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Merge branch 'next' into camera_stabilization

Browse Source 
Conflicts:
	flight/CopterControl/Makefile
	flight/CopterControl/System/coptercontrol.c
	flight/Modules/Actuator/actuator.c
	flight/Modules/GPS/GPS.c
	flight/Modules/ManualControl/manualcontrol.c
	flight/Modules/Stabilization/stabilization.c
	flight/Modules/System/systemmod.c
	shared/uavobjectdefinition/manualcontrolsettings.xml
	shared/uavobjectdefinition/stabilizationdesired.xml
This commit is contained in:
James Cotton 2011-07-30 10:06:10 +09:00
commit 96c2d24253
220 changed files with 19211 additions and 8874 deletions
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4
CREDITS.txt
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@ -27,6 +27,10 @@ N: Pedro Assuncao
E: pedro (dot) agda (plus) openpilot (at) gmail (dot) com
D: Initial GCS Settings Gadget work
N: Werner Backes
E: werner (at) bit-1 (dot) de
D: Port of CopterControl to PS3 Move Controller (MoveCopter)
N: Jose Barros
E: josembarros (at) hotmail (dot) com
D: Next-Gen OP Map Lib, Y-Modem Library, Uploader Plugin

21
HISTORY.txt Normal file
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@ -0,0 +1,21 @@
Short summary of changes. For a complete list see the git log.
2011-07-17
Updated module initialization from Mathieu which separates the initialization
from the task startup. Also implements a method to reclaim unused ram from
initialization and end of memory for the FreeRTOS heap.
2011-07-12
Improvements to the stabilization code. Included a LPF on the gyros to smooth
out noise in high vibration environments. Also two new modes: axis-lock and
weak leveling. Axis-lock will try and hold an axis at a fixed position and
reject any disturbances. This is like heading-hold on a heli for the tail but
can be useful for other axes. Weak leveling is rate mode with a weak
correction to self level the craft - good for easier rate mode flying.
2011-07-07
Dynamic hardware configuration from Stac. The input type is now
selected from ManualControlSettings.InputMode and the aircraft must be rebooted
after changing this. Also for CopterControl the HwSettings object must
indicate which modules are connected to which ports. PPM currently not
working.

39
MILESTONES.txt
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@ -117,11 +117,45 @@ C: Sami Korhonen (Sambas)
D: May 2011
V: http://vimeo.com/24258192
M: First CopterControl flip on a Flybarless Heli
M: First Y6 CopterControl flight
C: Michel Pet
D: June 2011
V: http://www.youtube.com/watch?v=QsE2MQELPZY
M: First MoveCopter flight
C: Werner Backes
D: July 2011
V: http://vimeo.com/25983655
M: First Y4 CopterControl flight
C: Mat Wellington
D: July 2011
V: http://www.youtube.com/watch?v=TxZ4MDGIj1o
M: First V-Tail4 CopterControl flight
C: Mat Wellington
D: July 2011
V: http://www.youtube.com/watch?v=YE4Fd9vdg1I
M: First Altitude Hold using Sonar
C:
D:
V:
M: First CopterControl Navigation on RC Ground Vechicle
C:
D:
V:
M: First CopterControl Navigation on RC Water Vechicle
C:
D:
V:
M: First CopterControl flip on a Flybarless Heli
C:
D:
V:
An incomplete list of some future Milestones is below:
@ -131,8 +165,7 @@ An incomplete list of some future Milestones is below:
* First successful flight using the GCS only and no RC TX
* First use of Magic Waypoint
* First Flybarless Helicopter flight with OpenPilot
* First flight with CopterControl
* First fixed wing navigation flight
* First fixed wing navigation flight
* First Multirotor navigation flight
* First Helicopter navigation flight
* First over 1km navigation flight

75
Makefile
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@ -71,6 +71,7 @@ help:
@echo " qt_sdk_install - Install the QT v4.6.2 tools"
@echo " arm_sdk_install - Install the Code Sourcery ARM gcc toolchain"
@echo " openocd_install - Install the OpenOCD JTAG daemon"
@echo " stm32flash_install - Install the stm32flash tool for unbricking boards"
@echo
@echo " [Big Hammer]"
@echo " all - Generate UAVObjects, build openpilot firmware and gcs"
@ -92,21 +93,25 @@ help:
@echo " <board> - Build firmware for <board>"
@echo " supported boards are ($(ALL_BOARDS))"
@echo " fw_<board> - Build firmware for <board>"
@echo " supported boards are ($(FW_TARGETS))"
@echo " supported boards are ($(FW_BOARDS))"
@echo " fw_<board>_clean - Remove firmware for <board>"
@echo " fw_<board>_program - Use OpenOCD + JTAG to write firmware to <board>"
@echo
@echo " [Bootloader]"
@echo " bl_<board> - Build bootloader for <board>"
@echo " supported boards are ($(BL_TARGETS))"
@echo " supported boards are ($(BL_BOARDS))"
@echo " bl_<board>_clean - Remove bootloader for <board>"
@echo " bl_<board>_program - Use OpenOCD + JTAG to write bootloader to <board>"
@echo
@echo " [Bootloader Updater]"
@echo " bu_<board> - Build bootloader updater for <board>"
@echo " supported boards are ($(BU_TARGETS))"
@echo " supported boards are ($(BU_BOARDS))"
@echo " bu_<board>_clean - Remove bootloader updater for <board>"
@echo
@echo " [Unbrick a board]"
@echo " unbrick_<board> - Use the STM32's built in boot ROM to write a bootloader to <board>"
@echo " supported boards are ($(BL_BOARDS))"
@echo
@echo " [Simulation]"
@echo " sim_posix - Build OpenPilot simulation firmware for"
@echo " a POSIX compatible system (Linux, Mac OS X, ...)"
@ -175,10 +180,10 @@ qt_sdk_clean:
$(V1) [ ! -d "$(QT_SDK_DIR)" ] || $(RM) -rf $(QT_SDK_DIR)
# Set up ARM (STM32) SDK
ARM_SDK_DIR := $(TOOLS_DIR)/arm-2009q3
ARM_SDK_DIR := $(TOOLS_DIR)/arm-2011.03
.PHONY: arm_sdk_install
arm_sdk_install: ARM_SDK_URL := http://www.codesourcery.com/sgpp/lite/arm/portal/package5353/public/arm-none-eabi/arm-2009q3-68-arm-none-eabi-i686-pc-linux-gnu.tar.bz2
arm_sdk_install: ARM_SDK_URL := http://www.codesourcery.com/sgpp/lite/arm/portal/package8734/public/arm-none-eabi/arm-2011.03-42-arm-none-eabi-i686-pc-linux-gnu.tar.bz2
arm_sdk_install: ARM_SDK_FILE := $(notdir $(ARM_SDK_URL))
# order-only prereq on directory existance:
arm_sdk_install: | $(DL_DIR) $(TOOLS_DIR)
@ -226,6 +231,25 @@ openocd_install: openocd_clean
openocd_clean:
$(V1) [ ! -d "$(OPENOCD_DIR)" ] || $(RM) -r "$(OPENOCD_DIR)"
STM32FLASH_DIR := $(TOOLS_DIR)/stm32flash
.PHONY: stm32flash_install
stm32flash_install: STM32FLASH_URL := http://stm32flash.googlecode.com/svn/trunk
stm32flash_install: STM32FLASH_REV := 52
stm32flash_install: stm32flash_clean
# download the source
$(V0) @echo " DOWNLOAD $(STM32FLASH_URL) @ r$(STM32FLASH_REV)"
$(V1) svn export -q -r "$(STM32FLASH_REV)" "$(STM32FLASH_URL)" "$(STM32FLASH_DIR)"
# build
$(V0) @echo " BUILD $(STM32FLASH_DIR)"
$(V1) $(MAKE) --silent -C $(STM32FLASH_DIR) all
.PHONY: stm32flash_clean
stm32flash_clean:
$(V0) @echo " CLEAN $(STM32FLASH_DIR)"
$(V1) [ ! -d "$(STM32FLASH_DIR)" ] || $(RM) -r "$(STM32FLASH_DIR)"
##############################
#
# Set up paths to tools
@ -277,7 +301,7 @@ openpilotgcs: uavobjects_gcs
.PHONY: openpilotgcs_clean
openpilotgcs_clean:
$(V0) @echo " CLEAN $@"
$(V0) @echo " CLEAN $@"
$(V1) [ ! -d "$(BUILD_DIR)/ground/openpilotgcs" ] || $(RM) -r "$(BUILD_DIR)/ground/openpilotgcs"
.PHONY: uavobjgenerator
@ -307,7 +331,7 @@ uavobjects_test: $(UAVOBJ_OUT_DIR) uavobjgenerator
$(V1) $(UAVOBJGENERATOR) -v -none $(UAVOBJ_XML_DIR) $(ROOT_DIR)
uavobjects_clean:
$(V0) @echo " CLEAN $@"
$(V0) @echo " CLEAN $@"
$(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)"
##############################
@ -335,7 +359,7 @@ fw_$(1)_%: uavobjects_flight
.PHONY: $(1)_clean
$(1)_clean: fw_$(1)_clean
fw_$(1)_clean:
$(V0) @echo " CLEAN $$@"
$(V0) @echo " CLEAN $$@"
$(V1) $(RM) -fr $(BUILD_DIR)/fw_$(1)
endef
@ -355,9 +379,23 @@ bl_$(1)_%:
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
$$*
.PHONY: unbrick_$(1)
unbrick_$(1): bl_$(1)_hex
$(if $(filter-out undefined,$(origin UNBRICK_TTY)),
$(V0) @echo " UNBRICK $(1) via $$(UNBRICK_TTY)"
$(V1) $(STM32FLASH_DIR)/stm32flash \
-w $(BUILD_DIR)/bl_$(1)/bl_$(1).hex \
-g 0x0 \
$$(UNBRICK_TTY)
,
$(V0) @echo
$(V0) @echo "ERROR: You must specify UNBRICK_TTY=<serial-device> to use for unbricking."
$(V0) @echo " eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0"
)
.PHONY: bl_$(1)_clean
bl_$(1)_clean:
$(V0) @echo " CLEAN $$@"
$(V0) @echo " CLEAN $$@"
$(V1) $(RM) -fr $(BUILD_DIR)/bl_$(1)
endef
@ -377,7 +415,7 @@ bu_$(1)_%: bl_$(1)_bino
.PHONY: bu_$(1)_clean
bu_$(1)_clean:
$(V0) @echo " CLEAN $$@"
$(V0) @echo " CLEAN $$@"
$(V1) $(RM) -fr $(BUILD_DIR)/bu_$(1)
endef
@ -403,14 +441,20 @@ pipxtreme_friendly := PipXtreme
ins_friendly := INS
ahrs_friendly := AHRS
FW_TARGETS := $(addprefix fw_, $(ALL_BOARDS))
BL_TARGETS := $(addprefix bl_, $(ALL_BOARDS))
BU_TARGETS := $(addprefix bu_, $(ALL_BOARDS))
# Start out assuming that we'll build fw, bl and bu for all boards
FW_BOARDS := $(ALL_BOARDS)
BL_BOARDS := $(ALL_BOARDS)
BU_BOARDS := $(ALL_BOARDS)
# FIXME: The INS build doesn't have a bootloader or bootloader
# updater yet so we need to filter them out to prevent errors.
BL_TARGETS := $(filter-out bl_ins, $(BL_TARGETS))
BU_TARGETS := $(filter-out bu_ins, $(BU_TARGETS))
BL_BOARDS := $(filter-out ins, $(ALL_BOARDS))
BU_BOARDS := $(filter-out ins, $(ALL_BOARDS))
# Generate the targets for whatever boards are left in each list
FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))
BU_TARGETS := $(addprefix bu_, $(BU_BOARDS))
.PHONY: all_fw all_fw_clean
all_fw: $(addsuffix _opfw, $(FW_TARGETS))
@ -428,6 +472,7 @@ all_bu_clean: $(addsuffix _clean, $(BU_TARGETS))
all_flight: all_fw all_bl all_bu
all_flight_clean: all_fw_clean all_bl_clean all_bu_clean
# Expand the groups of targets for each board
$(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
# Expand the bootloader updater rules

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32
flight/AHRS/pios_board.c
View File

@ -54,7 +54,7 @@ static const struct pios_spi_cfg pios_spi_op_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_op_irq_handler,
.handler = NULL,
.flags =
(DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 |
DMA1_FLAG_GL4),
@ -153,11 +153,11 @@ void PIOS_SPI_op_irq_handler(void)
extern void PIOS_ADC_handler(void);
void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
// Remap the ADC DMA handler to this one
const struct pios_adc_cfg pios_adc_cfg = {
static const struct pios_adc_cfg pios_adc_cfg = {
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_ADC_DMA_Handler,
.handler = NULL,
.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
.init = {
.NVIC_IRQChannel = DMA1_Channel1_IRQn,
@ -205,17 +205,10 @@ void PIOS_ADC_handler() {
/*
* AUX USART
*/
void PIOS_USART_aux_irq_handler(void);
void USART3_IRQHandler()
__attribute__ ((alias("PIOS_USART_aux_irq_handler")));
const struct pios_usart_cfg pios_usart_aux_cfg = {
static const struct pios_usart_cfg pios_usart_aux_cfg = {
.regs = USART3,
.init = {
#if defined (PIOS_USART_BAUDRATE)
.USART_BaudRate = PIOS_USART_BAUDRATE,
#else
.USART_BaudRate = 57600,
#endif
.USART_BaudRate = 230400,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
@ -224,7 +217,7 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_aux_irq_handler,
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@ -250,12 +243,6 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
},
};
static uint32_t pios_usart_aux_id;
void PIOS_USART_aux_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_aux_id);
}
#endif /* PIOS_INCLUDE_USART */
#if defined(PIOS_INCLUDE_COM)
@ -279,7 +266,7 @@ void I2C1_EV_IRQHandler()
void I2C1_ER_IRQHandler()
__attribute__ ((alias("PIOS_I2C_main_adapter_er_irq_handler")));
const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
.regs = I2C1,
.init = {
.I2C_Mode = I2C_Mode_I2C,
@ -307,7 +294,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.event = {
.handler = PIOS_I2C_main_adapter_ev_irq_handler,
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_EV_IRQn,
@ -317,7 +304,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.error = {
.handler = PIOS_I2C_main_adapter_er_irq_handler,
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_ER_IRQn,
@ -388,6 +375,7 @@ void PIOS_Board_Init(void) {
/* Communication system */
#if !defined(PIOS_ENABLE_DEBUG_PINS)
#if defined(PIOS_INCLUDE_COM)
uint32_t pios_usart_aux_id;
if (PIOS_USART_Init(&pios_usart_aux_id, &pios_usart_aux_cfg)) {
PIOS_DEBUG_Assert(0);
}

2
flight/Bootloaders/AHRS/pios_board.c
View File

@ -55,7 +55,7 @@ static const struct pios_spi_cfg
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_op_irq_handler,
.handler = NULL,
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
.init = {
.NVIC_IRQChannel = DMA1_Channel4_IRQn,

16
flight/Bootloaders/OpenPilot/pios_board.c
View File

@ -60,7 +60,7 @@ const struct pios_spi_cfg
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_ahrs_irq_handler,
.handler = NULL,
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
.init = {
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
@ -143,9 +143,9 @@ void PIOS_SPI_ahrs_irq_handler(void) {
/*
* Telemetry USART
*/
void PIOS_USART_telem_irq_handler(void);
void USART2_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler")));
const struct pios_usart_cfg pios_usart_telem_cfg = { .regs = USART2, .init = {
const struct pios_usart_cfg pios_usart_telem_cfg = {
.regs = USART2,
.init = {
#if defined (PIOS_COM_TELEM_BAUDRATE)
.USART_BaudRate = PIOS_COM_TELEM_BAUDRATE,
#else
@ -157,7 +157,7 @@ const struct pios_usart_cfg pios_usart_telem_cfg = { .regs = USART2, .init = {
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
}, .irq = {
.handler = PIOS_USART_telem_irq_handler,
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@ -180,11 +180,6 @@ const struct pios_usart_cfg pios_usart_telem_cfg = { .regs = USART2, .init = {
},
}, };
static uint32_t pios_usart_telem_rf_id;
void PIOS_USART_telem_irq_handler(void) {
PIOS_USART_IRQ_Handler(pios_usart_telem_rf_id);
}
#endif /* PIOS_INCLUDE_USART */
#if defined(PIOS_INCLUDE_COM)
@ -218,6 +213,7 @@ void PIOS_Board_Init(void) {
/* Initialize the PiOS library */
#if defined(PIOS_INCLUDE_COM)
uint32_t pios_usart_telem_rf_id;
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
PIOS_DEBUG_Assert(0);
}

30
flight/CopterControl/Makefile
View File

@ -48,7 +48,7 @@ ENABLE_DEBUG_PINS ?= NO
# Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
ENABLE_AUX_UART ?= NO
USE_SPEKTRUM ?= NO
USE_GPS ?= NO
USE_I2C ?= NO
@ -118,12 +118,9 @@ OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files
MODNAMES = $(notdir ${MODULES})
ifndef TESTAPP
## MODULES
SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
SRC += ${OUTDIR}/InitMods.c
## OPENPILOT CORE:
SRC += ${OPMODULEDIR}/System/systemmod.c
SRC += $(OPSYSTEM)/coptercontrol.c
@ -169,6 +166,7 @@ SRC += $(OPUAVSYNTHDIR)/mixersettings.c
SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
SRC += $(OPUAVSYNTHDIR)/attitudesettings.c
SRC += $(OPUAVSYNTHDIR)/camerastabsettings.c
SRC += $(OPUAVSYNTHDIR)/hwsettings.c
ifeq ($(DIAGNOISTCS),YES)
SRC += $(OPUAVSYNTHDIR)/taskinfo.c
@ -195,6 +193,7 @@ SRC += $(PIOSSTM32F10X)/pios_spi.c
SRC += $(PIOSSTM32F10X)/pios_ppm.c
SRC += $(PIOSSTM32F10X)/pios_pwm.c
SRC += $(PIOSSTM32F10X)/pios_spektrum.c
SRC += $(PIOSSTM32F10X)/pios_sbus.c
SRC += $(PIOSSTM32F10X)/pios_debug.c
SRC += $(PIOSSTM32F10X)/pios_gpio.c
SRC += $(PIOSSTM32F10X)/pios_exti.c
@ -217,6 +216,7 @@ SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_i2c_esc.c
SRC += $(PIOSCOMMON)/pios_iap.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/pios_rcvr.c
SRC += $(PIOSCOMMON)/printf-stdarg.c
## Libraries for flight calculations
SRC += $(FLIGHTLIB)/fifo_buffer.c
@ -389,15 +389,15 @@ endif
ifeq ($(ERASE_FLASH), YES)
CDEFS += -DERASE_FLASH
endif
ifeq ($(USE_SPEKTRUM), YES)
CDEFS += -DUSE_SPEKTRUM
ifneq ($(USE_GPS), NO)
CDEFS += -DUSE_GPS
endif
ifeq ($(USE_I2C), YES)
CDEFS += -DUSE_I2C
endif
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -501,7 +501,7 @@ LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
# Default target.
all: gencode build
all: build
ifeq ($(LOADFORMAT),ihex)
build: elf hex lss sym
@ -517,18 +517,6 @@ endif
endif
endif
# Generate intermediate code for objects
gencode: ${OUTDIR}/InitMods.c
# Generate code for module initialization
${OUTDIR}/InitMods.c: Makefile
@echo $(MSG_MODINIT) $(call toprel, $@)
@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# Generate code for PyMite
#$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py)
# @echo $(MSG_PYMITEINIT) $(call toprel, $@)
@ -635,4 +623,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list gencode install
.PHONY : all build clean clean_list install

53
flight/CopterControl/System/coptercontrol.c
View File

@ -42,18 +42,16 @@
/* Global Variables */
/* Prototype of generated InitModules() function */
extern void InitModules(void);
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void Stack_Change(void);
/**
* OpenPilot Main function:
*
* Initialize PiOS<BR>
* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
* Start FreeRTOS Scheduler (vTaskStartScheduler)<BR>
* Start FreeRTOS Scheduler (vTaskStartScheduler) (Now handled by caller)
* If something goes wrong, blink LED1 and LED2 every 100ms
*
*/
@ -65,43 +63,32 @@ int main()
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
/* Initialize the system thread */
SystemModInitialize();
/* Start the FreeRTOS scheduler */
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* If we do get here, it will most likely be because we ran out of heap space. */
return 0;
}
/**
* Initialize the hardware, libraries and modules (called by the System thread in systemmod.c)
*/
void OpenPilotInit()
{
/* Architecture dependant Hardware and
* core subsystem initialisation
* (see pios_board.c for your arch)
* */
PIOS_Board_Init();
#ifdef ERASE_FLASH
PIOS_Flash_W25X_EraseChip();
while(TRUE){
PIOS_LED_Toggle(LED1);
PIOS_DELAY_WaitmS(50);
};
#endif
/* Initialize modules */
InitModules();
}
MODULE_INITIALISE_ALL
/* swap the stack to use the IRQ stack */
Stack_Change();
/* Start the FreeRTOS scheduler which should never returns.*/
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* Do some indication to user that something bad just happened */
PIOS_LED_Off(LED1); \
for(;;) { \
PIOS_LED_Toggle(LED1); \
PIOS_DELAY_WaitmS(100); \
};
return 0;
}
/**
* @}

11
flight/CopterControl/System/inc/FreeRTOSConfig.h
View File

@ -9,7 +9,7 @@
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
@ -29,8 +29,8 @@
#define configCPU_CLOCK_HZ ( ( unsigned long ) 72000000 )
#define configTICK_RATE_HZ ( ( portTickType ) 1000 )
#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 )
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 128 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 14 * 1024 ) )
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 48 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 54 * 256) )
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_TRACE_FACILITY 0
#define configUSE_16_BIT_TICKS 0
@ -70,6 +70,10 @@ configKERNEL_INTERRUPT_PRIORITY setting. Here 15 corresponds to the lowest
NVIC value of 255. */
#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY 15
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32)
#define CHECK_IRQ_STACK
#endif
/* Enable run time stats collection */
#if defined(DIAGNOSTICS)
#define configCHECK_FOR_STACK_OVERFLOW 2
@ -86,6 +90,7 @@ do {\
#define configCHECK_FOR_STACK_OVERFLOW 1
#endif
/**
* @}
*/

