len,
                              /* Only last transaction generates Auto End */
                              i2c_adapter->active_txn == i2c_adapter->last_txn ? I2C_AutoEnd_Mode : I2C_SoftEnd_Mode,
                              I2C_Generate_Start_Read);
     } else {
-        I2C_TransferHandling(i2c_adapter->cfg->regs, i2c_adapter->active_txn->addr, i2c_adapter->active_txn->len,
+        I2C_TransferHandling(i2c_adapter->cfg->regs, (i2c_adapter->active_txn->addr << 1), i2c_adapter->active_txn->len,
                              /* Only last transaction generates Auto End */
                              i2c_adapter->active_txn == i2c_adapter->last_txn ? I2C_AutoEnd_Mode : I2C_SoftEnd_Mode,
                              I2C_Generate_Start_Write);

flight/targets/boards/gpsplatinum/board_hw_defs.c

@@ -62,7 +62,7 @@ static const struct pios_gpio pios_leds_gpsp[] = {
                 .GPIO_Speed = GPIO_Speed_Level_1,
             },
         },
-        .active_low         = false
+        .active_low         = true
     },
 };
 

flight/targets/boards/gpsplatinum/firmware/gpsp.c

@@ -42,6 +42,7 @@
 /* Global Variables */
 
 extern void Stack_Change(void);
+extern void GPSPSystemModStart(void);
 
 /**
  * OpenPilot Main function:
@@ -54,32 +55,19 @@ extern void Stack_Change(void);
  */
 int main()
 {
-    /* NOTE: Do NOT modify the following start-up sequence */
-    /* Any new initialization functions should be added in OpenPilotInit() */
-
     /* Brings up System using CMSIS functions, enables the LEDs. */
     PIOS_SYS_Init();
 
-    /* Architecture dependant Hardware and
+    /*
-     * core subsystem initialisation
+     * Initialize the system module, which configures the board and
-     * (see pios_board.c for your arch)
+     * starts the other modules.
-     * */
+     */
-    PIOS_Board_Init();
+    GPSPSystemModStart();
 
-    /* Initialize modules */
-    MODULE_INITIALISE_ALL
     /* swap the stack to use the IRQ stack */
     Stack_Change();
 
-    /* Start the FreeRTOS scheduler, which should never return.
+    /* Start the FreeRTOS scheduler */
-     *
-     * NOTE: OpenPilot runs an operating system (FreeRTOS), which constantly calls
-     * (schedules) function files (modules). These functions never return from their
-     * while loops, which explains why each module has a while(1){} segment. Thus,
-     * the OpenPilot software actually starts at the vTaskStartScheduler() function,
-     * even though this is somewhat obscure.
-     *
-     */
     vTaskStartScheduler();
 
     /* If all is well we will never reach here as the scheduler will now be running. */