217
flight/CopterControl/System/inc/pios_config.h
View File

@ -1,107 +1,110 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
*
* @file pios_config.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief PiOS configuration header.
* Central compile time config for the project.
* In particular, pios_config.h is where you define which PiOS libraries
* and features are included in the firmware.
* @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
*/
#ifndef PIOS_CONFIG_H
#define PIOS_CONFIG_H
/* Enable/Disable PiOS Modules */
#define PIOS_INCLUDE_ADC
#define PIOS_INCLUDE_DELAY
#if defined(USE_I2C)
#define PIOS_INCLUDE_I2C
#define PIOS_INCLUDE_I2C_ESC
#endif
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_LED
#if defined(USE_SPEKTRUM)
#define PIOS_INCLUDE_SPEKTRUM
#else
#define PIOS_INCLUDE_GPS
//#define PIOS_INCLUDE_PPM
#define PIOS_INCLUDE_PWM
#endif
#define PIOS_INCLUDE_SERVO
#define PIOS_INCLUDE_SPI
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_USART
#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_SETTINGS
#define PIOS_INCLUDE_FREERTOS
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_EXTI
#define PIOS_INCLUDE_RTC
#define PIOS_INCLUDE_WDG
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_ADXL345
#define PIOS_INCLUDE_FLASH
/* A really shitty setting saving implementation */
#define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS
/* Defaults for Logging */
#define LOG_FILENAME "PIOS.LOG"
#define STARTUP_LOG_ENABLED 1
/* COM Module */
#define GPS_BAUDRATE 19200
#define TELEM_BAUDRATE 19200
#define AUXUART_ENABLED 0
#define AUXUART_BAUDRATE 19200
/* Alarm Thresholds */
#define HEAP_LIMIT_WARNING 220
#define HEAP_LIMIT_CRITICAL 150
#define CPULOAD_LIMIT_WARNING 80
#define CPULOAD_LIMIT_CRITICAL 95
/* Task stack sizes */
#define PIOS_ACTUATOR_STACK_SIZE 1020
#define PIOS_MANUAL_STACK_SIZE 724
#define PIOS_SYSTEM_STACK_SIZE 560
#define PIOS_STABILIZATION_STACK_SIZE 524
#define PIOS_TELEM_STACK_SIZE 500
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998
//#define PIOS_QUATERNION_STABILIZATION
#endif /* PIOS_CONFIG_H */
/**
* @}
* @}
*/
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
*
* @file pios_config.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief PiOS configuration header.
* Central compile time config for the project.
* In particular, pios_config.h is where you define which PiOS libraries
* and features are included in the firmware.
* @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
*/
#ifndef PIOS_CONFIG_H
#define PIOS_CONFIG_H
/* Enable/Disable PiOS Modules */
#define PIOS_INCLUDE_ADC
#define PIOS_INCLUDE_DELAY
#if defined(USE_I2C)
#define PIOS_INCLUDE_I2C
#define PIOS_INCLUDE_I2C_ESC
#endif
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_RCVR
/* Supported receiver interfaces */
#define PIOS_INCLUDE_SPEKTRUM
#define PIOS_INCLUDE_SBUS
//#define PIOS_INCLUDE_PPM
#define PIOS_INCLUDE_PWM
/* Supported USART-based PIOS modules */
#define PIOS_INCLUDE_TELEMETRY_RF
//#define PIOS_INCLUDE_GPS
#define PIOS_INCLUDE_SERVO
#define PIOS_INCLUDE_SPI
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_USART
#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_SETTINGS
#define PIOS_INCLUDE_FREERTOS
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_EXTI
#define PIOS_INCLUDE_RTC
#define PIOS_INCLUDE_WDG
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_ADXL345
#define PIOS_INCLUDE_FLASH
/* A really shitty setting saving implementation */
#define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS
/* Defaults for Logging */
#define LOG_FILENAME "PIOS.LOG"
#define STARTUP_LOG_ENABLED 1
/* COM Module */
#define GPS_BAUDRATE 19200
#define TELEM_BAUDRATE 19200
#define AUXUART_ENABLED 0
#define AUXUART_BAUDRATE 19200
/* Alarm Thresholds */
#define HEAP_LIMIT_WARNING 220
#define HEAP_LIMIT_CRITICAL 40
#define IRQSTACK_LIMIT_WARNING 100
#define IRQSTACK_LIMIT_CRITICAL 60
#define CPULOAD_LIMIT_WARNING 85
#define CPULOAD_LIMIT_CRITICAL 95
/* Task stack sizes */
#define PIOS_ACTUATOR_STACK_SIZE 1020
#define PIOS_MANUAL_STACK_SIZE 724
#define PIOS_SYSTEM_STACK_SIZE 460
#define PIOS_STABILIZATION_STACK_SIZE 524
#define PIOS_TELEM_STACK_SIZE 500
#define PIOS_EVENTDISPATCHER_STACK_SIZE 96
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998
//#define PIOS_QUATERNION_STABILIZATION
#endif /* PIOS_CONFIG_H */
/**
* @}
* @}
*/

651
flight/CopterControl/System/pios_board.c
View File

@ -30,10 +30,11 @@
#include <pios.h>
#include <openpilot.h>
#include <uavobjectsinit.h>
#include <hwsettings.h>
#include <manualcontrolsettings.h>
#if defined(PIOS_INCLUDE_SPI)
#include <pios_spi_priv.h>
/* Flash/Accel Interface
@ -44,7 +45,7 @@
void PIOS_SPI_flash_accel_irq_handler(void);
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_flash_accel_irq_handler")));
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_flash_accel_irq_handler")));
const struct pios_spi_cfg pios_spi_flash_accel_cfg = {
static const struct pios_spi_cfg pios_spi_flash_accel_cfg = {
.regs = SPI2,
.init = {
.SPI_Mode = SPI_Mode_Master,
@ -62,7 +63,7 @@ const struct pios_spi_cfg pios_spi_flash_accel_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_flash_accel_irq_handler,
.handler = NULL,
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
.init = {
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
@ -151,11 +152,11 @@ void PIOS_SPI_flash_accel_irq_handler(void)
extern void PIOS_ADC_handler(void);
void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
// Remap the ADC DMA handler to this one
const struct pios_adc_cfg pios_adc_cfg = {
static const struct pios_adc_cfg pios_adc_cfg = {
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_ADC_DMA_Handler,
.handler = NULL,
.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
.init = {
.NVIC_IRQChannel = DMA1_Channel1_IRQn,
@ -200,19 +201,14 @@ void PIOS_ADC_handler() {
#include "pios_usart_priv.h"
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
/*
* Telemetry USART
*/
void PIOS_USART_telem_irq_handler(void);
void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler")));
const struct pios_usart_cfg pios_usart_telem_cfg = {
static const struct pios_usart_cfg pios_usart_telem_main_cfg = {
.regs = USART1,
.init = {
#if defined (PIOS_COM_TELEM_BAUDRATE)
.USART_BaudRate = PIOS_COM_TELEM_BAUDRATE,
#else
.USART_BaudRate = 57600,
#endif
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
@ -220,7 +216,7 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_telem_irq_handler,
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -246,20 +242,10 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
},
};
#if defined(PIOS_INCLUDE_GPS)
/*
* GPS USART
*/
void PIOS_USART_gps_irq_handler(void);
void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_gps_irq_handler")));
const struct pios_usart_cfg pios_usart_gps_cfg = {
.regs = USART3,
static const struct pios_usart_cfg pios_usart_telem_flexi_cfg = {
.regs = USART3,
.init = {
#if defined (PIOS_COM_GPS_BAUDRATE)
.USART_BaudRate = PIOS_COM_GPS_BAUDRATE,
#else
.USART_BaudRate = 57600,
#endif
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
@ -267,7 +253,7 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_gps_irq_handler,
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -292,22 +278,97 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
},
},
};
#endif
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
#if defined(PIOS_INCLUDE_GPS)
/*
* GPS USART
*/
static const struct pios_usart_cfg pios_usart_gps_main_cfg = {
.regs = USART1,
.init = {
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
static const struct pios_usart_cfg pios_usart_gps_flexi_cfg = {
.regs = USART3,
.init = {
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
#endif /* PIOS_INCLUDE_GPS */
#if defined(PIOS_INCLUDE_SPEKTRUM)
/*
* SPEKTRUM USART
*/
void PIOS_USART_spektrum_irq_handler(void);
void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_spektrum_irq_handler")));
const struct pios_usart_cfg pios_usart_spektrum_cfg = {
.regs = USART3,
#include <pios_spektrum_priv.h>
static const struct pios_usart_cfg pios_usart_spektrum_main_cfg = {
.regs = USART1,
.init = {
#if defined (PIOS_COM_SPEKTRUM_BAUDRATE)
.USART_BaudRate = PIOS_COM_SPEKTRUM_BAUDRATE,
#else
.USART_BaudRate = 115200,
#endif
.USART_BaudRate = 115200,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
@ -315,7 +376,56 @@ const struct pios_usart_cfg pios_usart_spektrum_cfg = {
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.handler = PIOS_USART_spektrum_irq_handler,
.handler = PIOS_SPEKTRUM_irq_handler,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
};
static const struct pios_spektrum_cfg pios_spektrum_main_cfg = {
.bind = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
.remap = 0,
};
static const struct pios_usart_cfg pios_usart_spektrum_flexi_cfg = {
.regs = USART3,
.init = {
.USART_BaudRate = 115200,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.handler = PIOS_SPEKTRUM_irq_handler,
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@ -341,63 +451,81 @@ const struct pios_usart_cfg pios_usart_spektrum_cfg = {
},
};
static uint32_t pios_usart_spektrum_id;
void PIOS_USART_spektrum_irq_handler(void)
{
SPEKTRUM_IRQHandler(pios_usart_spektrum_id);
}
#include <pios_spektrum_priv.h>
void RTC_IRQHandler();
void RTC_IRQHandler() __attribute__ ((alias ("PIOS_SUPV_irq_handler")));
const struct pios_spektrum_cfg pios_spektrum_cfg = {
.pios_usart_spektrum_cfg = &pios_usart_spektrum_cfg,
.gpio_init = { //used for bind feature
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
.remap = 0,
.irq = {
.handler = RTC_IRQHandler,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
static const struct pios_spektrum_cfg pios_spektrum_flexi_cfg = {
.bind = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
.port = GPIOB,
.pin = GPIO_Pin_11,
.remap = 0,
};
void PIOS_SUPV_irq_handler() {
if (RTC_GetITStatus(RTC_IT_SEC))
{
/* Call the right handler */
PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id);
/* Wait until last write operation on RTC registers has finished */
RTC_WaitForLastTask();
/* Clear the RTC Second interrupt */
RTC_ClearITPendingBit(RTC_IT_SEC);
}
}
#endif /* PIOS_INCLUDE_SPEKTRUM */
static uint32_t pios_usart_telem_rf_id;
void PIOS_USART_telem_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_telem_rf_id);
}
#if defined(PIOS_INCLUDE_SBUS)
/*
* SBUS USART
*/
#include <pios_sbus_priv.h>
#if defined(PIOS_INCLUDE_GPS)
static uint32_t pios_usart_gps_id;
void PIOS_USART_gps_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_gps_id);
}
#endif /* PIOS_INCLUDE_GPS */
static const struct pios_usart_cfg pios_usart_sbus_main_cfg = {
.regs = USART1,
.init = {
.USART_BaudRate = 100000,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_Even,
.USART_StopBits = USART_StopBits_2,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.handler = PIOS_SBUS_irq_handler,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
};
#endif /* PIOS_INCLUDE_USART */
static const struct pios_sbus_cfg pios_sbus_cfg = {
/* Inverter configuration */
.inv = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_2,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
.gpio_clk_func = RCC_APB2PeriphClockCmd,
.gpio_clk_periph = RCC_APB2Periph_GPIOB,
.gpio_inv_enable = Bit_SET,
};
#endif /* PIOS_INCLUDE_SBUS */
#endif /* PIOS_INCLUDE_USART */
#if defined(PIOS_INCLUDE_COM)
@ -405,11 +533,40 @@ void PIOS_USART_gps_irq_handler(void)
#endif /* PIOS_INCLUDE_COM */
#if defined(PIOS_INCLUDE_RTC)
/*
* Realtime Clock (RTC)
*/
#include <pios_rtc_priv.h>
void PIOS_RTC_IRQ_Handler (void);
void RTC_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
static const struct pios_rtc_cfg pios_rtc_main_cfg = {
.clksrc = RCC_RTCCLKSource_HSE_Div128,
.prescaler = 100,
.irq = {
.handler = NULL,
.init = {
.NVIC_IRQChannel = RTC_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
void PIOS_RTC_IRQ_Handler (void)
{
PIOS_RTC_irq_handler ();
}
#endif
/*
* Servo outputs
*/
#include <pios_servo_priv.h>
const struct pios_servo_channel pios_servo_channels[] = {
static const struct pios_servo_channel pios_servo_channels[] = {
{
.timer = TIM4,
.port = GPIOB,
@ -475,13 +632,65 @@ const struct pios_servo_cfg pios_servo_cfg = {
.num_channels = NELEMENTS(pios_servo_channels),
};
#if defined(PIOS_INCLUDE_PWM) && defined(PIOS_INCLUDE_PPM)
#error Cannot define both PIOS_INCLUDE_PWM and PIOS_INCLUDE_PPM at the same time (yet)
#endif
/*
* PPM Inputs
*/
#if defined(PIOS_INCLUDE_PPM)
#include <pios_ppm_priv.h>
void TIM4_IRQHandler();
void TIM4_IRQHandler() __attribute__ ((alias ("PIOS_TIM4_irq_handler")));
const struct pios_ppm_cfg pios_ppm_cfg = {
.tim_base_init = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = 0xFFFF, /* shared timer, make sure init correctly in outputs */
.TIM_RepetitionCounter = 0x0000,
},
.tim_ic_init = {
.TIM_Channel = TIM_Channel_1,
.TIM_ICPolarity = TIM_ICPolarity_Rising,
.TIM_ICSelection = TIM_ICSelection_DirectTI,
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
.TIM_ICFilter = 0x0,
},
.gpio_init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Mode = GPIO_Mode_IPD,
.GPIO_Speed = GPIO_Speed_2MHz,
},
.remap = 0,
.irq = {
.handler = TIM4_IRQHandler,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.timer = TIM4,
.port = GPIOB,
.ccr = TIM_IT_CC1,
};
void PIOS_TIM4_irq_handler()
{
PIOS_PPM_irq_handler();
}
#endif /* PIOS_INCLUDE_PPM */
/*
* PWM Inputs
*/
#if defined(PIOS_INCLUDE_PWM)
#include <pios_pwm_priv.h>
const struct pios_pwm_channel pios_pwm_channels[] = {
static const struct pios_pwm_channel pios_pwm_channels[] = {
{
.timer = TIM4,
.port = GPIOB,
@ -552,7 +761,7 @@ const struct pios_pwm_cfg pios_pwm_cfg = {
},
.remap = 0,
.irq = {
.handler = TIM2_IRQHandler,
.handler = NULL,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
@ -589,7 +798,7 @@ void PIOS_I2C_main_adapter_er_irq_handler(void);
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_er_irq_handler")));
const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
.regs = I2C2,
.init = {
.I2C_Mode = I2C_Mode_I2C,
@ -617,7 +826,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.event = {
.handler = PIOS_I2C_main_adapter_ev_irq_handler,
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_EV_IRQn,
@ -627,7 +836,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.error = {
.handler = PIOS_I2C_main_adapter_er_irq_handler,
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_ER_IRQn,
@ -653,12 +862,18 @@ void PIOS_I2C_main_adapter_er_irq_handler(void)
#endif /* PIOS_INCLUDE_I2C */
#if defined(PIOS_INCLUDE_RCVR)
#include "pios_rcvr_priv.h"
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 */
extern const struct pios_com_driver pios_usb_com_driver;
uint32_t pios_com_telem_rf_id;
uint32_t pios_com_telem_usb_id;
uint32_t pios_com_gps_id;
uint32_t pios_com_spektrum_id;
/**
* PIOS_Board_Init()
@ -668,56 +883,227 @@ uint32_t pios_com_spektrum_id;
void PIOS_Board_Init(void) {
/* Delay system */
PIOS_DELAY_Init();
PIOS_DELAY_Init();
/* Set up the SPI interface to the serial flash */
if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg)) {
PIOS_DEBUG_Assert(0);
PIOS_Assert(0);
}
PIOS_Flash_W25X_Init(pios_spi_flash_accel_id);
PIOS_ADXL345_Attach(pios_spi_flash_accel_id);
PIOS_FLASHFS_Init();
#if defined(PIOS_INCLUDE_SPEKTRUM)
/* SPEKTRUM init must come before comms */
PIOS_SPEKTRUM_Init();
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_spektrum_id, &pios_usart_com_driver, pios_usart_spektrum_id)) {
PIOS_DEBUG_Assert(0);
}
#endif
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
/* Initialize the alarms library */
AlarmsInitialize();
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Initialize the PiOS library */
#if defined(PIOS_INCLUDE_COM)
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) {
PIOS_DEBUG_Assert(0);
}
/* Configure the main IO port */
uint8_t hwsettings_cc_mainport;
HwSettingsCC_MainPortGet(&hwsettings_cc_mainport);
switch (hwsettings_cc_mainport) {
case HWSETTINGS_CC_MAINPORT_DISABLED:
break;
case HWSETTINGS_CC_MAINPORT_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
{
uint32_t pios_usart_telem_rf_id;
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_main_cfg)) {
PIOS_Assert(0);
}
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
break;
case HWSETTINGS_CC_MAINPORT_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
{
PIOS_SBUS_Init(&pios_sbus_cfg);
uint32_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_SBUS */
break;
case HWSETTINGS_CC_MAINPORT_GPS:
#if defined(PIOS_INCLUDE_GPS)
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) {
PIOS_DEBUG_Assert(0);
}
{
uint32_t pios_usart_gps_id;
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_main_cfg)) {
PIOS_Assert(0);
}
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_GPS */
#endif /* PIOS_INCLUDE_COM */
break;
case HWSETTINGS_CC_MAINPORT_SPEKTRUM:
#if defined(PIOS_INCLUDE_SPEKTRUM)
{
/* SPEKTRUM init must come before usart init since it may use Rx pin for bind */
PIOS_SPEKTRUM_Init(&pios_spektrum_main_cfg, false);
uint32_t pios_usart_spektrum_id;
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_main_cfg)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_SPEKTRUM */
break;
case HWSETTINGS_CC_MAINPORT_COMAUX:
break;
}
/* Configure the flexi port */
uint8_t hwsettings_cc_flexiport;
HwSettingsCC_FlexiPortGet(&hwsettings_cc_flexiport);
switch (hwsettings_cc_flexiport) {
case HWSETTINGS_CC_FLEXIPORT_DISABLED:
break;
case HWSETTINGS_CC_FLEXIPORT_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
{
uint32_t pios_usart_telem_rf_id;
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_flexi_cfg)) {
PIOS_Assert(0);
}
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
break;
case HWSETTINGS_CC_FLEXIPORT_GPS:
#if defined(PIOS_INCLUDE_GPS)
{
uint32_t pios_usart_gps_id;
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_flexi_cfg)) {
PIOS_Assert(0);
}
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_GPS */
break;
case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM:
#if defined(PIOS_INCLUDE_SPEKTRUM)
{
/* SPEKTRUM init must come before usart init since it may use Rx pin for bind */
PIOS_SPEKTRUM_Init(&pios_spektrum_flexi_cfg, false);
uint32_t pios_usart_spektrum_id;
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_flexi_cfg)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_SPEKTRUM */
break;
case HWSETTINGS_CC_FLEXIPORT_COMAUX:
break;
case HWSETTINGS_CC_FLEXIPORT_I2C:
#if defined(PIOS_INCLUDE_I2C)
{
if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_I2C */
break;
}
/* Configure the selected receiver */
uint8_t manualcontrolsettings_inputmode;
ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode);
switch (manualcontrolsettings_inputmode) {
case MANUALCONTROLSETTINGS_INPUTMODE_PWM:
#if defined(PIOS_INCLUDE_PWM)
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)
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 (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM ||
hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM) {
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) {
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;
}
/* Remap AFIO pin */
GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);
@ -726,26 +1112,15 @@ void PIOS_Board_Init(void) {
PIOS_ADC_Init();
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_PWM)
PIOS_PWM_Init();
#endif
#if defined(PIOS_INCLUDE_PPM)
PIOS_PPM_Init();
#endif
#if defined(PIOS_INCLUDE_USB_HID)
PIOS_USB_HID_Init(0);
#if defined(PIOS_INCLUDE_COM)
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) {
PIOS_DEBUG_Assert(0);
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */
#endif
#endif /* PIOS_INCLUDE_USB_HID */
#if defined(PIOS_INCLUDE_I2C)
if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
#endif /* PIOS_INCLUDE_I2C */
PIOS_IAP_Init();
PIOS_WDG_Init();
}

51
flight/INS/pios_board.c
View File

@ -61,7 +61,7 @@ static const struct pios_spi_cfg pios_spi_op_mag_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_op_mag_irq_handler,
.handler = NULL,
.flags =
(DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 |
DMA1_FLAG_GL4),
@ -175,7 +175,7 @@ static const struct pios_spi_cfg pios_spi_accel_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_accel_irq_handler,
.handler = NULL,
.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
.init = {
.NVIC_IRQChannel = DMA1_Channel2_IRQn,
@ -265,17 +265,10 @@ void PIOS_SPI_accel_irq_handler(void)
/*
* GPS USART
*/
void PIOS_USART_gps_irq_handler(void);
void USART1_IRQHandler()
__attribute__ ((alias("PIOS_USART_gps_irq_handler")));
const struct pios_usart_cfg pios_usart_gps_cfg = {
static const struct pios_usart_cfg pios_usart_gps_cfg = {
.regs = USART1,
.init = {
#if defined (PIOS_USART_BAUDRATE)
.USART_BaudRate = PIOS_USART_BAUDRATE,
#else
.USART_BaudRate = 57600,
#endif
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
@ -284,7 +277,7 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_gps_irq_handler,
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -310,29 +303,16 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
},
};
static uint32_t pios_usart_gps_id;
void PIOS_USART_gps_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_gps_id);
}
#endif /* PIOS_INCLUDE_GPS */
#ifdef PIOS_COM_AUX
/*
* AUX USART
*/
void PIOS_USART_aux_irq_handler(void);
void USART4_IRQHandler()
__attribute__ ((alias("PIOS_USART_aux_irq_handler")));
const struct pios_usart_cfg pios_usart_aux_cfg = {
static const struct pios_usart_cfg pios_usart_aux_cfg = {
.regs = USART4,
.init = {
#if defined (PIOS_USART_BAUDRATE)
.USART_BaudRate = PIOS_USART_BAUDRATE,
#else
.USART_BaudRate = 57600,
#endif
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
@ -341,7 +321,7 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_aux_irq_handler,
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@ -367,12 +347,6 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
},
};
static uint32_t pios_usart_aux_id;
void PIOS_USART_aux_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_aux_id);
}
#endif /* PIOS_COM_AUX */
@ -391,7 +365,7 @@ void I2C1_EV_IRQHandler()
void I2C1_ER_IRQHandler()
__attribute__ ((alias("PIOS_I2C_pres_mag_adapter_er_irq_handler")));
const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
static const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
.regs = I2C1,
.init = {
.I2C_Mode = I2C_Mode_I2C,
@ -419,7 +393,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
},
},
.event = {
.handler = PIOS_I2C_pres_mag_adapter_ev_irq_handler,
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_EV_IRQn,
@ -429,7 +403,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
},
},
.error = {
.handler = PIOS_I2C_pres_mag_adapter_er_irq_handler,
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_ER_IRQn,
@ -459,7 +433,7 @@ void PIOS_I2C_gyro_adapter_er_irq_handler(void);
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_gyro_adapter_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_gyro_adapter_er_irq_handler")));
const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
static const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
.regs = I2C2,
.init = {
.I2C_Mode = I2C_Mode_I2C,
@ -487,7 +461,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
},
},
.event = {
.handler = PIOS_I2C_gyro_adapter_ev_irq_handler,
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_EV_IRQn,
@ -497,7 +471,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
},
},
.error = {
.handler = PIOS_I2C_gyro_adapter_er_irq_handler,
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_ER_IRQn,
@ -547,6 +521,7 @@ void PIOS_Board_Init(void) {
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_GPS)
uint32_t pios_usart_gps_id;
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
PIOS_DEBUG_Assert(0);
}

13
flight/Modules/AHRSComms/ahrs_comms.c
View File

@ -69,7 +69,7 @@ static void ahrscommsTask(void *parameters);
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AHRSCommsInitialize(void)
int32_t AHRSCommsStart(void)
{
// Start main task
AHRSStatusInitialize();
@ -83,6 +83,17 @@ int32_t AHRSCommsInitialize(void)
return 0;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AHRSCommsInitialize(void)
{
return 0;
}
MODULE_INITCALL(AHRSCommsInitialize, AHRSCommsStart)
/**
* Module thread, should not return.
*/

19
flight/Modules/Actuator/actuator.c
View File

@ -85,6 +85,19 @@ typedef struct {
int8_t matrix[5];
} __attribute__((packed)) Mixer_t;
/**
* @brief Module initialization
* @return 0
*/
int32_t ActuatorStart()
{
// Start main task
xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ACTUATOR, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_ACTUATOR);
return 0;
}
/**
* @brief Module initialization
@ -108,13 +121,9 @@ int32_t ActuatorInitialize()
// If settings change, update the output rate
ActuatorSettingsConnectCallback(actuator_update_rate);
// Start main task
xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ACTUATOR, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_ACTUATOR);
return 0;
}
MODULE_INITCALL(ActuatorInitialize, ActuatorStart)
/**
* @brief Main Actuator module task

15
flight/Modules/Altitude/altitude.c
View File

@ -37,6 +37,7 @@
*/
#include "openpilot.h"
#include "altitude.h"
#include "baroaltitude.h" // object that will be updated by the module
#if defined(PIOS_INCLUDE_HCSR04)
#include "sonaraltitude.h" // object that will be updated by the module
@ -66,7 +67,7 @@ static void altitudeTask(void *parameters);
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AltitudeInitialize()
int32_t AltitudeStart()
{
BaroAltitudeInitialize();
@ -78,6 +79,16 @@ int32_t AltitudeInitialize()
xTaskCreate(altitudeTask, (signed char *)"Altitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ALTITUDE, taskHandle);
return 0;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AltitudeInitialize()
{
// init down-sampling data
alt_ds_temp = 0;
alt_ds_pres = 0;
@ -85,7 +96,7 @@ int32_t AltitudeInitialize()
return 0;
}
MODULE_INITCALL(AltitudeInitialize, AltitudeStart)
/**
* Module thread, should not return.
*/

198
flight/Modules/Attitude/attitude.c
View File

@ -3,7 +3,7 @@
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup Attitude Copter Control Attitude Estimation
* @brief Acquires sensor data and computes attitude estimate
* @brief Acquires sensor data and computes attitude estimate
* Specifically updates the the @ref AttitudeActual "AttitudeActual" and @ref AttitudeRaw "AttitudeRaw" settings objects
* @{
*
@ -89,6 +89,22 @@ static float q[4] = {1,0,0,0};
static float R[3][3];
static int8_t rotate = 0;
static bool zero_during_arming = false;
static bool bias_correct_gyro = true;
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AttitudeStart(void)
{
// Start main task
xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
return 0;
}
/**
* Initialise the module, called on startup
@ -108,91 +124,107 @@ int32_t AttitudeInitialize(void)
attitude.q3 = 0;
attitude.q4 = 0;
AttitudeActualSet(&attitude);
// Cannot trust the values to init right above if BL runs
gyro_correct_int[0] = 0;
gyro_correct_int[1] = 0;
gyro_correct_int[2] = 0;
q[0] = 1;
q[1] = 0;
q[2] = 0;
q[3] = 0;
for(uint8_t i = 0; i < 3; i++)
for(uint8_t j = 0; j < 3; j++)
R[i][j] = 0;
// Create queue for passing gyro data, allow 2 back samples in case
gyro_queue = xQueueCreate(1, sizeof(float) * 4);
if(gyro_queue == NULL)
if(gyro_queue == NULL)
return -1;
PIOS_ADC_SetQueue(gyro_queue);
AttitudeSettingsConnectCallback(&settingsUpdatedCb);
// Start main task
xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
return 0;
}
MODULE_INITCALL(AttitudeInitialize, AttitudeStart)
/**
* Module thread, should not return.
*/
static void AttitudeTask(void *parameters)
{
uint8_t init = 0;
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
PIOS_ADC_Config((PIOS_ADC_RATE / 1000.0f) * UPDATE_RATE);
// Keep flash CS pin high while talking accel
PIOS_FLASH_DISABLE;
PIOS_FLASH_DISABLE;
PIOS_ADXL345_Init();
zero_during_arming = false;
// Force settings update to make sure rotation loaded
settingsUpdatedCb(AttitudeSettingsHandle());
// Main task loop
while (1) {
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if(xTaskGetTickCount() < 7000) {
// Force settings update to make sure rotation loaded
settingsUpdatedCb(AttitudeSettingsHandle());
if((xTaskGetTickCount() < 7000) && (xTaskGetTickCount() > 1000)) {
// For first 7 seconds use accels to get gyro bias
accelKp = 1;
accelKi = 0.9;
yawBiasRate = 0.23;
init = 0;
}
}
else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
accelKp = 1;
accelKi = 0.9;
yawBiasRate = 0.23;
init = 0;
init = 0;
} else if (init == 0) {
settingsUpdatedCb(AttitudeSettingsHandle());
// Reload settings (all the rates)
AttitudeSettingsAccelKiGet(&accelKi);
AttitudeSettingsAccelKpGet(&accelKp);
AttitudeSettingsYawBiasRateGet(&yawBiasRate);
init = 1;
}
}
PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
AttitudeRawData attitudeRaw;
AttitudeRawGet(&attitudeRaw);
updateSensors(&attitudeRaw);
AttitudeRawGet(&attitudeRaw);
updateSensors(&attitudeRaw);
updateAttitude(&attitudeRaw);
AttitudeRawSet(&attitudeRaw);
AttitudeRawSet(&attitudeRaw);
}
}
static void updateSensors(AttitudeRawData * attitudeRaw)
{
static void updateSensors(AttitudeRawData * attitudeRaw)
{
struct pios_adxl345_data accel_data;
float gyro[4];
// Only wait the time for two nominal updates before setting an alarm
if(xQueueReceive(gyro_queue, (void * const) gyro, UPDATE_RATE * 2) == errQUEUE_EMPTY) {
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
return;
}
// First sample is temperature
attitudeRaw->gyros[ATTITUDERAW_GYROS_X] = -(gyro[1] - GYRO_NEUTRAL) * gyroGain;
attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] = (gyro[2] - GYRO_NEUTRAL) * gyroGain;
attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] = -(gyro[3] - GYRO_NEUTRAL) * gyroGain;
int32_t x = 0;
int32_t y = 0;
int32_t z = 0;
@ -207,9 +239,9 @@ static void updateSensors(AttitudeRawData * attitudeRaw)
} while ( (i < 32) && (samples_remaining > 0) );
attitudeRaw->gyrotemp[0] = samples_remaining;
attitudeRaw->gyrotemp[1] = i;
float accel[3] = {(float) x / i, (float) y / i, (float) z / i};
if(rotate) {
// TODO: rotate sensors too so stabilization is well behaved
float vec_out[3];
@ -225,68 +257,68 @@ static void updateSensors(AttitudeRawData * attitudeRaw)
attitudeRaw->accels[0] = accel[0];
attitudeRaw->accels[1] = accel[1];
attitudeRaw->accels[2] = accel[2];
}
}
// Scale accels and correct bias
attitudeRaw->accels[ATTITUDERAW_ACCELS_X] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_X] - accelbias[0]) * 0.004f * 9.81f;
attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] - accelbias[1]) * 0.004f * 9.81f;
attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] - accelbias[2]) * 0.004f * 9.81f;
// Applying integral component here so it can be seen on the gyros and correct bias
attitudeRaw->gyros[ATTITUDERAW_GYROS_X] += gyro_correct_int[0];
attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] += gyro_correct_int[1];
// Because most crafts wont get enough information from gravity to zero yaw gyro
attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] += gyro_correct_int[2];
gyro_correct_int[2] += - attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] * yawBiasRate;
if(bias_correct_gyro) {
// Applying integral component here so it can be seen on the gyros and correct bias
attitudeRaw->gyros[ATTITUDERAW_GYROS_X] += gyro_correct_int[0];
attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] += gyro_correct_int[1];
attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] += gyro_correct_int[2];
}
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
// and make it average zero (weakly)
gyro_correct_int[2] += - attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] * yawBiasRate;
}
static void updateAttitude(AttitudeRawData * attitudeRaw)
{
float dT;
portTickType thisSysTime = xTaskGetTickCount();
static portTickType lastSysTime = 0;
static portTickType thisSysTime;
static float dT = 0;
thisSysTime = xTaskGetTickCount();
if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
dT = (thisSysTime == lastSysTime) ? 0.001 : (portMAX_DELAY & (thisSysTime - lastSysTime)) / portTICK_RATE_MS / 1000.0f;
lastSysTime = thisSysTime;
// Bad practice to assume structure order, but saves memory
float gyro[3];
gyro[0] = attitudeRaw->gyros[0];
gyro[1] = attitudeRaw->gyros[1];
gyro[2] = attitudeRaw->gyros[2];
{
float * accels = attitudeRaw->accels;
float grot[3];
float accel_err[3];
// Rotate gravity to body frame and cross with accels
grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2]));
grot[1] = -(2 * (q[2] * q[3] + q[0] * q[1]));
grot[2] = -(q[0] * q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]);
CrossProduct((const float *) accels, (const float *) grot, accel_err);
// Account for accel magnitude
// Account for accel magnitude
float accel_mag = sqrt(accels[0]*accels[0] + accels[1]*accels[1] + accels[2]*accels[2]);
accel_err[0] /= accel_mag;
accel_err[1] /= accel_mag;
accel_err[2] /= accel_mag;
// Accumulate integral of error. Scale here so that units are (rad/s) but Ki has units of s
// Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s
gyro_correct_int[0] += accel_err[0] * accelKi;
gyro_correct_int[1] += accel_err[1] * accelKi;
//gyro_correct_int[2] += accel_err[2] * settings.AccelKI * dT;
// Correct rates based on error, integral component dealt with in updateSensors
gyro[0] += accel_err[0] * accelKp / dT;
gyro[1] += accel_err[1] * accelKp / dT;
gyro[2] += accel_err[2] * accelKp / dT;
}
{ // scoping variables to save memory
// Work out time derivative from INSAlgo writeup
// Also accounts for the fact that gyros are in deg/s
@ -295,28 +327,37 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
qdot[1] = (q[0] * gyro[0] - q[3] * gyro[1] + q[2] * gyro[2]) * dT * M_PI / 180 / 2;
qdot[2] = (q[3] * gyro[0] + q[0] * gyro[1] - q[1] * gyro[2]) * dT * M_PI / 180 / 2;
qdot[3] = (-q[2] * gyro[0] + q[1] * gyro[1] + q[0] * gyro[2]) * dT * M_PI / 180 / 2;
// Take a time step
q[0] = q[0] + qdot[0];
q[1] = q[1] + qdot[1];
q[2] = q[2] + qdot[2];
q[3] = q[3] + qdot[3];
}
// Renomalize
float qmag = sqrt(q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]);
q[0] = q[0] / qmag;
q[1] = q[1] / qmag;
q[2] = q[2] / qmag;
q[3] = q[3] / qmag;
// If quaternion has become inappropriately short or is nan reinit.
// THIS SHOULD NEVER ACTUALLY HAPPEN
if((fabs(qmag) < 1e-3) || (qmag != qmag)) {
q[0] = 1;
q[1] = 0;
q[2] = 0;
q[3] = 0;
}
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
quat_copy(q, &attitudeActual.q1);
// Convert into eueler degrees (makes assumptions about RPY order)
Quaternion2RPY(&attitudeActual.q1,&attitudeActual.Roll);
Quaternion2RPY(&attitudeActual.q1,&attitudeActual.Roll);
AttitudeActualSet(&attitudeActual);
}
@ -324,36 +365,41 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
static void settingsUpdatedCb(UAVObjEvent * objEv) {
AttitudeSettingsData attitudeSettings;
AttitudeSettingsGet(&attitudeSettings);
accelKp = attitudeSettings.AccelKp;
accelKi = attitudeSettings.AccelKi;
accelKi = attitudeSettings.AccelKi;
yawBiasRate = attitudeSettings.YawBiasRate;
gyroGain = attitudeSettings.GyroGain;
zero_during_arming = attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE;
bias_correct_gyro = attitudeSettings.BiasCorrectGyro == ATTITUDESETTINGS_BIASCORRECTGYRO_TRUE;
accelbias[0] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_X];
accelbias[1] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Y];
accelbias[2] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Z];
gyro_correct_int[0] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_X] / 100.0f;
gyro_correct_int[1] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Y] / 100.0f;
gyro_correct_int[2] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Z] / 100.0f;
// Indicates not to expend cycles on rotation
if(attitudeSettings.BoardRotation[0] == 0 && attitudeSettings.BoardRotation[1] == 0 &&
attitudeSettings.BoardRotation[2] == 0) {
rotate = 0;
// Shouldn't be used but to be safe
float rotationQuat[4] = {1,0,0,0};
Quaternion2R(rotationQuat, R);
} else {
float rotationQuat[4];
const float rpy[3] = {attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_ROLL],
attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_PITCH],
const float rpy[3] = {attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_ROLL],
attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_PITCH],
attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_YAW]};
RPY2Quaternion(rpy, rotationQuat);
Quaternion2R(rotationQuat, R);
rotate = 1;
}
}
}
/**
* @}

2
flight/Modules/Battery/battery.c
View File

@ -75,6 +75,8 @@ static void onTimer(UAVObjEvent* ev);
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
MODULE_INITCALL(BatteryInitialize, 0)
int32_t BatteryInitialize(void)
{
BatteryStateInitialze();

9
flight/Modules/Example/example.c
View File

@ -49,9 +49,14 @@
#include "examplemodperiodic.h"
#include "examplemodthread.h"
void ExampleInitialize(void)
void ExampleStart(void)
{
ExampleModEventInitialize();
ExampleModPeriodicInitialize();
ExampleModThreadInitialize();
}
void ExampleInitialize(void)
{
ExampleModEventInitialize();
}
MODULE_INITCALL(ExampleInitialize, ExampleStart)

4
flight/Modules/FirmwareIAP/firmwareiap.c
View File

@ -88,7 +88,7 @@ static void resetTask(UAVObjEvent *);
* \note
*
*/
MODULE_INITCALL(FirmwareIAPInitialize, 0)
int32_t FirmwareIAPInitialize()
{
@ -103,7 +103,7 @@ int32_t FirmwareIAPInitialize()
data.ArmReset=0;
data.crc = 0;
FirmwareIAPObjSet( &data );
FirmwareIAPObjConnectCallback( &FirmwareIAPCallback );
if(bdinfo->magic==PIOS_BOARD_INFO_BLOB_MAGIC) FirmwareIAPObjConnectCallback( &FirmwareIAPCallback );
return 0;
}

21
flight/Modules/FlightPlan/flightplan.c
View File

@ -31,6 +31,7 @@
#include "openpilot.h"
#include "pm.h"
#include "flightplan.h"
#include "flightplanstatus.h"
#include "flightplancontrol.h"
#include "flightplansettings.h"
@ -53,6 +54,20 @@ static void objectUpdatedCb(UAVObjEvent * ev);
// External variables (temporary, TODO: this will be loaded from the SD card)
extern unsigned char usrlib_img[];
/**
* Module initialization
*/
int32_t FlightPlanStart()
{
taskHandle = NULL;
// Start VM thread
xTaskCreate(flightPlanTask, (signed char *)"FlightPlan", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_FLIGHTPLAN, taskHandle);
return 0;
}
/**
* Module initialization
*/
@ -69,13 +84,9 @@ int32_t FlightPlanInitialize()
// Listen for FlightPlanControl updates
FlightPlanControlConnectQueue(queue);
// Start VM thread
xTaskCreate(flightPlanTask, (signed char *)"FlightPlan", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_FLIGHTPLAN, taskHandle);
return 0;
}
MODULE_INITCALL(FlightPlanInitialize, FlightPlanStart)
/**
* Module task
*/

20
flight/Modules/GPS/GPS.c
View File

@ -109,23 +109,31 @@ static uint32_t numParsingErrors;
* \return 0 on success
*/
int32_t GPSStart(void)
{
// Start gps task
xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_GPS, gpsTaskHandle);
return 0;
}
/**
* Initialise the gps module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t GPSInitialize(void)
{
GPSPositionInitialize();
GPSTimeInitialize();
HomeLocationInitialize();
signed portBASE_TYPE xReturn;
// TODO: Get gps settings object
gpsPort = PIOS_COM_GPS;
// Start gps task
xReturn = xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_GPS, gpsTaskHandle);
return 0;
}
MODULE_INITCALL(GPSInitialize, GPSStart)
// ****************
/**

18
flight/Modules/Guidance/guidance.c
View File

@ -78,6 +78,19 @@ static void updateVtolDesiredVelocity();
static void manualSetDesiredVelocity();
static void updateVtolDesiredAttitude();
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t GuidanceStart()
{
// Start main task
xTaskCreate(guidanceTask, (signed char *)"Guidance", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &guidanceTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_GUIDANCE, guidanceTaskHandle);
return 0;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
@ -90,12 +103,9 @@ int32_t GuidanceInitialize()
// Listen for updates.
AttitudeRawConnectQueue(queue);
// Start main task
xTaskCreate(guidanceTask, (signed char *)"Guidance", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &guidanceTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_GUIDANCE, guidanceTaskHandle);
return 0;
}
MODULE_INITCALL(GuidanceInitialize, GuidanceStart)
static float northVelIntegral = 0;
static float eastVelIntegral = 0;

2
flight/Modules/Guidance/inc/guidance.h
View File

@ -27,5 +27,5 @@
#define EXAMPLEMODPERIODIC_H
int32_t ExampleModPeriodicInitialize();
int32_t GuidanceInitialize(void);
#endif // EXAMPLEMODPERIODIC_H

62
flight/Modules/ManualControl/inc/manualcontrol.h
View File

@ -1,7 +1,7 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @{
* @addtogroup ManualControlModule Manual Control Module
* @{
*
@ -45,4 +45,64 @@ typedef enum {FLIGHTMODE_UNDEFINED = 0, FLIGHTMODE_MANUAL = 1, FLIGHTMODE_STABIL
int32_t ManualControlInitialize();
/*
* These are assumptions we make in the flight code about the order of settings and their consistency between
* objects. Please keep this synchronized to the UAVObjects
*/
#define assumptions1 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define assumptions3 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define assumptions5 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define ARMING_CHANNEL_ROLL 0
#define ARMING_CHANNEL_PITCH 1
#define ARMING_CHANNEL_YAW 2
#define assumptions7 ( \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) \
)
#define assumptions8 ( \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) \
)
#define assumptions_flightmode ( \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int) FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int) FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) \
)
#endif // MANUALCONTROL_H

113
flight/Modules/ManualControl/manualcontrol.c
View File

@ -87,65 +87,27 @@ static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time)
static bool okToArm(void);
static bool validInputRange(int16_t min, int16_t max, uint16_t value);
#define assumptions1 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define assumptions3 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define assumptions5 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define ARMING_CHANNEL_ROLL 0
#define ARMING_CHANNEL_PITCH 1
#define ARMING_CHANNEL_YAW 2
#define assumptions7 ( \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) \
)
#define assumptions8 ( \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) \
)
#define assumptions_flightmode ( \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int) FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int) FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) \
)
#define assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode)
/**
* Module starting
*/
int32_t ManualControlStart()
{
// Start main task
xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_MANUAL);
return 0;
}
/**
* Module initialization
*/
int32_t ManualControlInitialize()
{
/* Check the assumptions about uavobject enum's are correct */
if(!assumptions)
return -1;
@ -156,14 +118,9 @@ int32_t ManualControlInitialize()
FlightStatusInitialize();
StabilizationDesiredInitialize();
// Start main task
xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_MANUAL);
return 0;
}
MODULE_INITCALL(ManualControlInitialize, ManualControlStart)
/**
* Module task
@ -216,17 +173,13 @@ static void manualControlTask(void *parameters)
if (!ManualControlCommandReadOnly(&cmd)) {
// Read channel values in us
// TODO: settings.InputMode is currently ignored because PIOS will not allow runtime
// selection of PWM and PPM. The configuration is currently done at compile time in
// the pios_config.h file.
for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) {
#if defined(PIOS_INCLUDE_PWM)
cmd.Channel[n] = PIOS_PWM_Get(n);
#elif defined(PIOS_INCLUDE_PPM)
cmd.Channel[n] = PIOS_PPM_Get(n);
#elif defined(PIOS_INCLUDE_SPEKTRUM)
cmd.Channel[n] = PIOS_SPEKTRUM_Get(n);
#endif
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;
}
scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]);
}
@ -378,21 +331,25 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = stab_settings[2];
stabilization.Roll = (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.RollMax :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
0; // this is an invalid mode
;
stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.PitchMax :
0; // this is an invalid mode
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
0; // this is an invalid mode
stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? fmod(cmd->Yaw * 180.0, 360) :
0; // this is an invalid mode
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
0; // this is an invalid mode
stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
StabilizationDesiredSet(&stabilization);

229
flight/Modules/Stabilization/stabilization.c
View File

@ -75,6 +75,14 @@ static xTaskHandle taskHandle;
static StabilizationSettingsData settings;
static xQueueHandle queue;
float dT = 1;
float gyro_alpha = 0;
float gyro_filtered[3] = {0,0,0};
float axis_lock_accum[3] = {0,0,0};
uint8_t max_axis_lock = 0;
uint8_t max_axislock_rate = 0;
float weak_leveling_kp = 0;
uint8_t weak_leveling_max = 0;
pid_type pids[PID_MAX];
// Private functions
@ -84,6 +92,20 @@ static float bound(float val);
static void ZeroPids(void);
static void SettingsUpdatedCb(UAVObjEvent * ev);
/**
* Module initialization
*/
int32_t StabilizationStart()
{
// Initialize variables
// Start main task
xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_STABILIZATION, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_STABILIZATION);
return 0;
}
/**
* Module initialization
*/
@ -98,21 +120,20 @@ int32_t StabilizationInitialize()
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// Listen for updates.
// AttitudeActualConnectQueue(queue);
AttitudeRawConnectQueue(queue);
StabilizationSettingsConnectCallback(SettingsUpdatedCb);
SettingsUpdatedCb(StabilizationSettingsHandle());
// Start main task
xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_STABILIZATION, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_STABILIZATION);
return 0;
}
MODULE_INITCALL(StabilizationInitialize, StabilizationStart)
/**
* Module task
*/
@ -121,36 +142,36 @@ static void stabilizationTask(void* parameters)
portTickType lastSysTime;
portTickType thisSysTime;
UAVObjEvent ev;
ActuatorDesiredData actuatorDesired;
StabilizationDesiredData stabDesired;
RateDesiredData rateDesired;
AttitudeActualData attitudeActual;
AttitudeRawData attitudeRaw;
FlightStatusData flightStatus;
SettingsUpdatedCb((UAVObjEvent *) NULL);
// Main task loop
lastSysTime = xTaskGetTickCount();
ZeroPids();
while(1) {
PIOS_WDG_UpdateFlag(PIOS_WDG_STABILIZATION);
// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
{
AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION,SYSTEMALARMS_ALARM_WARNING);
continue;
}
}
// Check how long since last update
thisSysTime = xTaskGetTickCount();
if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
lastSysTime = thisSysTime;
FlightStatusGet(&flightStatus);
StabilizationDesiredGet(&stabDesired);
AttitudeActualGet(&attitudeActual);
@ -166,11 +187,11 @@ static void stabilizationTask(void* parameters)
float q_desired[4];
float q_error[4];
float local_error[3];
// Essentially zero errors for anything in rate or none
if(stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)
rpy_desired[0] = stabDesired.Roll;
else
rpy_desired[0] = stabDesired.Roll;
else
rpy_desired[0] = attitudeActual.Roll;
if(stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)
@ -182,13 +203,13 @@ static void stabilizationTask(void* parameters)
rpy_desired[2] = stabDesired.Yaw;
else
rpy_desired[2] = attitudeActual.Yaw;
RPY2Quaternion(rpy_desired, q_desired);
quat_inverse(q_desired);
quat_mult(q_desired, &attitudeActual.q1, q_error);
quat_inverse(q_error);
Quaternion2RPY(q_error, local_error);
#else
// Simpler algorithm for CC, less memory
float local_error[3] = {stabDesired.Roll - attitudeActual.Roll,
@ -196,26 +217,64 @@ static void stabilizationTask(void* parameters)
stabDesired.Yaw - attitudeActual.Yaw};
local_error[2] = fmod(local_error[2] + 180, 360) - 180;
#endif
for(uint8_t i = 0; i < MAX_AXES; i++) {
gyro_filtered[i] = gyro_filtered[i] * gyro_alpha + attitudeRaw.gyros[i] * (1 - gyro_alpha);
}
float *attitudeDesiredAxis = &stabDesired.Roll;
float *actuatorDesiredAxis = &actuatorDesired.Roll;
float *rateDesiredAxis = &rateDesired.Roll;
//Calculate desired rate
for(int8_t ct=0; ct< MAX_AXES; ct++)
for(uint8_t i=0; i< MAX_AXES; i++)
{
switch(stabDesired.StabilizationMode[ct])
switch(stabDesired.StabilizationMode[i])
{
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
rateDesiredAxis[ct] = attitudeDesiredAxis[ct];
rateDesiredAxis[i] = attitudeDesiredAxis[i];
axis_lock_accum[i] = 0;
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
{
float weak_leveling = local_error[i] * weak_leveling_kp;
if(weak_leveling > weak_leveling_max)
weak_leveling = weak_leveling_max;
if(weak_leveling < -weak_leveling_max)
weak_leveling = -weak_leveling_max;
rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
axis_lock_accum[i] = 0;
break;
}
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
rateDesiredAxis[ct] = ApplyPid(&pids[PID_ROLL + ct], local_error[ct]);
rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i]);
axis_lock_accum[i] = 0;
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
if(fabs(attitudeDesiredAxis[i]) > max_axislock_rate) {
// While getting strong commands act like rate mode
rateDesiredAxis[i] = attitudeDesiredAxis[i];
axis_lock_accum[i] = 0;
} else {
// For weaker commands or no command simply attitude lock (almost) on no gyro change
axis_lock_accum[i] += (attitudeDesiredAxis[i] - gyro_filtered[i]) * dT;
if(axis_lock_accum[i] > max_axis_lock)
axis_lock_accum[i] = max_axis_lock;
else if(axis_lock_accum[i] < -max_axis_lock)
axis_lock_accum[i] = -max_axis_lock;
rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i]);
}
break;
}
}
uint8_t shouldUpdate = 1;
#if defined(DIAGNOSTICS)
RateDesiredSet(&rateDesired);
@ -224,23 +283,19 @@ static void stabilizationTask(void* parameters)
//Calculate desired command
for(int8_t ct=0; ct< MAX_AXES; ct++)
{
if(fabs(rateDesiredAxis[ct]) > settings.MaximumRate[ct])
{
if(rateDesiredAxis[ct] > 0)
{
rateDesiredAxis[ct] = settings.MaximumRate[ct];
}else
{
rateDesiredAxis[ct] = -settings.MaximumRate[ct];
}
}
if(rateDesiredAxis[ct] > settings.MaximumRate[ct])
rateDesiredAxis[ct] = settings.MaximumRate[ct];
else if(rateDesiredAxis[ct] < -settings.MaximumRate[ct])
rateDesiredAxis[ct] = -settings.MaximumRate[ct];
switch(stabDesired.StabilizationMode[ct])
{
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
{
float command = ApplyPid(&pids[PID_RATE_ROLL + ct], rateDesiredAxis[ct]-attitudeRaw.gyros[ct]);
float command = ApplyPid(&pids[PID_RATE_ROLL + ct], rateDesiredAxis[ct] - gyro_filtered[ct]);
actuatorDesiredAxis[ct] = bound(command);
break;
}
@ -261,16 +316,16 @@ static void stabilizationTask(void* parameters)
break;
}
break;
}
}
// Save dT
actuatorDesired.UpdateTime = dT * 1000;
if(PARSE_FLIGHT_MODE(flightStatus.FlightMode) == FLIGHTMODE_MANUAL)
shouldUpdate = 0;
if(shouldUpdate)
{
actuatorDesired.Throttle = stabDesired.Throttle;
@ -278,16 +333,16 @@ static void stabilizationTask(void* parameters)
actuatorDesired.NumLongUpdates++;
ActuatorDesiredSet(&actuatorDesired);
}
if(flightStatus.Armed != FLIGHTSTATUS_ARMED_ARMED ||
!shouldUpdate || (stabDesired.Throttle < 0))
!shouldUpdate)
{
ZeroPids();
}
// Clear alarms
AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
}
}
@ -295,15 +350,15 @@ float ApplyPid(pid_type * pid, const float err)
{
float diff = (err - pid->lastErr);
pid->lastErr = err;
pid->iAccumulator += err * pid->i * dT;
if(fabs(pid->iAccumulator) > pid->iLim) {
if(pid->iAccumulator >0) {
pid->iAccumulator = pid->iLim;
} else {
pid->iAccumulator = -pid->iLim;
}
// Scale up accumulator by 1000 while computing to avoid losing precision
pid->iAccumulator += err * (pid->i * dT * 1000);
if(pid->iAccumulator > (pid->iLim * 1000)) {
pid->iAccumulator = pid->iLim * 1000;
} else if (pid->iAccumulator < -(pid->iLim * 1000)) {
pid->iAccumulator = -pid->iLim * 1000;
}
return ((err * pid->p) + pid->iAccumulator + (diff * pid->d / dT));
return ((err * pid->p) + pid->iAccumulator / 1000 + (diff * pid->d / dT));
}
@ -313,6 +368,8 @@ static void ZeroPids(void)
pids[ct].iAccumulator = 0;
pids[ct].lastErr = 0;
}
for(uint8_t i = 0; i < 3; i++)
axis_lock_accum[i] = 0;
}
@ -334,14 +391,58 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
{
memset(pids,0,sizeof (pid_type) * PID_MAX);
StabilizationSettingsGet(&settings);
float * data = settings.RollRatePI;
for(int8_t pid=0; pid < PID_MAX; pid++)
{
pids[pid].p = *data++;
pids[pid].i = *data++;
pids[pid].iLim = *data++;
}
// Set the roll rate PID constants
pids[0].p = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP];
pids[0].i = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI];
pids[0].d = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD];
pids[0].iLim = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT];
// Set the pitch rate PID constants
pids[1].p = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP];
pids[1].i = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI];
pids[1].d = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD];
pids[1].iLim = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT];
// Set the yaw rate PID constants
pids[2].p = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KP];
pids[2].i = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KI];
pids[2].d = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KD];
pids[2].iLim = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_ILIMIT];
// Set the roll attitude PI constants
pids[3].p = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP];
pids[3].i = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI];
pids[3].iLim = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT];
// Set the pitch attitude PI constants
pids[4].p = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP];
pids[4].i = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI];
pids[4].iLim = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT];
// Set the yaw attitude PI constants
pids[5].p = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KP];
pids[5].i = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KI];
pids[5].iLim = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT];
// Maximum deviation to accumulate for axis lock
max_axis_lock = settings.MaxAxisLock;
max_axislock_rate = settings.MaxAxisLockRate;
// Settings for weak leveling
weak_leveling_kp = settings.WeakLevelingKp;
weak_leveling_max = settings.MaxWeakLevelingRate;
// The dT has some jitter iteration to iteration that we don't want to
// make thie result unpredictable. Still, it's nicer to specify the constant
// based on a time (in ms) rather than a fixed multiplier. The error between
// update rates on OP (~300 Hz) and CC (~475 Hz) is negligible for this
// calculation
const float fakeDt = 0.0025;
if(settings.GyroTau < 0.0001)
gyro_alpha = 0; // not trusting this to resolve to 0
else
gyro_alpha = exp(-fakeDt / settings.GyroTau);
}

93
flight/Modules/System/systemmod.c
View File

@ -87,27 +87,27 @@ static void updateI2Cstats();
static void updateWDGstats();
#endif
/**
* Initialise the module, called on startup.
* \returns 0 on success or -1 if initialisation failed
* Create the module task.
* \returns 0 on success or -1 if initialization failed
*/
int32_t SystemModInitialize(void)
int32_t SystemModStart(void)
{
// Initialize vars
stackOverflow = 0;
// Create system task
xTaskCreate(systemTask, (signed char *)"System", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &systemTaskHandle);
// Register task
TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
return 0;
}
/**
* System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
* Initialize the module, called on startup.
* \returns 0 on success or -1 if initialization failed
*/
static void systemTask(void *parameters)
int32_t SystemModInitialize(void)
{
portTickType lastSysTime;
// System initialization
OpenPilotInit();
// Must registers objects here for system thread because ObjectManager started in OpenPilotInit
SystemSettingsInitialize();
@ -119,8 +119,21 @@ static void systemTask(void *parameters)
WatchdogStatusInitialize();
#endif
// Register task
TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
SystemModStart();
return 0;
}
MODULE_INITCALL(SystemModInitialize, 0)
/**
* System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
*/
static void systemTask(void *parameters)
{
portTickType lastSysTime;
/* create all modules thread */
MODULE_TASKCREATE_ALL
// Initialize vars
idleCounter = 0;
@ -131,7 +144,7 @@ static void systemTask(void *parameters)
ObjectPersistenceConnectCallback(&objectUpdatedCb);
// Main system loop
while (1) {
while (1) {
// Update the system statistics
updateStats();
@ -273,6 +286,48 @@ static void updateWDGstats()
#endif
/**
* Called periodically to update the system stats
*/
static uint16_t GetFreeIrqStackSize(void)
{
uint32_t i = 0x200;
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
extern uint32_t _irq_stack_top;
extern uint32_t _irq_stack_end;
uint32_t pattern = 0x0000A5A5;
uint32_t *ptr = &_irq_stack_end;
#if 1 /* the ugly way accurate but takes more time, useful for debugging */
uint32_t stack_size = (((uint32_t)&_irq_stack_top - (uint32_t)&_irq_stack_end) & ~3 ) / 4;
for (i=0; i< stack_size; i++)
{
if (ptr[i] != pattern)
{
i=i*4;
break;
}
}
#else /* faster way but not accurate */
if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_CRITICAL) != pattern)
{
i = IRQSTACK_LIMIT_CRITICAL - 1;
}
else if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_WARNING) != pattern)
{
i = IRQSTACK_LIMIT_WARNING - 1;
}
else
{
i = IRQSTACK_LIMIT_WARNING;
}
#endif
#endif
return i;
}
/**
* Called periodically to update the system stats
*/
@ -291,6 +346,9 @@ static void updateStats()
stats.HeapRemaining = xPortGetFreeHeapSize();
#endif
// Get Irq stack status
stats.IRQStackRemaining = GetFreeIrqStackSize();
// When idleCounterClear was not reset by the idle-task, it means the idle-task did not run
if (idleCounterClear) {
idleCounter = 0;
@ -333,6 +391,17 @@ static void updateSystemAlarms()
AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY);
}
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
// Check IRQ stack
if (stats.IRQStackRemaining < IRQSTACK_LIMIT_CRITICAL) {
AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL);
} else if (stats.IRQStackRemaining < IRQSTACK_LIMIT_WARNING) {
AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_WARNING);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY);
}
#endif
// Check CPU load
if (stats.CPULoad > CPULOAD_LIMIT_CRITICAL) {
AlarmsSet(SYSTEMALARMS_ALARM_CPUOVERLOAD, SYSTEMALARMS_ALARM_CRITICAL);

36
flight/Modules/Telemetry/telemetry.c
View File

@ -31,6 +31,7 @@
*/
#include "openpilot.h"
#include "telemetry.h"
#include "flighttelemetrystats.h"
#include "gcstelemetrystats.h"
#include "telemetrysettings.h"
@ -80,6 +81,28 @@ static void updateTelemetryStats();
static void gcsTelemetryStatsUpdated();
static void updateSettings();
/**
* Initialise the telemetry module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t TelemetryStart(void)
{
// Start telemetry tasks
xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTX, telemetryTxTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle);
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
xTaskCreate(telemetryTxPriTask, (signed char *)"TelPriTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle);
#endif
return 0;
}
/**
* Initialise the telemetry module
* \return -1 if initialisation failed
@ -121,20 +144,11 @@ int32_t TelemetryInitialize(void)
GCSTelemetryStatsConnectQueue(priorityQueue);
TelemetrySettingsConnectQueue(priorityQueue);
// Start telemetry tasks
xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTX, telemetryTxTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle);
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
xTaskCreate(telemetryTxPriTask, (signed char *)"TelPriTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle);
#endif
return 0;
}
MODULE_INITCALL(TelemetryInitialize, TelemetryStart)
/**
* Register a new object, adds object to local list and connects the queue depending on the object's
* telemetry settings.

24
flight/OpenPilot/Makefile
View File

@ -43,9 +43,6 @@ ENABLE_DEBUG_PINS ?= NO
# Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
ENABLE_AUX_UART ?= NO
USE_SPEKTRUM ?= NO
# Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= YES
@ -115,8 +112,6 @@ UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files
MODNAMES = $(notdir ${MODULES} ${PYMODULES})
ifndef TESTAPP
## PyMite files and modules
@ -131,7 +126,6 @@ SRC += $(PYSRC)
## MODULES
SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
SRC += ${OUTDIR}/InitMods.c
## OPENPILOT CORE:
SRC += ${OPMODULEDIR}/System/systemmod.c
SRC += $(OPSYSTEM)/openpilot.c
@ -170,6 +164,7 @@ SRC += $(PIOSSTM32F10X)/pios_spi.c
SRC += $(PIOSSTM32F10X)/pios_ppm.c
SRC += $(PIOSSTM32F10X)/pios_pwm.c
SRC += $(PIOSSTM32F10X)/pios_spektrum.c
SRC += $(PIOSSTM32F10X)/pios_sbus.c
SRC += $(PIOSSTM32F10X)/pios_debug.c
SRC += $(PIOSSTM32F10X)/pios_gpio.c
SRC += $(PIOSSTM32F10X)/pios_exti.c
@ -194,6 +189,7 @@ SRC += $(PIOSCOMMON)/pios_hcsr04.c
SRC += $(PIOSCOMMON)/pios_i2c_esc.c
SRC += $(PIOSCOMMON)/pios_iap.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/pios_rcvr.c
SRC += $(PIOSCOMMON)/printf-stdarg.c
SRC += $(FLIGHTLIB)/ahrs_spi_comm.c
SRC += $(FLIGHTLIB)/ahrs_comm_objects.c
@ -363,11 +359,6 @@ ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
endif
ifeq ($(USE_SPEKTRUM), YES)
CDEFS += -DUSE_SPEKTRUM
endif
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -478,19 +469,10 @@ endif
endif
# Generate intermediate code
gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h
gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h
$(PYSRC): gencode
# Generate code for module initialization
${OUTDIR}/InitMods.c: Makefile
@echo $(MSG_MODINIT) $(call toprel, $@)
@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# Generate code for PyMite
${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py)
@echo $(MSG_PYMITEINIT) $(call toprel, $@)

6
flight/OpenPilot/Makefile.posix
View File

@ -173,6 +173,8 @@ SRC += $(PIOSPOSIX)/pios_servo.c
SRC += $(PIOSPOSIX)/pios_wdg.c
SRC += $(PIOSPOSIX)/pios_debug.c
SRC += $(PIOSPOSIX)/pios_rcvr.c
## Libraries for flight calculations
#SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(FLIGHTLIB)/WorldMagModel.c
@ -441,9 +443,13 @@ ${OUTDIR}/InitMods.c: Makefile.posix
@echo ${MSG_MODINIT}
@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Start(void);}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}void StartModules() {${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Start();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# Generate code for PyMite
${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py)

1
flight/OpenPilot/Makefile.win32
View File

@ -166,6 +166,7 @@ SRC += $(PIOSWIN32)/pios_udp.c
SRC += $(PIOSWIN32)/pios_com.c
SRC += $(PIOSWIN32)/pios_servo.c
SRC += $(PIOSWIN32)/pios_wdg.c
SRC += $(PIOSWIN32)/pios_crc.c
#
## RTOS
SRC += $(RTOSSRCDIR)/list.c

3
flight/OpenPilot/System/inc/FreeRTOSConfig.h
View File

@ -87,6 +87,9 @@ do {\
#define configCHECK_FOR_STACK_OVERFLOW 1
#endif
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32)
#define CHECK_IRQ_STACK
#endif
/**
* @}

12
flight/OpenPilot/System/inc/pios_config.h
View File

@ -42,12 +42,14 @@
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_LED
#if defined(USE_SPEKTRUM)
#define PIOS_INCLUDE_RCVR
#define PIOS_INCLUDE_SPEKTRUM
#else
//#define PIOS_INCLUDE_PPM
//#define PIOS_INCLUDE_SBUS
#define PIOS_INCLUDE_PWM
#endif
//#define PIOS_INCLUDE_PPM
#define PIOS_INCLUDE_TELEMETRY_RF
#define PIOS_INCLUDE_SERVO
#define PIOS_INCLUDE_SPI
@ -84,6 +86,8 @@
/* Alarm Thresholds */
#define HEAP_LIMIT_WARNING 4000
#define HEAP_LIMIT_CRITICAL 1000
#define IRQSTACK_LIMIT_WARNING 150
#define IRQSTACK_LIMIT_CRITICAL 80
#define CPULOAD_LIMIT_WARNING 80
#define CPULOAD_LIMIT_CRITICAL 95

3
flight/OpenPilot/System/inc/pios_config_posix.h
View File

@ -38,7 +38,10 @@
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_UDP
#define PIOS_INCLUDE_SERVO
#define PIOS_INCLUDE_RCVR
#define PIOS_RCVR_MAX_CHANNELS 12
#define PIOS_RCVR_MAX_DEVS 3
/* Defaults for Logging */
#define LOG_FILENAME "PIOS.LOG"

66
flight/OpenPilot/System/openpilot.c
View File

@ -62,11 +62,10 @@ static void TaskSDCard(void *pvParameters);
int32_t CONSOLE_Parse(uint8_t port, char c);
void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value);
/* Prototype of generated InitModules() function */
extern void InitModules(void);
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void Stack_Change(void);
static void Stack_Change_Weak () __attribute__ ((weakref ("Stack_Change")));
/**
* OpenPilot Main function:
@ -85,48 +84,42 @@ int main()
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
/* Initialize the system thread */
SystemModInitialize();
/* Start the FreeRTOS scheduler */
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* If we do get here, it will most likely be because we ran out of heap space. */
PIOS_LED_Off(LED1);
PIOS_LED_Off(LED2);
for(;;) {
PIOS_LED_Toggle(LED1);
PIOS_LED_Toggle(LED2);
PIOS_DELAY_WaitmS(100);
}
return 0;
}
/**
* Initialize the hardware, libraries and modules (called by the System thread in systemmod.c)
*/
void OpenPilotInit()
{
/* Architecture dependant Hardware and
* core subsystem initialisation
* (see pios_board.c for your arch)
* */
PIOS_Board_Init();
/* Initialize modules */
InitModules();
MODULE_INITIALISE_ALL
#if INCLUDE_TEST_TASKS
/* Create test tasks */
//xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
//xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
//xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
//xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
#endif
/* swap the stack to use the IRQ stack (does nothing in sim mode) */
Stack_Change_Weak();
/* Start the FreeRTOS scheduler which should never returns.*/
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* Do some indication to user that something bad just happened */
PIOS_LED_Off(LED1); \
for(;;) { \
PIOS_LED_Toggle(LED1); \
PIOS_DELAY_WaitmS(100); \
};
return 0;
}
#if INCLUDE_TEST_TASKS
static void TaskTesting(void *pvParameters)
{
@ -153,6 +146,9 @@ static void TaskTesting(void *pvParameters)
#if defined(PIOS_INCLUDE_SPEKTRUM)
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));
#endif
#if defined(PIOS_INCLUDE_SBUS)
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u\r", PIOS_SBUS_Get(0), PIOS_SBUS_Get(1), PIOS_SBUS_Get(2), PIOS_SBUS_Get(3), PIOS_SBUS_Get(4), PIOS_SBUS_Get(5), PIOS_SBUS_Get(6), PIOS_SBUS_Get(7));
#endif
#if defined(PIOS_INCLUDE_PWM)
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));
#endif
@ -339,5 +335,5 @@ static void TaskSDCard(void *pvParameters)
/**
* @}
* @}
*/
*/

305
flight/OpenPilot/System/pios_board.c
View File

@ -30,6 +30,7 @@
#include <pios.h>
#include <openpilot.h>
#include <uavobjectsinit.h>
#include "manualcontrolsettings.h"
//#define I2C_DEBUG_PIN 0
//#define USART_GPS_DEBUG_PIN 1
@ -46,7 +47,7 @@
void PIOS_SPI_sdcard_irq_handler(void);
void DMA1_Channel2_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler")));
void DMA1_Channel3_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler")));
const struct pios_spi_cfg pios_spi_sdcard_cfg = {
static const struct pios_spi_cfg pios_spi_sdcard_cfg = {
.regs = SPI1,
.init = {
.SPI_Mode = SPI_Mode_Master,
@ -63,7 +64,7 @@ const struct pios_spi_cfg pios_spi_sdcard_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_sdcard_irq_handler,
.handler = NULL,
.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
.init = {
.NVIC_IRQChannel = DMA1_Channel2_IRQn,
@ -144,7 +145,7 @@ const struct pios_spi_cfg pios_spi_sdcard_cfg = {
void PIOS_SPI_ahrs_irq_handler(void);
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
const struct pios_spi_cfg pios_spi_ahrs_cfg = {
static const struct pios_spi_cfg pios_spi_ahrs_cfg = {
.regs = SPI2,
.init = {
.SPI_Mode = SPI_Mode_Master,
@ -162,7 +163,7 @@ const struct pios_spi_cfg pios_spi_ahrs_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_ahrs_irq_handler,
.handler = NULL,
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
.init = {
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
@ -258,11 +259,11 @@ void PIOS_SPI_ahrs_irq_handler(void)
extern void PIOS_ADC_handler(void);
void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
// Remap the ADC DMA handler to this one
const struct pios_adc_cfg pios_adc_cfg = {
static const struct pios_adc_cfg pios_adc_cfg = {
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_ADC_DMA_Handler,
.handler = NULL,
.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
.init = {
.NVIC_IRQChannel = DMA1_Channel1_IRQn,
@ -310,16 +311,10 @@ void PIOS_ADC_handler() {
/*
* Telemetry USART
*/
void PIOS_USART_telem_irq_handler(void);
void USART2_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler")));
const struct pios_usart_cfg pios_usart_telem_cfg = {
static const struct pios_usart_cfg pios_usart_telem_cfg = {
.regs = USART2,
.init = {
#if defined (PIOS_COM_TELEM_BAUDRATE)
.USART_BaudRate = PIOS_COM_TELEM_BAUDRATE,
#else
.USART_BaudRate = 57600,
#endif
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
@ -327,7 +322,7 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_telem_irq_handler,
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -356,17 +351,11 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
/*
* GPS USART
*/
void PIOS_USART_gps_irq_handler(void);
void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_gps_irq_handler")));
const struct pios_usart_cfg pios_usart_gps_cfg = {
static const struct pios_usart_cfg pios_usart_gps_cfg = {
.regs = USART3,
.remap = GPIO_PartialRemap_USART3,
.init = {
#if defined (PIOS_COM_GPS_BAUDRATE)
.USART_BaudRate = PIOS_COM_GPS_BAUDRATE,
#else
.USART_BaudRate = 57600,
#endif
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
@ -374,7 +363,7 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_gps_irq_handler,
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -404,16 +393,9 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
/*
* AUX USART
*/
void PIOS_USART_aux_irq_handler(void);
void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_aux_irq_handler")));
const struct pios_usart_cfg pios_usart_aux_cfg = {
static const struct pios_usart_cfg pios_usart_aux_cfg = {
.regs = USART1,
.init = {
#if defined (PIOS_COM_AUX_BAUDRATE)
.USART_BaudRate = PIOS_COM_AUX_BAUDRATE,
#else
.USART_BaudRate = 57600,
#endif
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
@ -422,7 +404,7 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_aux_irq_handler,
.handler = NULL,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -450,20 +432,45 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
};
#endif
#if defined(PIOS_INCLUDE_RTC)
/*
* Realtime Clock (RTC)
*/
#include <pios_rtc_priv.h>
void PIOS_RTC_IRQ_Handler (void);
void RTC_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
static const struct pios_rtc_cfg pios_rtc_main_cfg = {
.clksrc = RCC_RTCCLKSource_HSE_Div128,
.prescaler = 100,
.irq = {
.handler = NULL,
.init = {
.NVIC_IRQChannel = RTC_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
void PIOS_RTC_IRQ_Handler (void)
{
PIOS_RTC_irq_handler ();
}
#endif
#ifdef PIOS_COM_SPEKTRUM
/*
* SPEKTRUM USART
*/
void PIOS_USART_spektrum_irq_handler(void);
void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_spektrum_irq_handler")));
const struct pios_usart_cfg pios_usart_spektrum_cfg = {
#include <pios_spektrum_priv.h>
static const struct pios_usart_cfg pios_usart_spektrum_cfg = {
.regs = USART1,
.init = {
#if defined (PIOS_COM_SPEKTRUM_BAUDRATE)
.USART_BaudRate = PIOS_COM_SPEKTRUM_BAUDRATE,
#else
.USART_BaudRate = 115200,
#endif
.USART_BaudRate = 115200,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
@ -471,7 +478,7 @@ const struct pios_usart_cfg pios_usart_spektrum_cfg = {
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.handler = PIOS_USART_spektrum_irq_handler,
.handler = PIOS_SPEKTRUM_irq_handler,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@ -497,74 +504,30 @@ const struct pios_usart_cfg pios_usart_spektrum_cfg = {
},
};
#include <pios_spektrum_priv.h>
static uint32_t pios_usart_spektrum_id;
void PIOS_USART_spektrum_irq_handler(void)
{
SPEKTRUM_IRQHandler(pios_usart_spektrum_id);
PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id);
}
#include <pios_spektrum_priv.h>
void RTC_IRQHandler();
void RTC_IRQHandler() __attribute__ ((alias ("PIOS_SUPV_irq_handler")));
const struct pios_spektrum_cfg pios_spektrum_cfg = {
.pios_usart_spektrum_cfg = &pios_usart_spektrum_cfg,
.gpio_init = { //used for bind feature
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
.remap = 0,
.irq = {
.handler = RTC_IRQHandler,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
static const struct pios_spektrum_cfg pios_spektrum_cfg = {
.bind = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
.port = GPIOA,
.pin = GPIO_Pin_10,
.remap = 0,
};
void PIOS_SUPV_irq_handler() {
if (RTC_GetITStatus(RTC_IT_SEC))
{
/* Call the right handler */
PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id);
/* Wait until last write operation on RTC registers has finished */
RTC_WaitForLastTask();
/* Clear the RTC Second interrupt */
RTC_ClearITPendingBit(RTC_IT_SEC);
}
}
#endif /* PIOS_COM_SPEKTRUM */
static uint32_t pios_usart_telem_rf_id;
void PIOS_USART_telem_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_telem_rf_id);
}
static uint32_t pios_usart_gps_id;
void PIOS_USART_gps_irq_handler(void)
{
#ifdef USART_GPS_DEBUG_PIN
PIOS_DEBUG_PinHigh(USART_GPS_DEBUG_PIN);
#endif
PIOS_USART_IRQ_Handler(pios_usart_gps_id);
#ifdef USART_GPS_DEBUG_PIN
PIOS_DEBUG_PinLow(USART_GPS_DEBUG_PIN);
#endif
}
#ifdef PIOS_COM_AUX
static uint32_t pios_usart_aux_id;
void PIOS_USART_aux_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_aux_id);
}
#endif
#if defined(PIOS_INCLUDE_SBUS)
#error PIOS_INCLUDE_SBUS not implemented
#endif /* PIOS_INCLUDE_SBUS */
#endif /* PIOS_INCLUDE_USART */
@ -578,7 +541,7 @@ void PIOS_USART_aux_irq_handler(void)
* Pios servo configuration structures
*/
#include <pios_servo_priv.h>
const struct pios_servo_channel pios_servo_channels[] = {
static const struct pios_servo_channel pios_servo_channels[] = {
{
.timer = TIM4,
.port = GPIOB,
@ -662,7 +625,7 @@ const struct pios_servo_cfg pios_servo_cfg = {
*/
#if defined(PIOS_INCLUDE_PWM)
#include <pios_pwm_priv.h>
const struct pios_pwm_channel pios_pwm_channels[] = {
static const struct pios_pwm_channel pios_pwm_channels[] = {
{
.timer = TIM1,
.port = GPIOA,
@ -747,7 +710,7 @@ const struct pios_pwm_cfg pios_pwm_cfg = {
},
.remap = GPIO_PartialRemap_TIM3,
.irq = {
.handler = TIM1_CC_IRQHandler,
.handler = NULL,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
@ -778,7 +741,7 @@ void PIOS_TIM5_irq_handler()
#include <pios_ppm_priv.h>
void TIM6_IRQHandler();
void TIM6_IRQHandler() __attribute__ ((alias ("PIOS_TIM6_irq_handler")));
const struct pios_ppmsv_cfg pios_ppmsv_cfg = {
static const struct pios_ppmsv_cfg pios_ppmsv_cfg = {
.tim_base_init = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */
.TIM_ClockDivision = TIM_CKD_DIV1,
@ -787,7 +750,7 @@ const struct pios_ppmsv_cfg pios_ppmsv_cfg = {
.TIM_RepetitionCounter = 0x0000,
},
.irq = {
.handler = TIM6_IRQHandler,
.handler = NULL,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
@ -798,14 +761,14 @@ const struct pios_ppmsv_cfg pios_ppmsv_cfg = {
.ccr = TIM_IT_Update,
};
void PIOS_TIM6_irq_handler()
void PIOS_TIM6_irq_handler(void)
{
PIOS_PPMSV_irq_handler();
}
void TIM1_CC_IRQHandler();
void TIM1_CC_IRQHandler() __attribute__ ((alias ("PIOS_TIM1_CC_irq_handler")));
const struct pios_ppm_cfg pios_ppm_cfg = {
static const struct pios_ppm_cfg pios_ppm_cfg = {
.tim_base_init = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */
.TIM_ClockDivision = TIM_CKD_DIV1,
@ -827,7 +790,7 @@ const struct pios_ppm_cfg pios_ppm_cfg = {
},
.remap = 0,
.irq = {
.handler = TIM1_CC_IRQHandler,
.handler = NULL,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
@ -840,7 +803,7 @@ const struct pios_ppm_cfg pios_ppm_cfg = {
.ccr = TIM_IT_CC2,
};
void PIOS_TIM1_CC_irq_handler()
void PIOS_TIM1_CC_irq_handler(void)
{
PIOS_PPM_irq_handler();
}
@ -860,7 +823,7 @@ void PIOS_I2C_main_adapter_er_irq_handler(void);
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_er_irq_handler")));
const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
.regs = I2C2,
.init = {
.I2C_Mode = I2C_Mode_I2C,
@ -888,7 +851,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.event = {
.handler = PIOS_I2C_main_adapter_ev_irq_handler,
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_EV_IRQn,
@ -898,7 +861,7 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.error = {
.handler = PIOS_I2C_main_adapter_er_irq_handler,
.handler = NULL,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_ER_IRQn,
@ -1009,6 +972,13 @@ static const struct stm32_gpio pios_debug_pins[] = {
#endif /* PIOS_ENABLE_DEBUG_PINS */
#if defined(PIOS_INCLUDE_RCVR)
#include "pios_rcvr_priv.h"
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 */
extern const struct pios_com_driver pios_usb_com_driver;
uint32_t pios_com_telem_rf_id;
@ -1038,7 +1008,7 @@ void PIOS_Board_Init(void) {
#if defined(PIOS_INCLUDE_SPI)
/* Set up the SPI interface to the SD card */
if (PIOS_SPI_Init(&pios_spi_sdcard_id, &pios_spi_sdcard_cfg)) {
PIOS_DEBUG_Assert(0);
PIOS_Assert(0);
}
/* Enable and mount the SDCard */
@ -1046,23 +1016,16 @@ void PIOS_Board_Init(void) {
PIOS_SDCARD_MountFS(0);
#endif /* PIOS_INCLUDE_SPI */
#if defined(PIOS_INCLUDE_SPEKTRUM)
/* SPEKTRUM init must come before comms */
PIOS_RTC_Init(); // Spektrum uses RTC to check for frame failures
PIOS_SPEKTRUM_Init();
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_spektrum_id, &pios_usart_com_driver, pios_usart_spektrum_id)) {
PIOS_DEBUG_Assert(0);
}
#endif
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
UAVObjectsInitializeAll();
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
/* Initialize the alarms library */
AlarmsInitialize();
@ -1074,7 +1037,7 @@ void PIOS_Board_Init(void) {
/* Set up the SPI interface to the AHRS */
if (PIOS_SPI_Init(&pios_spi_ahrs_id, &pios_spi_ahrs_cfg)) {
PIOS_DEBUG_Assert(0);
PIOS_Assert(0);
}
/* Bind the AHRS comms layer to the AHRS SPI link */
@ -1082,43 +1045,119 @@ void PIOS_Board_Init(void) {
/* Initialize the PiOS library */
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
uint32_t pios_usart_telem_rf_id;
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
PIOS_DEBUG_Assert(0);
PIOS_Assert(0);
}
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) {
PIOS_DEBUG_Assert(0);
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
#if defined(PIOS_INCLUDE_GPS)
uint32_t pios_usart_gps_id;
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
PIOS_DEBUG_Assert(0);
PIOS_Assert(0);
}
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) {
PIOS_DEBUG_Assert(0);
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_GPS */
#endif
PIOS_Servo_Init();
PIOS_ADC_Init();
PIOS_GPIO_Init();
/* Configure the selected receiver */
uint8_t manualcontrolsettings_inputmode;
ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode);
switch (manualcontrolsettings_inputmode) {
case MANUALCONTROLSETTINGS_INPUTMODE_PWM:
#if defined(PIOS_INCLUDE_PWM)
PIOS_PWM_Init();
#if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
#error More receiver inputs than available devices
#endif
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)
PIOS_PPM_Init();
#if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
#error More receiver inputs than available devices
#endif
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_CHANNELS)
#error More receiver inputs than available devices
#endif
/* SPEKTRUM init must come before comms */
PIOS_SPEKTRUM_Init(&pios_spektrum_cfg, false);
uint32_t pios_usart_spektrum_id;
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
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;
case MANUALCONTROLSETTINGS_INPUTMODE_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
#error SBUS NOT ON OP YET
#endif /* PIOS_INCLUDE_SBUS */
break;
}
#if defined(PIOS_INCLUDE_USB_HID)
PIOS_USB_HID_Init(0);
#if defined(PIOS_INCLUDE_COM)
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) {
PIOS_DEBUG_Assert(0);
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_USB_HID */
#if defined(PIOS_INCLUDE_I2C)
if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_I2C */
PIOS_IAP_Init();

11
flight/OpenPilot/System/pios_board_posix.c
View File

@ -29,6 +29,17 @@
#include <openpilot.h>
#include <uavobjectsinit.h>
#include "pios_rcvr_priv.h"
struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
uint32_t pios_rcvr_max_channel;
void Stack_Change() {
}
void Stack_Change_Weak() {
}
/**
* PIOS_Board_Init()
* initializes all the core systems on this specific hardware

27
flight/PiOS.posix/inc/pios_initcall.h
View File

@ -38,7 +38,32 @@
* and we cannot define a linker script for each of them atm
*/
#define uavobj_initcall(fn)
typedef int32_t (*initcall_t)(void);
typedef struct {
initcall_t fn_minit;
initcall_t fn_tinit;
} initmodule_t;
/* Init module section */
extern initmodule_t __module_initcall_start[], __module_initcall_end[];
extern void InitModules();
extern void StartModules();
#define UAVOBJ_INITCALL(fn)
#define MODULE_INITCALL(ifn, sfn)
#define MODULE_TASKCREATE_ALL { \
/* Start all module threads */ \
StartModules(); \
}
#define MODULE_INITIALISE_ALL { \
/* Initialize modules */ \
InitModules(); \
/* Initialize the system thread */ \
SystemModInitialize();}
#endif /* PIOS_INITCALL_H */

54
flight/PiOS.posix/inc/pios_rcvr.h Normal file
View File

@ -0,0 +1,54 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_RCVR RCVR layer functions
* @brief Hardware communication layer
* @{
*
* @file pios_rcvr.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief RCVR layer functions header
* @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
*/
#ifndef PIOS_RCVR_H
#define PIOS_RCVR_H
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, uint8_t channel);
};
/* Public Functions */
extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel);
#endif /* PIOS_RCVR_H */
/**
* @}
* @}
*/

48
flight/PiOS.posix/inc/pios_rcvr_priv.h Normal file
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@ -0,0 +1,48 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_RCVR RCVR Functions
* @brief PIOS interface for RCVR drivers
* @{
*
* @file pios_rcvr_priv.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief USART private definitions.
* @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
*/
#ifndef PIOS_RCVR_PRIV_H
#define PIOS_RCVR_PRIV_H
#include <pios.h>
extern uint32_t pios_rcvr_max_channel;
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);
#endif /* PIOS_RCVR_PRIV_H */
/**
* @}
* @}
*/

1
flight/PiOS.posix/pios.h
View File

@ -65,6 +65,7 @@
#include <pios_wdg.h>
#include <pios_debug.h>
#include <pios_crc.h>
#include <pios_rcvr.h>
#define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))

4
flight/PiOS.posix/posix/pios_delay.c
View File

@ -67,10 +67,6 @@ int32_t PIOS_DELAY_WaituS(uint16_t uS)
while (!nanosleep(&wait,&rest)) {
wait=rest;
}
//uint16_t start = PIOS_DELAY_TIMER->CNT;
/* Note that this event works on 16bit counter wrap-arounds */
//while((uint16_t)(PIOS_DELAY_TIMER->CNT - start) <= uS);
/* No error */
return 0;

100
flight/PiOS.posix/posix/pios_rcvr.c Normal file
View File

@ -0,0 +1,100 @@
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_RCVR)
#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);
}
#if defined(PIOS_INCLUDE_FREERTOS) && 0
static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
{
struct pios_rcvr_dev * rcvr_dev;
rcvr_dev = (struct pios_rcvr_dev *)malloc(sizeof(*rcvr_dev));
if (!rcvr_dev) return (NULL);
rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
return(rcvr_dev);
}
#else
static struct pios_rcvr_dev pios_rcvr_devs[PIOS_RCVR_MAX_DEVS];
static uint8_t pios_rcvr_num_devs;
static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
{
struct pios_rcvr_dev * rcvr_dev;
if (pios_rcvr_num_devs >= PIOS_RCVR_MAX_DEVS) {
return (NULL);
}
rcvr_dev = &pios_rcvr_devs[pios_rcvr_num_devs++];
rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
return (rcvr_dev);
}
#endif
/**
* Initialises RCVR layer
* \param[out] handle
* \param[in] driver
* \param[in] id
* \return < 0 if initialisation failed
*/
int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, const uint32_t lower_id)
{
PIOS_DEBUG_Assert(rcvr_id);
PIOS_DEBUG_Assert(driver);
struct pios_rcvr_dev * rcvr_dev;
rcvr_dev = (struct pios_rcvr_dev *) PIOS_RCVR_alloc();
if (!rcvr_dev) goto out_fail;
rcvr_dev->driver = driver;
rcvr_dev->lower_id = lower_id;
*rcvr_id = pios_rcvr_num_devs - 1;
return(0);
out_fail:
return(-1);
}
int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel)
{
struct pios_rcvr_dev * rcvr_dev = &pios_rcvr_devs[rcvr_id];
if (!PIOS_RCVR_validate(rcvr_dev)) {
/* Undefined RCVR port for this board (see pios_board.c) */
PIOS_DEBUG_Assert(0);
}
PIOS_DEBUG_Assert(rcvr_dev->driver->read);
return rcvr_dev->driver->read(rcvr_dev->lower_id, channel);
}
#endif
/**
* @}
* @}
*/

31
flight/PiOS.win32/inc/pios_crc.h Normal file
View File

@ -0,0 +1,31 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_CRC CRC Functions
* @{
*
* @file pios_crc.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief CRC functions header.
* @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
*/
uint8_t PIOS_CRC_updateByte(uint8_t crc, const uint8_t data);
uint8_t PIOS_CRC_updateCRC(uint8_t crc, const uint8_t* data, int32_t length);

13
flight/PiOS.win32/inc/pios_initcall.h
View File

@ -38,7 +38,18 @@
* and we cannot define a linker script for each of them atm
*/
#define uavobj_initcall(fn)
#define UAVOBJ_INITCALL(fn)
#define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags)
#define MODULE_TASKCREATE_ALL
#define MODULE_INITIALISE_ALL { \
/* Initialize modules */ \
InitModules(); \
/* Start the FreeRTOS scheduler which never returns.*/ \
/* Initialize the system thread */ \
SystemModInitialize();}
#endif /* PIOS_INITCALL_H */

1
flight/PiOS.win32/pios.h
View File

@ -63,6 +63,7 @@
#include <pios_com.h>
#include <pios_servo.h>
#include <pios_wdg.h>
#include <pios_crc.h>
#define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))

5
flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/port.c
View File

@ -941,3 +941,8 @@ void vPortExitCritical( void )
}
}
}
unsigned long ulPortGetTimerValue( void )
{
return (unsigned long) clock();
}

74
flight/PiOS.win32/win32/pios_crc.c Normal file
View File

@ -0,0 +1,74 @@
/*
* pios_crc.c
* OpenPilotOSX
*
* Created by James Cotton on 6/4/11.
* Copyright 2011 OpenPilot. All rights reserved.
*
*/
#include "pios.h"
// CRC lookup table
static const uint8_t crc_table[256] = {
0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
};
/**
* Update the crc value with new data.
*
* Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/
* using the configuration:
* Width = 8
* Poly = 0x07
* XorIn = 0x00
* ReflectIn = False
* XorOut = 0x00
* ReflectOut = False
* Algorithm = table-driven
*
* \param crc The current crc value.
* \param data Pointer to a buffer of \a data_len bytes.
* \param length Number of bytes in the \a data buffer.
* \return The updated crc value.
*/
uint8_t PIOS_CRC_updateByte(uint8_t crc, const uint8_t data)
{
return crc_table[crc ^ data];
}
/*
* @brief Update a CRC with a data buffer
* @param[in] crc Starting CRC value
* @param[in] data Data buffer
* @param[in] length Number of bytes to process
* @returns Updated CRC
*/
uint8_t PIOS_CRC_updateCRC(uint8_t crc, const uint8_t* data, int32_t length)
{
// use registers for speed
register int32_t len = length;
register uint8_t crc8 = crc;
register const uint8_t *p = data;
while (len--)
crc8 = crc_table[crc8 ^ *p++];
return crc8;
}

4
flight/PiOS.win32/win32/pios_delay.c
View File

@ -62,11 +62,7 @@ int32_t PIOS_DELAY_Init(void)
int32_t PIOS_DELAY_WaituS(uint16_t uS)
{
Sleep(uS/1000);
//uint16_t start = PIOS_DELAY_TIMER->CNT;
/* Note that this event works on 16bit counter wrap-arounds */
//while((uint16_t)(PIOS_DELAY_TIMER->CNT - start) <= uS);
/* No error */
return 0;
}

7
flight/PiOS/Boards/STM32103CB_AHRS.h
View File

@ -79,12 +79,6 @@ TIM8 | | | |
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN }
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK }
//-------------------------
// Delay Timer
//-------------------------
#define PIOS_DELAY_TIMER TIM2
#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
//-------------------------
// System Settings
//-------------------------
@ -120,7 +114,6 @@ extern uint32_t pios_i2c_main_adapter_id;
#define PIOS_USART_MAX_DEVS 2
#define PIOS_USART_RX_BUFFER_SIZE 256
#define PIOS_USART_TX_BUFFER_SIZE 256
#define PIOS_USART_BAUDRATE 230400
//-------------------------
// PIOS_COM

43
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
View File

@ -34,7 +34,7 @@
Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
------+-----------+-----------+-----------+----------
TIM1 | Servo 4 | | |
TIM2 | RC In 5 | RC In 6 | Servo 6 |
TIM2 | RC In 5 | RC In 6 | Servo 6 |
TIM3 | Servo 5 | RC In 2 | RC In 3 | RC In 4
TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
------+-----------+-----------+-----------+----------
@ -76,7 +76,7 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
#define PIOS_WDG_MANUAL 0x0008
//------------------------
// TELEMETRY
// TELEMETRY
//------------------------
#define TELEM_QUEUE_SIZE 20
@ -91,12 +91,6 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN }
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK }
//-------------------------
// Delay Timer
//-------------------------
#define PIOS_DELAY_TIMER TIM3
#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
//-------------------------
// System Settings
//-------------------------
@ -141,13 +135,11 @@ extern uint32_t pios_i2c_main_adapter_id;
//-------------------------
#define PIOS_COM_MAX_DEVS 4
#define PIOS_COM_TELEM_BAUDRATE 57600
extern uint32_t pios_com_telem_rf_id;
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
#define PIOS_COM_DEBUG PIOS_COM_TELEM_RF
#if defined(PIOS_INCLUDE_GPS)
#define PIOS_COM_GPS_BAUDRATE 57600
extern uint32_t pios_com_gps_id;
#define PIOS_COM_GPS (pios_com_gps_id)
#endif /* PIOS_INCLUDE_GPS */
@ -156,11 +148,15 @@ extern uint32_t pios_com_telem_usb_id;
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#ifdef PIOS_INCLUDE_SPEKTRUM
#define PIOS_COM_SPEKTRUM_BAUDRATE 115200
extern uint32_t pios_com_spektrum_id;
#define PIOS_COM_SPEKTRUM (pios_com_spektrum_id)
#endif
#ifdef PIOS_INCLUDE_SBUS
extern uint32_t pios_com_sbus_id;
#define PIOS_COM_SBUS (pios_com_sbus_id)
#endif
//-------------------------
// ADC
// PIOS_ADC_PinGet(0) = Gyro Z
@ -197,7 +193,7 @@ extern uint32_t pios_com_spektrum_id;
#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL }
#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC }
#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER }
#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
#define PIOS_ADC_NUM_ADC_CHANNELS 2
#define PIOS_ADC_USE_ADC2 1
#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
@ -219,10 +215,27 @@ extern uint32_t pios_com_spektrum_id;
#define PIOS_ADC_RATE (72.0e6 / 1.0 / 8.0 / 252.0 / (PIOS_ADC_NUM_CHANNELS >> PIOS_ADC_USE_ADC2))
#define PIOS_ADC_MAX_OVERSAMPLING 36
//------------------------
// PIOS_RCVR
// See also pios_board.c
//------------------------
#define PIOS_RCVR_MAX_DEVS 1
#define PIOS_RCVR_MAX_CHANNELS 12
//-------------------------
// Receiver PWM inputs
// Receiver PPM input
//-------------------------
#define PIOS_PWM_MAX_INPUTS 6
#define PIOS_PPM_NUM_INPUTS 6 //Could be more if needed
//-------------------------
// Receiver PWM input
//-------------------------
#define PIOS_PWM_NUM_INPUTS 6
//-------------------------
// Receiver SPEKTRUM input
//-------------------------
#define PIOS_SPEKTRUM_NUM_INPUTS 12
//-------------------------
// Servo outputs
@ -257,5 +270,5 @@ extern uint32_t pios_com_spektrum_id;
#define PIOS_USB_DETECT_EXTI_LINE EXTI_Line15
#define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID
#define PIOS_USB_RX_BUFFER_SIZE 128
#define PIOS_USB_TX_BUFFER_SIZE 128
#define PIOS_USB_TX_BUFFER_SIZE 256
#endif /* STM32103CB_AHRS_H_ */

8
flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
View File

@ -117,14 +117,6 @@ TIM4 | STOPWATCH |
#define TX_LED_OFF PIOS_LED_Off(LED4)
#define TX_LED_TOGGLE PIOS_LED_Toggle(LED4)
// *****************************************************************
// Delay Timer
//#define PIOS_DELAY_TIMER TIM2
//#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
#define PIOS_DELAY_TIMER TIM1
#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE)
// *****************************************************************
// Timer interrupt

8
flight/PiOS/Boards/STM3210E_INS.h
View File

@ -135,23 +135,15 @@ extern uint32_t pios_i2c_gyro_adapter_id;
//-------------------------
#define PIOS_COM_MAX_DEVS 2
#define PIOS_COM_GPS_BAUDRATE 57600
extern uint32_t pios_com_gps_id;
#define PIOS_COM_GPS (pios_com_gps_id)
#ifdef PIOS_ENABLE_AUX_UART
#define PIOS_COM_AUX_BAUDRATE 57600
extern uint32_t pios_com_aux_id;
#define PIOS_COM_AUX (pios_com_aux_id)
#define PIOS_COM_DEBUG PIOS_COM_AUX
#endif
//-------------------------
// Delay Timer
//-------------------------
#define PIOS_DELAY_TIMER TIM2
#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
//-------------------------
// System Settings
//-------------------------

44
flight/PiOS/Boards/STM3210E_OP.h
View File

@ -149,11 +149,9 @@ extern uint32_t pios_i2c_main_adapter_id;
//-------------------------
#define PIOS_COM_MAX_DEVS 4
#define PIOS_COM_TELEM_BAUDRATE 57600
extern uint32_t pios_com_telem_rf_id;
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
#define PIOS_COM_GPS_BAUDRATE 57600
extern uint32_t pios_com_gps_id;
#define PIOS_COM_GPS (pios_com_gps_id)
@ -161,23 +159,20 @@ extern uint32_t pios_com_telem_usb_id;
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#ifdef PIOS_ENABLE_AUX_UART
#define PIOS_COM_AUX_BAUDRATE 57600
extern uint32_t pios_com_aux_id;
#define PIOS_COM_AUX (pios_com_aux_id)
#define PIOS_COM_DEBUG PIOS_COM_AUX
#endif
#ifdef PIOS_INCLUDE_SPEKTRUM
#define PIOS_COM_SPEKTRUM_BAUDRATE 115200
extern uint32_t pios_com_spektrum_id;
#define PIOS_COM_SPEKTRUM (pios_com_spektrum_id)
#endif
//-------------------------
// Delay Timer
//-------------------------
#define PIOS_DELAY_TIMER TIM2
#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
#ifdef PIOS_INCLUDE_SBUS
extern uint32_t pios_com_sbus_id;
#define PIOS_COM_SBUS (pios_com_sbus_id)
#endif
//-------------------------
// System Settings
@ -193,37 +188,34 @@ extern uint32_t pios_com_spektrum_id;
#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
//-------------------------
// Receiver PWM inputs
//-------------------------
/*#define PIOS_PWM_SUPV_ENABLED 1
#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
#define PIOS_PWM_SUPV_IRQ_CHANNEL TIM6_IRQn
#define PIOS_PWM_SUPV_IRQ_FUNC void TIM6_IRQHandler(void)*/
//------------------------
// PIOS_RCVR
// See also pios_board.c
//------------------------
#define PIOS_RCVR_MAX_DEVS 1
#define PIOS_RCVR_MAX_CHANNELS 12
//-------------------------
// Receiver PPM input
//-------------------------
#define PIOS_PPM_NUM_INPUTS 8 //Could be more if needed
#define PIOS_PPM_SUPV_ENABLED 1
//-------------------------
// SPEKTRUM input
// Receiver PWM input
//-------------------------
//#define PIOS_SPEKTRUM_SUPV_ENABLED 1
//#define PIOS_SPEKTRUM_SUPV_TIMER TIM6
//#define PIOS_SPEKTRUM_SUPV_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE)
//#define PIOS_SPEKTRUM_SUPV_HZ 60 // 1/22ms
//#define PIOS_SPEKTRUM_SUPV_IRQ_CHANNEL TIM6_IRQn
//#define PIOS_SPEKTRUM_SUPV_IRQ_FUNC void TIM6_IRQHandler(void)
#define PIOS_PWM_NUM_INPUTS 8
//-------------------------
// Receiver SPEKTRUM input
//-------------------------
#define PIOS_SPEKTRUM_NUM_INPUTS 12
//-------------------------
// Servo outputs
//-------------------------
#define PIOS_SERVO_UPDATE_HZ 50
#define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
#define PIOS_PWM_MAX_INPUTS 8
//-------------------------
// ADC

6
flight/PiOS/Common/pios_com.c
View File

@ -38,7 +38,7 @@
static bool PIOS_COM_validate(struct pios_com_dev * com_dev)
{
return (com_dev->magic == PIOS_COM_DEV_MAGIC);
return (com_dev && (com_dev->magic == PIOS_COM_DEV_MAGIC));
}
#if defined(PIOS_INCLUDE_FREERTOS) && 0
@ -298,7 +298,9 @@ int32_t PIOS_COM_ReceiveBufferUsed(uint32_t com_id)
if (!PIOS_COM_validate(com_dev)) {
/* Undefined COM port for this board (see pios_board.c) */
PIOS_DEBUG_Assert(0);
/* This is commented out so com_id=NULL can be used to disable telemetry */
//PIOS_DEBUG_Assert(0);
return 0;
}
if (!com_dev->driver->rx_avail) {

85
flight/PiOS/Common/pios_flash_w25x.c
View File

@ -41,11 +41,11 @@ static uint8_t PIOS_Flash_W25X_Busy() ;
static uint32_t PIOS_SPI_FLASH;
/**
/**
* @brief Claim the SPI bus for flash use and assert CS pin
* @return 0 for sucess, -1 for failure to get semaphore
*/
static int8_t PIOS_Flash_W25X_ClaimBus()
static int8_t PIOS_Flash_W25X_ClaimBus()
{
int8_t ret = PIOS_SPI_ClaimBus(PIOS_SPI_FLASH);
PIOS_FLASH_ENABLE;
@ -55,7 +55,7 @@ static int8_t PIOS_Flash_W25X_ClaimBus()
/**
* @brief Release the SPI bus sempahore and ensure flash chip not using bus
*/
static void PIOS_Flash_W25X_ReleaseBus()
static void PIOS_Flash_W25X_ReleaseBus()
{
PIOS_FLASH_DISABLE;
PIOS_SPI_ReleaseBus(PIOS_SPI_FLASH);
@ -64,8 +64,8 @@ static void PIOS_Flash_W25X_ReleaseBus()
/**
* @brief Returns if the flash chip is busy
*/
static uint8_t PIOS_Flash_W25X_Busy()
{
static uint8_t PIOS_Flash_W25X_Busy()
{
return PIOS_Flash_W25X_ReadStatus() & W25X_STATUS_BUSY;
}
@ -73,12 +73,12 @@ static uint8_t PIOS_Flash_W25X_Busy()
* @brief Execute the write enable instruction and returns the status
* @returns 0 if successful, -1 if unable to claim bus
*/
static uint8_t PIOS_Flash_W25X_WriteEnable()
static uint8_t PIOS_Flash_W25X_WriteEnable()
{
uint8_t out[] = {W25X_WRITE_ENABLE};
if(PIOS_Flash_W25X_ClaimBus() != 0)
return -1;
PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,out,NULL,sizeof(out),NULL);
PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,out,NULL,sizeof(out),NULL);
PIOS_Flash_W25X_ReleaseBus();
return 0;
}
@ -97,27 +97,27 @@ int8_t PIOS_Flash_W25X_Init(uint32_t spi_id)
/**
* @brief Read the status register from flash chip and return it
* @brief Read the status register from flash chip and return it
*/
uint8_t PIOS_Flash_W25X_ReadStatus()
uint8_t PIOS_Flash_W25X_ReadStatus()
{
uint8_t out[2] = {W25X_READ_STATUS, 0};
uint8_t in[2] = {0,0};
PIOS_Flash_W25X_ClaimBus();
PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,out,in,sizeof(out),NULL);
PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,out,in,sizeof(out),NULL);
PIOS_Flash_W25X_ReleaseBus();
return in[1];
}
/**
* @brief Read the status register from flash chip and return it
* @brief Read the status register from flash chip and return it
*/
uint8_t PIOS_Flash_W25X_ReadID()
uint8_t PIOS_Flash_W25X_ReadID()
{
uint8_t out[] = {W25X_DEVICE_ID, 0, 0, 0, 0, 0};
uint8_t in[6];
PIOS_Flash_W25X_ClaimBus();
PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,out,in,sizeof(out),NULL);
PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,out,in,sizeof(out),NULL);
PIOS_Flash_W25X_ReleaseBus();
return in[5];
}
@ -127,28 +127,27 @@ uint8_t PIOS_Flash_W25X_ReadID()
* @param[in] add Address of flash to erase
* @returns 0 if successful
* @retval -1 if unable to claim bus
* @retval
* @retval
*/
int8_t PIOS_Flash_W25X_EraseSector(uint32_t addr)
{
uint8_t ret;
uint8_t out[] = {W25X_SECTOR_ERASE, (addr >> 16) & 0xff, (addr >> 8) & 0xff , addr & 0xff};
if((ret = PIOS_Flash_W25X_WriteEnable()) != 0)
return ret;
if(PIOS_Flash_W25X_ClaimBus() != 0)
return -1;
return -1;
PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,out,NULL,sizeof(out),NULL);
PIOS_Flash_W25X_ReleaseBus();
uint32_t i = 1;
while(PIOS_Flash_W25X_Busy()) {
//TODO: Fail on timeout
#if defined(PIOS_INCLUDE_FREERTOS)
vTaskDelay(1);
#endif
if(++i == 0)
return -1;
}
return 0;
}
@ -160,25 +159,26 @@ int8_t PIOS_Flash_W25X_EraseChip()
{
uint8_t ret;
uint8_t out[] = {W25X_CHIP_ERASE};
if((ret = PIOS_Flash_W25X_WriteEnable()) != 0)
return ret;
if(PIOS_Flash_W25X_ClaimBus() != 0)
return -1;
PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,out,NULL,sizeof(out),NULL);
PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,out,NULL,sizeof(out),NULL);
PIOS_Flash_W25X_ReleaseBus();
uint32_t i = 1;
while(PIOS_Flash_W25X_Busy()) {
//TODO: Fail on timeout
#if defined(PIOS_INCLUDE_FREERTOS)
vTaskDelay(1);
#endif
if(++i == 0)
return -1;
}
return 0;
}
/**
/**
* @brief Write one page of data (up to 256 bytes) aligned to a page start
* @param[in] addr Address in flash to write to
* @param[in] data Pointer to data to write to flash
@ -192,37 +192,38 @@ int8_t PIOS_Flash_W25X_WriteData(uint32_t addr, uint8_t * data, uint16_t len)
{
uint8_t ret;
uint8_t out[4] = {W25X_PAGE_WRITE, (addr >> 16) & 0xff, (addr >> 8) & 0xff , addr & 0xff};
/* Can only write one page at a time */
if(len > 0x100)
if(len > 0x100)
return -2;
/* Ensure number of bytes fits after starting address before end of page */
if(((addr & 0xff) + len) > 0x100)
if(((addr & 0xff) + len) > 0x100)
return -3;
if((ret = PIOS_Flash_W25X_WriteEnable()) != 0)
return ret;
/* Execute write page command and clock in address. Keep CS asserted */
if(PIOS_Flash_W25X_ClaimBus() != 0)
return -1;
PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,out,NULL,sizeof(out),NULL);
/* Clock out data to flash */
PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,data,NULL,len,NULL);
PIOS_Flash_W25X_ReleaseBus();
uint32_t i = 1;
while(PIOS_Flash_W25X_Busy()) {
#if defined(PIOS_INCLUDE_FREERTOS)
vTaskDelay(1);
#endif
if(++i == 0)
return -1;
}
return 0;
}
/**
/**
* @brief Read data from a location in flash memory
* @param[in] addr Address in flash to write to
* @param[in] data Pointer to data to write from flash
@ -243,6 +244,6 @@ int8_t PIOS_Flash_W25X_ReadData(uint32_t addr, uint8_t * data, uint16_t len)
PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,NULL,data,len,NULL);
PIOS_Flash_W25X_ReleaseBus();
return 0;
}

141
flight/PiOS/Common/pios_flashfs_objlist.c
View File

@ -12,19 +12,19 @@
* @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
/*
* 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
*
* 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.,
*
* 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
*/
@ -33,7 +33,7 @@
#include "uavobjectmanager.h"
// Private functions
static int32_t PIOS_FLASHFS_CleabObjectTableHeader();
static int32_t PIOS_FLASHFS_ClearObjectTableHeader();
static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId);
static int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId);
@ -56,11 +56,12 @@ struct fileHeader {
} __attribute__((packed));
#define OBJECT_TABLE_MAGIC 0x85FB3C34
#define OBJECT_TABLE_MAGIC 0x85FB3C35
#define OBJ_MAGIC 0x3015AE71
#define OBJECT_TABLE_START 0x00000010
#define OBJECT_TABLE_END 0x00001000
#define SECTOR_SIZE 0x00001000
#define MAX_BADMAGIC 4
/**
* @brief Initialize the flash object setting FS
@ -68,34 +69,50 @@ struct fileHeader {
*/
int32_t PIOS_FLASHFS_Init()
{
// Check for valid object table or create one
uint32_t object_table_magic;
if (PIOS_Flash_W25X_ReadData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0)
return -1;
if(object_table_magic != OBJECT_TABLE_MAGIC) {
if(PIOS_FLASHFS_CleabObjectTableHeader() < 0)
uint8_t magic_fail_count = 0;
bool magic_good = false;
while(!magic_good) {
if (PIOS_Flash_W25X_ReadData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0)
return -1;
if(object_table_magic != OBJECT_TABLE_MAGIC) {
if(magic_fail_count++ > MAX_BADMAGIC) {
PIOS_FLASHFS_ClearObjectTableHeader();
PIOS_LED_Toggle(LED1);
magic_fail_count = 0;
magic_good = true;
} else {
PIOS_DELAY_WaituS(100);
}
}
else {
magic_good = true;
}
}
int32_t addr = OBJECT_TABLE_START;
struct objectHeader header;
numObjects = 0;
// Loop through header area while objects detect to count how many saved
while(addr < OBJECT_TABLE_END) {
// Read the instance data
if (PIOS_Flash_W25X_ReadData(addr, (uint8_t *)&header, sizeof(header)) != 0)
return -1;
// Counting number of valid headers
if(header.objMagic != OBJ_MAGIC)
// Counting number of valid headers
if(header.objMagic != OBJ_MAGIC)
break;
numObjects++;
addr += sizeof(header);
}
return 0;
}
@ -103,7 +120,7 @@ int32_t PIOS_FLASHFS_Init()
* @brief Erase the headers for all objects in the flash chip
* @return 0 if successful, -1 if not
*/
static int32_t PIOS_FLASHFS_CleabObjectTableHeader()
static int32_t PIOS_FLASHFS_ClearObjectTableHeader()
{
if(PIOS_Flash_W25X_EraseSector(0) != 0)
return -1;
@ -121,26 +138,26 @@ static int32_t PIOS_FLASHFS_CleabObjectTableHeader()
* @parma instId Instance id for that object
* @return address if successful, -1 if not found
*/
static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId)
static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId)
{
int32_t addr = OBJECT_TABLE_START;
struct objectHeader header;
// Loop through header area while objects detect to count how many saved
while(addr < OBJECT_TABLE_END) {
// Read the instance data
if (PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0)
return -1;
if(header.objMagic != OBJ_MAGIC)
if(header.objMagic != OBJ_MAGIC)
break; // stop searching once hit first non-object header
else if (header.objId == objId && header.instId == instId)
break;
addr += sizeof(header);
}
if (header.objId == objId && header.instId == instId)
return header.address;
return -1;
}
@ -150,7 +167,7 @@ static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId)
* @param[in] instId The instance id of object to be saved
* @return 0 if success or error code
* @retval -1 Object not found
* @retval -2 No room in object table
* @retval -2 No room in object table
* @retval -3 Unable to write entry into object table
* @retval -4 FS not initialized
*/
@ -160,26 +177,26 @@ int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId)
if(numObjects < 0)
return -4;
// Don't worry about max size of flash chip here, other code will catch that
header.objMagic = OBJ_MAGIC;
header.objId = objId;
header.instId = instId;
header.address = OBJECT_TABLE_END + SECTOR_SIZE * numObjects;
int32_t addr = OBJECT_TABLE_START + sizeof(header) * numObjects;
// No room for this header in object table
if((addr + sizeof(header)) > OBJECT_TABLE_END)
return -2;
if((addr + sizeof(header)) > OBJECT_TABLE_END)
return -2;
if(PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
return -3;
// This numObejcts value must stay consistent or there will be a break in the table
// and later the table will have bad values in it
numObjects++;
return header.address;
numObjects++;
return header.address;
}
@ -191,38 +208,38 @@ int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId)
* @note This uses one sector on the flash chip per object so that no buffering in ram
* must be done when erasing the sector before a save
*/
int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
{
uint32_t objId = UAVObjGetID(obj);
uint8_t crc = 0;
int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
// Object currently not saved
if(addr < 0)
if(addr < 0)
addr = PIOS_FLASHFS_GetNewAddress(objId, instId);
// Could not allocate a sector
if(addr < 0)
return -1;
struct fileHeader header = {
.id = objId,
.instId = instId,
.size = UAVObjGetNumBytes(obj)
};
if(PIOS_Flash_W25X_EraseSector(addr) != 0)
return -2;
// Save header
// This information IS redundant with the object table id. Oh well. Better safe than sorry.
// This information IS redundant with the object table id. Oh well. Better safe than sorry.
if(PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
return -3;
// Update CRC
crc = PIOS_CRC_updateCRC(0, (uint8_t *) &header, sizeof(header));
// Save data
if(PIOS_Flash_W25X_WriteData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0)
return -4;
@ -233,7 +250,7 @@ int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
// Save CRC (written so will work when CRC changes to uint16)
if(PIOS_Flash_W25X_WriteData(addr + sizeof(header) + UAVObjGetNumBytes(obj), (uint8_t *) &crc, sizeof(crc)) != 0)
return -4;
return 0;
}
@ -259,20 +276,20 @@ int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
uint8_t crcFlash = 0;
const uint8_t crc_read_step = 8;
uint8_t crc_read_buffer[crc_read_step];
int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
// Object currently not saved
if(addr < 0)
if(addr < 0)
return -1;
struct fileHeader header;
// Load header
// This information IS redundant with the object table id. Oh well. Better safe than sorry.
if(PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0)
return -2;
// Update CRC
crc = PIOS_CRC_updateCRC(0, (uint8_t *) &header, sizeof(header));
@ -290,7 +307,7 @@ int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
// Read CRC (written so will work when CRC changes to uint16)
if(PIOS_Flash_W25X_ReadData(addr + sizeof(header) + objSize, (uint8_t *) &crcFlash, sizeof(crcFlash)) != 0)
return -5;
if(crc != crcFlash)
return -6;
@ -308,22 +325,22 @@ int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
* @return 0 if success or error code
* @retval -1 if object not in file table
* @retval -2 Erase failed
* @note To avoid buffering the file table (1k ram!) the entry in the file table
* remains but destination sector is erased. This will make the load fail as the
* @note To avoid buffering the file table (1k ram!) the entry in the file table
* remains but destination sector is erased. This will make the load fail as the
* file header won't match the object. At next save it goes back there.
*/
int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId)
{
uint32_t objId = UAVObjGetID(obj);
int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
// Object currently not saved
if(addr < 0)
if(addr < 0)
return -1;
if(PIOS_Flash_W25X_EraseSector(addr) != 0)
return -2;
return 0;
}
}

4
flight/PiOS/Common/pios_hcsr04.c
View File

@ -32,8 +32,8 @@
#include "pios.h"
#if defined(PIOS_INCLUDE_HCSR04)
#if !defined(PIOS_INCLUDE_SPEKTRUM)
#error Only supported with spektrum interface!
#if !(defined(PIOS_INCLUDE_SPEKTRUM) || defined(PIOS_INCLUDE_SBUS))
#error Only supported with Spektrum or S.Bus interface!
#endif
/* Local Variables */

98
flight/PiOS/Common/pios_rcvr.c Normal file
View File

@ -0,0 +1,98 @@
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_RCVR)
#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);
}
#if defined(PIOS_INCLUDE_FREERTOS) && 0
static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
{
struct pios_rcvr_dev * rcvr_dev;
rcvr_dev = (struct pios_rcvr_dev *)malloc(sizeof(*rcvr_dev));
if (!rcvr_dev) return (NULL);
rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
return(rcvr_dev);
}
#else
static struct pios_rcvr_dev pios_rcvr_devs[PIOS_RCVR_MAX_DEVS];
static uint8_t pios_rcvr_num_devs;
static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
{
struct pios_rcvr_dev * rcvr_dev;
if (pios_rcvr_num_devs >= PIOS_RCVR_MAX_DEVS) {
return (NULL);
}
rcvr_dev = &pios_rcvr_devs[pios_rcvr_num_devs++];
rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
return (rcvr_dev);
}
#endif
/**
* Initialises RCVR layer
* \param[out] handle
* \param[in] driver
* \param[in] id
* \return < 0 if initialisation failed
*/
int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, const uint32_t lower_id)
{
PIOS_DEBUG_Assert(rcvr_id);
PIOS_DEBUG_Assert(driver);
struct pios_rcvr_dev * rcvr_dev;
rcvr_dev = (struct pios_rcvr_dev *) PIOS_RCVR_alloc();
if (!rcvr_dev) goto out_fail;
rcvr_dev->driver = driver;
rcvr_dev->lower_id = lower_id;
*rcvr_id = (uint32_t)rcvr_dev;
return(0);
out_fail:
return(-1);
}
int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel)
{
struct pios_rcvr_dev * rcvr_dev = (struct pios_rcvr_dev *)rcvr_id;
if (!PIOS_RCVR_validate(rcvr_dev)) {
/* Undefined RCVR port for this board (see pios_board.c) */
PIOS_DEBUG_Assert(0);
}
PIOS_DEBUG_Assert(rcvr_dev->driver->read);
return rcvr_dev->driver->read(rcvr_dev->lower_id, channel);
}
#endif
/**
* @}
* @}
*/

36
flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
View File

@ -1,6 +1,6 @@
/*
FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
@ -79,16 +79,18 @@ static union xRTOS_HEAP
volatile portDOUBLE dDummy;
#else
volatile unsigned long ulDummy;
#endif
#endif
unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
} xHeap;
} xHeap __attribute__ ((section (".heap")));
static size_t xNextFreeByte = ( size_t ) 0;
static size_t currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE;
/*-----------------------------------------------------------*/
void *pvPortMalloc( size_t xWantedSize )
{
void *pvReturn = NULL;
void *pvReturn = NULL;
/* Ensure that blocks are always aligned to the required number of bytes. */
#if portBYTE_ALIGNMENT != 1
@ -102,17 +104,17 @@ void *pvReturn = NULL;
vTaskSuspendAll();
{
/* Check there is enough room left for the allocation. */
if( ( ( xNextFreeByte + xWantedSize ) < configTOTAL_HEAP_SIZE ) &&
if( ( ( xNextFreeByte + xWantedSize ) < currentTOTAL_HEAP_SIZE ) &&
( ( xNextFreeByte + xWantedSize ) > xNextFreeByte ) )/* Check for overflow. */
{
/* Return the next free byte then increment the index past this
block. */
pvReturn = &( xHeap.ucHeap[ xNextFreeByte ] );
xNextFreeByte += xWantedSize;
}
xNextFreeByte += xWantedSize;
}
}
xTaskResumeAll();
#if( configUSE_MALLOC_FAILED_HOOK == 1 )
{
if( pvReturn == NULL )
@ -121,7 +123,7 @@ void *pvReturn = NULL;
vApplicationMallocFailedHook();
}
}
#endif
#endif
return pvReturn;
}
@ -129,8 +131,8 @@ void *pvReturn = NULL;
void vPortFree( void *pv )
{
/* Memory cannot be freed using this scheme. See heap_2.c and heap_3.c
for alternative implementations, and the memory management pages of
/* Memory cannot be freed using this scheme. See heap_2.c and heap_3.c
for alternative implementations, and the memory management pages of
http://www.FreeRTOS.org for more information. */
( void ) pv;
}
@ -145,8 +147,14 @@ void vPortInitialiseBlocks( void )
size_t xPortGetFreeHeapSize( void )
{
return ( configTOTAL_HEAP_SIZE - xNextFreeByte );
return ( currentTOTAL_HEAP_SIZE - xNextFreeByte );
}
/*-----------------------------------------------------------*/
void xPortIncreaseHeapSize( size_t bytes )
{
vTaskSuspendAll();
currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE + bytes;
xTaskResumeAll();
}
/*-----------------------------------------------------------*/

28
flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
View File

@ -1,6 +1,6 @@
/*
FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
@ -81,7 +81,7 @@ static union xRTOS_HEAP
volatile unsigned long ulDummy;
#endif
unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
} xHeap;
} xHeap __attribute__ ((section (".heap")));
/* Define the linked list structure. This is used to link free blocks in order
of their size. */
@ -101,6 +101,7 @@ static xBlockLink xStart, xEnd;
/* Keeps track of the number of free bytes remaining, but says nothing about
fragmentation. */
static size_t xFreeBytesRemaining = configTOTAL_HEAP_SIZE;
static size_t currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE;
/* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */
@ -140,13 +141,13 @@ xBlockLink *pxFirstFreeBlock; \
xStart.xBlockSize = ( size_t ) 0; \
\
/* xEnd is used to mark the end of the list of free blocks. */ \
xEnd.xBlockSize = configTOTAL_HEAP_SIZE; \
xEnd.xBlockSize = currentTOTAL_HEAP_SIZE; \
xEnd.pxNextFreeBlock = NULL; \
\
/* To start with there is a single free block that is sized to take up the \
entire heap space. */ \
pxFirstFreeBlock = ( void * ) xHeap.ucHeap; \
pxFirstFreeBlock->xBlockSize = configTOTAL_HEAP_SIZE; \
pxFirstFreeBlock->xBlockSize = currentTOTAL_HEAP_SIZE; \
pxFirstFreeBlock->pxNextFreeBlock = &xEnd; \
}
/*-----------------------------------------------------------*/
@ -181,7 +182,7 @@ void *pvReturn = NULL;
}
}
if( ( xWantedSize > 0 ) && ( xWantedSize < configTOTAL_HEAP_SIZE ) )
if( ( xWantedSize > 0 ) && ( xWantedSize < currentTOTAL_HEAP_SIZE ) )
{
/* Blocks are stored in byte order - traverse the list from the start
(smallest) block until one of adequate size is found. */
@ -220,7 +221,7 @@ void *pvReturn = NULL;
/* Insert the new block into the list of free blocks. */
prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
}
xFreeBytesRemaining -= pxBlock->xBlockSize;
}
}
@ -276,3 +277,18 @@ void vPortInitialiseBlocks( void )
{
/* This just exists to keep the linker quiet. */
}
void xPortIncreaseHeapSize( size_t bytes )
{
xBlockLink *pxNewBlockLink;
vTaskSuspendAll();
currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE + bytes;
xEnd.xBlockSize = currentTOTAL_HEAP_SIZE;
xFreeBytesRemaining += bytes;
/* Insert the new block into the list of free blocks. */
pxNewBlockLink = ( void * ) &xHeap.ucHeap[ configTOTAL_HEAP_SIZE ];
pxNewBlockLink->xBlockSize = bytes;
prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
xTaskResumeAll();
}
/*-----------------------------------------------------------*/

21
flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_BL_sections.ld
View File

@ -3,7 +3,8 @@ PROVIDE ( vPortSVCHandler = 0 ) ;
PROVIDE ( xPortPendSVHandler = 0 ) ;
PROVIDE ( xPortSysTickHandler = 0 ) ;
_estack = 0x20004FF0;
/* This is the size of the stack for early init and for all FreeRTOS IRQs */
_irq_stack_size = 0x400;
/* Section Definitions */
SECTIONS
@ -59,6 +60,24 @@ SECTIONS
_ebss = . ;
} > SRAM
/*
* This stack is used both as the initial sp during early init as well as ultimately
* being used as the STM32's MSP (Main Stack Pointer) which is the same stack that
* is used for _all_ interrupt handlers. The end of this stack should be placed
* against the lowest address in RAM so that a stack overrun results in a hard fault
* at the first access beyond the end of the stack.
*/
.irq_stack :
{
. = ALIGN(4);
_irq_stack_end = . ;
. = . + _irq_stack_size ;
. = ALIGN(4);
_irq_stack_top = . - 4 ;
_init_stack_top = _irq_stack_top;
. = ALIGN(4);
} > SRAM
. = ALIGN(4);
_end = . ;

73
flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld
View File

@ -1,3 +1,8 @@
/* This is the size of the stack for all FreeRTOS IRQs */
_irq_stack_size = 0x180;
/* This is the size of the stack for early init: life span is until scheduler starts */
_init_stack_size = 0x100;
/* Stub out these functions since we don't use them anyway */
PROVIDE ( vPortSVCHandler = 0 ) ;
PROVIDE ( xPortPendSVHandler = 0 ) ;
@ -5,8 +10,6 @@ PROVIDE ( xPortSysTickHandler = 0 ) ;
PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
_estack = 0x20004FF0;
/* Section Definitions */
SECTIONS
{
@ -29,6 +32,16 @@ SECTIONS
__uavobj_initcall_end = .;
} >FLASH
/* module sections */
.initcallmodule.init :
{
. = ALIGN(4);
__module_initcall_start = .;
KEEP(*(.initcallmodule.init))
. = ALIGN(4);
__module_initcall_end = .;
} >FLASH
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)
@ -43,6 +56,23 @@ SECTIONS
_etext = .;
_sidata = .;
/*
* This stack is used both as the initial sp during early init as well as ultimately
* being used as the STM32's MSP (Main Stack Pointer) which is the same stack that
* is used for _all_ interrupt handlers. The end of this stack should be placed
* against the lowest address in RAM so that a stack overrun results in a hard fault
* at the first access beyond the end of the stack.
*/
.irq_stack :
{
. = ALIGN(4);
_irq_stack_end = . ;
. = . + _irq_stack_size ;
. = ALIGN(4);
_irq_stack_top = . - 4 ;
. = ALIGN(4);
} > SRAM
.data : AT (_etext)
{
_sdata = .;
@ -51,18 +81,49 @@ SECTIONS
_edata = . ;
} > SRAM
/* .bss section which is used for uninitialized data */
.bss (NOLOAD) :
{
_sbss = . ;
*(.bss .bss.*)
*(COMMON)
. = ALIGN(4);
_ebss = . ;
} > SRAM
. = ALIGN(4);
_end = . ;
.heap (NOLOAD) :
{
. = ALIGN(4);
_sheap = . ;
_sheap_pre_rtos = . ;
*(.heap)
. = ALIGN(4);
_eheap = . ;
_eheap_pre_rtos = . ;
_init_stack_end = . ;
_sheap_post_rtos = . ;
. = . + _init_stack_size ;
. = ALIGN(4);
_eheap_post_rtos = . ;
_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).
*/
PROVIDE ( _end = _ebss ) ;
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }

1
flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld
View File

@ -250,6 +250,7 @@ SECTIONS
. = . + _irq_stack_size ;
. = ALIGN(4);
_irq_stack_top = . - 4 ;
_init_stack_top = _irq_stack_top;
. = ALIGN(4);
} >RAM

3
flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld
View File

@ -223,6 +223,7 @@ SECTIONS
. = . + _irq_stack_size ;
. = ALIGN(4);
_irq_stack_top = . - 4 ;
_init_stack_top = _irq_stack_top;
. = ALIGN(4);
} >RAM
@ -364,5 +365,3 @@ SECTIONS
.debug_typenames 0 : { *(.debug_typenames) }
.debug_varnames 0 : { *(.debug_varnames) }
}

49
flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld
View File

@ -1,5 +1,7 @@
/* This is the size of the stack for early init and for all FreeRTOS IRQs */
_irq_stack_size = 0x400;
/* This is the size of the stack for early init: life span is until scheduler starts */
_init_stack_size = 0x400;
/* Check valid alignment for VTOR */
ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
@ -191,6 +193,16 @@ SECTIONS
__uavobj_initcall_end = .;
} >FLASH
/* module sections */
.initcallmodule.init :
{
. = ALIGN(4);
__module_initcall_start = .;
KEEP(*(.initcallmodule.init))
. = ALIGN(4);
__module_initcall_end = .;
} >FLASH
/* the program code is stored in the .text section, which goes to Flash */
.text :
{
@ -250,17 +262,44 @@ 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)
. = ALIGN(4);
_eheap = . ;
_eheap_pre_rtos = . ;
_init_stack_end = . ;
_sheap_post_rtos = . ;
. = . + _init_stack_size ;
. = ALIGN(4);
_eheap_post_rtos = . ;
_init_stack_top = . - 4 ;
} > RAM
_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 );

148
flight/PiOS/STM32F10x/pios_delay.c
View File

@ -7,10 +7,10 @@
* @{
*
* @file pios_delay.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
* @author Michael Smith Copyright (C) 2011
* @brief Delay Functions
* - Provides a micro-second granular delay using a TIM
* - Provides a micro-second granular delay using the CPU
* cycle counter.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
@ -31,72 +31,97 @@
*/
/* Project Includes */
#include "pios.h"
#include <pios.h>
#if defined(PIOS_INCLUDE_DELAY)
/* these should be defined by CMSIS, but they aren't */
#define DWT_CTRL (*(volatile uint32_t *)0xe0001000)
#define CYCCNTENA (1<<0)
#define DWT_CYCCNT (*(volatile uint32_t *)0xe0001004)
/* cycles per microsecond */
static uint32_t us_ticks;
/**
* Initialises the Timer used by PIOS_DELAY functions<BR>
* This is called from pios.c as part of the main() function
* at system start up.
* \return < 0 if initialisation failed
*/
* Initialises the Timer used by PIOS_DELAY functions.
*
* \return always zero (success)
*/
int32_t PIOS_DELAY_Init(void)
{
/* Enable timer clock */
PIOS_DELAY_TIMER_RCC_FUNC;
RCC_ClocksTypeDef clocks;
/* Time base configuration */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 65535; // maximum value
TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1; // for 1 uS accuracy fixed to 72Mhz
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(PIOS_DELAY_TIMER, &TIM_TimeBaseStructure);
/* compute the number of system clocks per microsecond */
RCC_GetClocksFreq(&clocks);
us_ticks = clocks.SYSCLK_Frequency / 1000000;
PIOS_DEBUG_Assert(us_ticks > 1);
/* Enable counter */
TIM_Cmd(PIOS_DELAY_TIMER, ENABLE);
/* turn on access to the DWT registers */
CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
/* enable the CPU cycle counter */
DWT_CTRL |= CYCCNTENA;
return 0;
}
/**
* Waits for a specific number of uS
*
* Example:<BR>
* \code
* // Wait for 500 uS
* PIOS_DELAY_Wait_uS(500);
* \endcode
* \param[in] uS delay
* \return < 0 on errors
*/
int32_t PIOS_DELAY_WaituS(uint32_t uS)
{
uint32_t elapsed = 0;
uint32_t last_count = DWT_CYCCNT;
for (;;) {
uint32_t current_count = DWT_CYCCNT;
uint32_t elapsed_uS;
/* measure the time elapsed since the last time we checked */
elapsed += current_count - last_count;
last_count = current_count;
/* convert to microseconds */
elapsed_uS = elapsed / us_ticks;
if (elapsed_uS >= uS)
break;
/* reduce the delay by the elapsed time */
uS -= elapsed_uS;
/* keep fractional microseconds for the next iteration */
elapsed %= us_ticks;
}
/* No error */
return 0;
}
/**
* Waits for a specific number of uS<BR>
* Example:<BR>
* \code
* // Wait for 500 uS
* PIOS_DELAY_Wait_uS(500);
* \endcode
* \param[in] uS delay (1..65535 microseconds)
* \return < 0 on errors
*/
int32_t PIOS_DELAY_WaituS(uint16_t uS)
* Waits for a specific number of mS
*
* Example:<BR>
* \code
* // Wait for 500 mS
* PIOS_DELAY_Wait_mS(500);
* \endcode
* \param[in] mS delay (1..65535 milliseconds)
* \return < 0 on errors
*/
int32_t PIOS_DELAY_WaitmS(uint32_t mS)
{
uint16_t start = PIOS_DELAY_TIMER->CNT;
/* Note that this event works on 16bit counter wrap-arounds */
while ((uint16_t) (PIOS_DELAY_TIMER->CNT - start) <= uS) ;
/* No error */
return 0;
}
/**
* Waits for a specific number of mS<BR>
* Example:<BR>
* \code
* // Wait for 500 mS
* PIOS_DELAY_Wait_mS(500);
* \endcode
* \param[in] mS delay (1..65535 milliseconds)
* \return < 0 on errors
*/
int32_t PIOS_DELAY_WaitmS(uint16_t mS)
{
for (int i = 0; i < mS; i++) {
while (mS--) {
PIOS_DELAY_WaituS(1000);
}
@ -108,22 +133,9 @@ int32_t PIOS_DELAY_WaitmS(uint16_t mS)
* @brief Query the Delay timer for the current uS
* @return A microsecond value
*/
uint16_t PIOS_DELAY_GetuS()
uint32_t PIOS_DELAY_GetuS()
{
return PIOS_DELAY_TIMER->CNT;
}
/**
* @brief Compute the difference between now and a reference time
* @param[in] the reference time to compare now to
* @return The number of uS since the delay
*
* @note the user is responsible for worrying about rollover on the 16 bit uS counter
*/
int32_t PIOS_DELAY_DiffuS(uint16_t ref)
{
int32_t ret_t = ref;
return (int16_t) (PIOS_DELAY_GetuS() - ret_t);
return DWT_CYCCNT / us_ticks;
}
#endif

156
flight/PiOS/STM32F10x/pios_ppm.c
View File

@ -34,22 +34,29 @@
#if defined(PIOS_INCLUDE_PPM)
/* Local Variables */
/* Provide a RCVR driver */
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,
};
/* Local Variables */
static TIM_ICInitTypeDef TIM_ICInitStructure;
static uint8_t PulseIndex;
static uint32_t PreviousValue;
static uint32_t CurrentValue;
static uint32_t CapturedValue;
static uint32_t CaptureValue[PIOS_PPM_NUM_INPUTS];
static uint8_t SupervisorState = 0;
static uint32_t CapCounter[PIOS_PPM_NUM_INPUTS];
static uint16_t TimerCounter;
static uint8_t supv_timer = 0;
static uint8_t SupervisorState = 0;
static uint32_t CapCounterPrev[PIOS_PPM_NUM_INPUTS];
/**
* Initialises all the LED's
*/
static void PIOS_PPM_Supervisor(uint32_t ppm_id);
void PIOS_PPM_Init(void)
{
/* Flush counter variables */
@ -59,6 +66,7 @@ void PIOS_PPM_Init(void)
PreviousValue = 0;
CurrentValue = 0;
CapturedValue = 0;
TimerCounter = 0;
for (i = 0; i < PIOS_PPM_NUM_INPUTS; i++) {
CaptureValue[i] = 0;
@ -121,13 +129,12 @@ void PIOS_PPM_Init(void)
TIM_TimeBaseInit(pios_ppm_cfg.timer, &TIM_TimeBaseStructure);
/* Enable the Capture Compare Interrupt Request */
TIM_ITConfig(pios_ppm_cfg.timer, pios_ppm_cfg.ccr, ENABLE);
TIM_ITConfig(pios_ppm_cfg.timer, pios_ppm_cfg.ccr | TIM_IT_Update, ENABLE);
/* Enable timers */
TIM_Cmd(pios_ppm_cfg.timer, ENABLE);
/* Supervisor Setup */
#if (PIOS_PPM_SUPV_ENABLED)
/* Flush counter variables */
for (i = 0; i < PIOS_PPM_NUM_INPUTS; i++) {
CapCounter[i] = 0;
@ -136,70 +143,15 @@ void PIOS_PPM_Init(void)
CapCounterPrev[i] = 0;
}
NVIC_InitStructure = pios_ppmsv_cfg.irq.init;
/* Enable appropriate clock to timer module */
switch((int32_t) pios_ppmsv_cfg.timer) {
case (int32_t)TIM1:
NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
break;
case (int32_t)TIM2:
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
break;
case (int32_t)TIM3:
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
break;
case (int32_t)TIM4:
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
break;
#ifdef STM32F10X_HD
case (int32_t)TIM5:
NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
break;
case (int32_t)TIM6:
NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
break;
case (int32_t)TIM7:
NVIC_InitStructure.NVIC_IRQChannel = TIM7_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE);
break;
case (int32_t)TIM8:
NVIC_InitStructure.NVIC_IRQChannel = TIM8_CC_IRQn;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
break;
#endif
}
/* Configure interrupts */
NVIC_Init(&NVIC_InitStructure);
/* Time base configuration */
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure = pios_ppmsv_cfg.tim_base_init;
TIM_TimeBaseInit(pios_ppmsv_cfg.timer, &TIM_TimeBaseStructure);
/* Enable the CCx Interrupt Request */
TIM_ITConfig(pios_ppmsv_cfg.timer, pios_ppmsv_cfg.ccr, ENABLE);
/* Clear update pending flag */
TIM_ClearFlag(pios_ppmsv_cfg.timer, TIM_FLAG_Update);
/* Enable counter */
TIM_Cmd(pios_ppmsv_cfg.timer, ENABLE);
#endif
/* Setup local variable which stays in this scope */
/* Doing this here and using a local variable saves doing it in the ISR */
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
if (!PIOS_RTC_RegisterTickCallback(PIOS_PPM_Supervisor, 0)) {
PIOS_DEBUG_Assert(0);
}
}
/**
@ -208,13 +160,13 @@ void PIOS_PPM_Init(void)
* \output -1 Channel not available
* \output >0 Channel value
*/
int32_t PIOS_PPM_Get(int8_t Channel)
static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel)
{
/* Return error if channel not available */
if (Channel >= PIOS_PPM_NUM_INPUTS) {
if (channel >= PIOS_PPM_NUM_INPUTS) {
return -1;
}
return CaptureValue[Channel];
return CaptureValue[channel];
}
/**
@ -224,6 +176,15 @@ int32_t PIOS_PPM_Get(int8_t Channel)
*/
void PIOS_PPM_irq_handler(void)
{
if (TIM_GetITStatus(pios_ppm_cfg.timer, TIM_IT_Update) == SET) {
TimerCounter+=pios_ppm_cfg.timer->ARR;
TIM_ClearITPendingBit(pios_ppm_cfg.timer, TIM_IT_Update);
if (TIM_GetITStatus(pios_ppm_cfg.timer, pios_ppm_cfg.ccr) != SET) {
return;
}
}
/* Do this as it's more efficient */
if (TIM_GetITStatus(pios_ppm_cfg.timer, pios_ppm_cfg.ccr) == SET) {
PreviousValue = CurrentValue;
@ -241,37 +202,44 @@ void PIOS_PPM_irq_handler(void)
CurrentValue = TIM_GetCapture4(pios_ppm_cfg.timer);
break;
}
}
CurrentValue+=TimerCounter;
if(CurrentValue > 0xFFFF) {
CurrentValue-=0xFFFF;
}
/* Clear TIMx Capture compare interrupt pending bit */
TIM_ClearITPendingBit(pios_ppm_cfg.timer, pios_ppm_cfg.ccr);
/* Clear TIMx Capture compare interrupt pending bit */
TIM_ClearITPendingBit(pios_ppm_cfg.timer, pios_ppm_cfg.ccr);
/* Capture computation */
if (CurrentValue > PreviousValue) {
CapturedValue = (CurrentValue - PreviousValue);
} else {
CapturedValue = ((0xFFFF - PreviousValue) + CurrentValue);
}
/* Capture computation */
if (CurrentValue > PreviousValue) {
CapturedValue = (CurrentValue - PreviousValue);
} else {
CapturedValue = ((0xFFFF - PreviousValue) + CurrentValue);
}
/* sync pulse */
if (CapturedValue > 8000) {
PulseIndex = 0;
/* trying to detect bad pulses, not sure this is working correctly yet. I need a scope :P */
} else if (CapturedValue > 750 && CapturedValue < 2500) {
if (PulseIndex < PIOS_PPM_NUM_INPUTS) {
CaptureValue[PulseIndex] = CapturedValue;
CapCounter[PulseIndex]++;
PulseIndex++;
/* sync pulse */
if (CapturedValue > 8000) {
PulseIndex = 0;
/* trying to detect bad pulses, not sure this is working correctly yet. I need a scope :P */
} else if (CapturedValue > 750 && CapturedValue < 2500) {
if (PulseIndex < PIOS_PPM_NUM_INPUTS) {
CaptureValue[PulseIndex] = CapturedValue;
CapCounter[PulseIndex]++;
PulseIndex++;
}
}
}
}
/**
* This function handles TIM3 global interrupt request.
*/
void PIOS_PPMSV_irq_handler(void) {
/* Clear timer interrupt pending bit */
TIM_ClearITPendingBit(pios_ppmsv_cfg.timer, pios_ppmsv_cfg.ccr);
static void PIOS_PPM_Supervisor(uint32_t ppm_id) {
/*
* RTC runs at 625Hz so divide down the base rate so
* that this loop runs at 25Hz.
*/
if(++supv_timer < 25) {
return;
}
supv_timer = 0;
/* Simple state machine */
if (SupervisorState == 0) {

151
flight/PiOS/STM32F10x/pios_pwm.c
View File

@ -34,15 +34,20 @@
#if defined(PIOS_INCLUDE_PWM)
/* Local Variables */
static uint8_t CaptureState[PIOS_PWM_MAX_INPUTS];
static uint16_t RiseValue[PIOS_PWM_MAX_INPUTS];
static uint16_t FallValue[PIOS_PWM_MAX_INPUTS];
static uint32_t CaptureValue[PIOS_PWM_MAX_INPUTS];
/* Provide a RCVR driver */
static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t chan_id);
//static uint8_t SupervisorState = 0;
static uint32_t CapCounter[PIOS_PWM_MAX_INPUTS];
//static uint32_t CapCounterPrev[MAX_CHANNELS];
const struct pios_rcvr_driver pios_pwm_rcvr_driver = {
.read = PIOS_PWM_Get,
};
/* Local Variables */
static uint8_t CaptureState[PIOS_PWM_NUM_INPUTS];
static uint16_t RiseValue[PIOS_PWM_NUM_INPUTS];
static uint16_t FallValue[PIOS_PWM_NUM_INPUTS];
static uint32_t CaptureValue[PIOS_PWM_NUM_INPUTS];
static uint32_t CapCounter[PIOS_PWM_NUM_INPUTS];
/**
* Initialises all the pins
@ -127,52 +132,6 @@ void PIOS_PWM_Init(void)
/* Warning, I don't think this will work for multiple remaps at once */
GPIO_PinRemapConfig(pios_pwm_cfg.remap, ENABLE);
}
#if 0
/* Supervisor Setup */
#if (PIOS_PWM_SUPV_ENABLED)
/* Flush counter variables */
for (i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
CapCounter[i] = 0;
}
for (i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
CapCounterPrev[i] = 0;
}
/* Enable timer clock */
PIOS_PWM_SUPV_TIMER_RCC_FUNC;
/* Configure interrupts */
NVIC_InitStructure.NVIC_IRQChannel = PIOS_PWM_SUPV_IRQ_CHANNEL;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Time base configuration */
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = ((1000000 / PIOS_PWM_SUPV_HZ) - 1);
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1; /* For 1 uS accuracy */
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(PIOS_PWM_SUPV_TIMER, &TIM_TimeBaseStructure);
/* Enable the CC2 Interrupt Request */
TIM_ITConfig(PIOS_PWM_SUPV_TIMER, TIM_IT_Update, ENABLE);
/* Clear update pending flag */
TIM_ClearFlag(TIM2, TIM_FLAG_Update);
/* Enable counter */
TIM_Cmd(PIOS_PWM_SUPV_TIMER, ENABLE);
#endif
/* Setup local variable which stays in this scope */
/* Doing this here and using a local variable saves doing it in the ISR */
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
#endif
}
/**
@ -181,13 +140,13 @@ void PIOS_PWM_Init(void)
* \output -1 Channel not available
* \output >0 Channel value
*/
int32_t PIOS_PWM_Get(int8_t Channel)
static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t channel)
{
/* Return error if channel not available */
if (Channel >= pios_pwm_cfg.num_channels) {
if (channel >= pios_pwm_cfg.num_channels) {
return -1;
}
return CaptureValue[Channel];
return CaptureValue[channel];
}
void PIOS_PWM_irq_handler(TIM_TypeDef * timer)
@ -254,84 +213,6 @@ void PIOS_PWM_irq_handler(TIM_TypeDef * timer)
}
}
#if 0
/**
* Handle TIM5 global interrupt request
*/
void TIM5_IRQHandler(void)
{
/* Do this as it's more efficient */
if (TIM_GetITStatus(PIOS_PWM_TIM_PORT[2], PIOS_PWM_TIM_CCR[2]) == SET) {
if (CaptureState[2] == 0) {
RiseValue[2] = TIM_GetCapture1(PIOS_PWM_TIM_PORT[2]);
} else {
FallValue[2] = TIM_GetCapture1(PIOS_PWM_TIM_PORT[2]);
}
/* Clear TIM3 Capture compare interrupt pending bit */
TIM_ClearITPendingBit(PIOS_PWM_TIM_PORT[2], PIOS_PWM_TIM_CCR[2]);
/* Simple rise or fall state machine */
if (CaptureState[2] == 0) {
/* Switch states */
CaptureState[2] = 1;
/* Switch polarity of input capture */
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
TIM_ICInitStructure.TIM_Channel = PIOS_PWM_TIM_CHANNEL[2];
TIM_ICInit(PIOS_PWM_TIM_PORT[2], &TIM_ICInitStructure);
} else {
/* Capture computation */
if (FallValue[2] > RiseValue[2]) {
CaptureValue[2] = (FallValue[2] - RiseValue[2]);
} else {
CaptureValue[2] = ((0xFFFF - RiseValue[2]) + FallValue[2]);
}
/* Switch states */
CaptureState[2] = 0;
/* Increase supervisor counter */
CapCounter[2]++;
/* Switch polarity of input capture */
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_Channel = PIOS_PWM_TIM_CHANNEL[2];
TIM_ICInit(PIOS_PWM_TIM_PORT[2], &TIM_ICInitStructure);
}
}
}
/**
* This function handles TIM3 global interrupt request.
*/
PIOS_PWM_SUPV_IRQ_FUNC {
/* Clear timer interrupt pending bit */
TIM_ClearITPendingBit(PIOS_PWM_SUPV_TIMER, TIM_IT_Update);
/* Simple state machine */
if (SupervisorState == 0) {
/* Save this states values */
for (int32_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
CapCounterPrev[i] = CapCounter[i];
}
/* Move to next state */
SupervisorState = 1;
} else {
/* See what channels have been updated */
for (int32_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
if (CapCounter[i] == CapCounterPrev[i]) {
CaptureValue[i] = 0;
}
}
/* Move to next state */
SupervisorState = 0;
}
}
#endif
#endif
/**

65
flight/PiOS/STM32F10x/pios_rtc.c
View File

@ -32,30 +32,39 @@
#include "pios.h"
#if defined(PIOS_INCLUDE_RTC)
#include <pios_rtc_priv.h>
#ifndef PIOS_RTC_PRESCALAR
#define PIOS_RTC_PRESCALAR 100
#ifndef PIOS_RTC_PRESCALER
#define PIOS_RTC_PRESCALER 100
#endif
void PIOS_RTC_Init()
struct rtc_callback_entry {
void (*fn)(uint32_t);
uint32_t data;
};
#define PIOS_RTC_MAX_CALLBACKS 3
struct rtc_callback_entry rtc_callback_list[PIOS_RTC_MAX_CALLBACKS];
static uint8_t rtc_callback_next = 0;
void PIOS_RTC_Init(const struct pios_rtc_cfg * cfg)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_BKP | RCC_APB1Periph_PWR,
ENABLE);
PWR_BackupAccessCmd(ENABLE);
RCC_RTCCLKConfig(RCC_RTCCLKSource_HSE_Div128);
RCC_RTCCLKConfig(cfg->clksrc);
RCC_RTCCLKCmd(ENABLE);
RTC_WaitForLastTask();
RTC_WaitForSynchro();
RTC_WaitForLastTask();
#if defined(PIOS_INCLUDE_SPEKTRUM)
/* Enable the RTC Second interrupt */
/* Configure and enable the RTC Second interrupt */
NVIC_Init(&cfg->irq.init);
RTC_ITConfig( RTC_IT_SEC, ENABLE );
/* Wait until last write operation on RTC registers has finished */
RTC_WaitForLastTask();
#endif
RTC_SetPrescaler(PIOS_RTC_PRESCALAR); // counting at 8e6 / 128
RTC_SetPrescaler(cfg->prescaler);
RTC_WaitForLastTask();
RTC_SetCounter(0);
RTC_WaitForLastTask();
@ -66,9 +75,12 @@ uint32_t PIOS_RTC_Counter()
return RTC_GetCounter();
}
/* FIXME: This shouldn't use hard-coded clock rates, dividers or prescalers.
* Should get these from the cfg struct passed to init.
*/
float PIOS_RTC_Rate()
{
return (float) (8e6 / 128) / (1 + PIOS_RTC_PRESCALAR);
return (float) (8e6 / 128) / (1 + PIOS_RTC_PRESCALER);
}
float PIOS_RTC_MsPerTick()
@ -76,6 +88,39 @@ float PIOS_RTC_MsPerTick()
return 1000.0f / PIOS_RTC_Rate();
}
/* TODO: This needs a mutex around rtc_callbacks[] */
bool PIOS_RTC_RegisterTickCallback(void (*fn)(uint32_t id), uint32_t data)
{
struct rtc_callback_entry * cb;
if (rtc_callback_next >= PIOS_RTC_MAX_CALLBACKS) {
return false;
}
cb = &rtc_callback_list[rtc_callback_next++];
cb->fn = fn;
cb->data = data;
return true;
}
void PIOS_RTC_irq_handler (void)
{
if (RTC_GetITStatus(RTC_IT_SEC))
{
/* Call all registered callbacks */
for (uint8_t i = 0; i < rtc_callback_next; i++) {
struct rtc_callback_entry * cb = &rtc_callback_list[i];
if (cb->fn) {
(cb->fn)(cb->data);
}
}
/* Wait until last write operation on RTC registers has finished */
RTC_WaitForLastTask();
/* Clear the RTC Second interrupt */
RTC_ClearITPendingBit(RTC_IT_SEC);
}
}
#endif
/**

227
flight/PiOS/STM32F10x/pios_sbus.c Normal file
View File

@ -0,0 +1,227 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_SBUS Futaba S.Bus receiver functions
* @brief Code to read Futaba S.Bus input
* @{
*
* @file pios_sbus.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @brief USART commands. Inits USARTs, controls USARTs & Interrupt handlers. (STM32 dependent)
* @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
*/
/* Project Includes */
#include "pios.h"
#include "pios_sbus_priv.h"
#if defined(PIOS_INCLUDE_SBUS)
/* Global Variables */
/* Provide a RCVR driver */
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,
};
/* Local Variables */
static uint16_t channel_data[SBUS_NUMBER_OF_CHANNELS];
static uint8_t received_data[SBUS_FRAME_LENGTH - 2];
static uint8_t receive_timer;
static uint8_t failsafe_timer;
static uint8_t frame_found;
static void PIOS_SBUS_Supervisor(uint32_t sbus_id);
/**
* reset_channels() function clears all channel data in case of
* lost signal or explicit failsafe flag from the S.Bus data stream
*/
static void reset_channels(void)
{
for (int i = 0; i < SBUS_NUMBER_OF_CHANNELS; i++) {
channel_data[i] = 0;
}
}
/**
* unroll_channels() function computes channel_data[] from received_data[]
* For efficiency it unrolls first 8 channels without loops. If other
* 8 channels are needed they can be unrolled using the same code
* starting from s[11] instead of s[0]. Two extra digital channels are
* accessible using (s[22] & SBUS_FLAG_DGx) logical expressions.
*/
static void unroll_channels(void)
{
uint8_t *s = received_data;
uint16_t *d = channel_data;
#if (SBUS_NUMBER_OF_CHANNELS != 8)
#error Current S.Bus code unrolls only first 8 channels
#endif
#define F(v,s) ((v) >> s) & 0x7ff
*d++ = F(s[0] | s[1] << 8, 0);
*d++ = F(s[1] | s[2] << 8, 3);
*d++ = F(s[2] | s[3] << 8 | s[4] << 16, 6);
*d++ = F(s[4] | s[5] << 8, 1);
*d++ = F(s[5] | s[6] << 8, 4);
*d++ = F(s[6] | s[7] << 8 | s[8] << 16, 7);
*d++ = F(s[8] | s[9] << 8, 2);
*d++ = F(s[9] | s[10] << 8, 5);
}
/**
* process_byte() function processes incoming byte from S.Bus stream
*/
static void process_byte(uint8_t b)
{
static uint8_t byte_count;
if (frame_found == 0) {
/* no frame found yet, waiting for start byte */
if (b == SBUS_SOF_BYTE) {
byte_count = 0;
frame_found = 1;
}
} else {
/* do not store start and end of frame bytes */
if (byte_count < SBUS_FRAME_LENGTH - 2) {
/* store next byte */
received_data[byte_count++] = b;
} else {
if (b == SBUS_EOF_BYTE) {
/* full frame received */
uint8_t flags = received_data[SBUS_FRAME_LENGTH - 3];
if (flags & SBUS_FLAG_FL) {
/* frame lost, do not update */
} else if (flags & SBUS_FLAG_FS) {
/* failsafe flag active */
reset_channels();
} else {
/* data looking good */
unroll_channels();
failsafe_timer = 0;
}
} else {
/* discard whole frame */
}
/* prepare for the next frame */
frame_found = 0;
}
}
}
/**
* Initialise S.Bus receiver interface
*/
void PIOS_SBUS_Init(const struct pios_sbus_cfg *cfg)
{
/* Enable inverter clock and enable the inverter */
(*cfg->gpio_clk_func)(cfg->gpio_clk_periph, ENABLE);
GPIO_Init(cfg->inv.gpio, &cfg->inv.init);
GPIO_WriteBit(cfg->inv.gpio,
cfg->inv.init.GPIO_Pin,
cfg->gpio_inv_enable);
if (!PIOS_RTC_RegisterTickCallback(PIOS_SBUS_Supervisor, 0)) {
PIOS_Assert(0);
}
}
/**
* Get the value of an input channel
* \param[in] channel Number of the channel desired (zero based)
* \output -1 channel not available
* \output >0 channel value
*/
static int32_t PIOS_SBUS_Get(uint32_t rcvr_id, uint8_t channel)
{
/* return error if channel is not available */
if (channel >= SBUS_NUMBER_OF_CHANNELS) {
return -1;
}
return channel_data[channel];
}
/**
* Interrupt handler for USART
*/
void PIOS_SBUS_irq_handler(uint32_t usart_id)
{
/* Grab the config for this device from the underlying USART device */
const struct pios_usart_cfg * cfg;
cfg = PIOS_USART_GetConfig(usart_id);
PIOS_Assert(cfg);
/* by always reading DR after SR make sure to clear any error interrupts */
volatile uint16_t sr = cfg->regs->SR;
volatile uint8_t b = cfg->regs->DR;
/* process received byte if one has arrived */
if (sr & USART_SR_RXNE) {
/* process byte and clear receive timer */
process_byte(b);
receive_timer = 0;
}
/* ignore TXE interrupts */
if (sr & USART_SR_TXE) {
/* disable TXE interrupt (TXEIE=0) */
USART_ITConfig(cfg->regs, USART_IT_TXE, DISABLE);
}
}
/**
* Input data supervisor is called periodically and provides
* two functions: frame syncing and failsafe triggering.
*
* S.Bus frames come at 7ms (HS) or 14ms (FS) rate at 100000bps. RTC
* timer is running at 625Hz (1.6ms). So with divider 2 it gives
* 3.2ms pause between frames which is good for both S.Bus data rates.
*
* Data receive function must clear the receive_timer to confirm new
* data reception. If no new data received in 100ms, we must call the
* failsafe function which clears all channels.
*/
static void PIOS_SBUS_Supervisor(uint32_t sbus_id)
{
/* waiting for new frame if no bytes were received in 3.2ms */
if (++receive_timer > 2) {
receive_timer = 0;
frame_found = 0;
}
/* activate failsafe if no frames have arrived in 102.4ms */
if (++failsafe_timer > 64) {
reset_channels();
failsafe_timer = 0;
}
}
#endif
/**
* @}
* @}
*/

68
flight/PiOS/STM32F10x/pios_servo.c
View File

@ -6,25 +6,25 @@
* @brief Code to do set RC servo output
* @{
*
* @file pios_servo.c
* @file pios_servo.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief RC Servo routines (STM32 dependent)
* @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
/*
* 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
*
* 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.,
*
* 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
*/
@ -41,15 +41,15 @@ void PIOS_Servo_Init(void)
{
#ifndef PIOS_ENABLE_DEBUG_PINS
#if defined(PIOS_INCLUDE_SERVO)
for (uint8_t i = 0; i < pios_servo_cfg.num_channels; i++) {
GPIO_InitTypeDef GPIO_InitStructure = pios_servo_cfg.gpio_init;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_servo_cfg.tim_base_init;
TIM_OCInitTypeDef TIM_OCInitStructure = pios_servo_cfg.tim_oc_init;
struct pios_servo_channel channel = pios_servo_cfg.channels[i];
/* Enable appropriate clock to timer module */
switch((int32_t) channel.timer) {
case (int32_t)TIM1:
@ -81,12 +81,12 @@ void PIOS_Servo_Init(void)
/* Enable GPIO */
GPIO_InitStructure.GPIO_Pin = channel.pin;
GPIO_Init(channel.port, &GPIO_InitStructure);
/* Enable time base */
TIM_TimeBaseInit(channel.timer, &TIM_TimeBaseStructure);
channel.timer->PSC = (PIOS_MASTER_CLOCK / 1000000) - 1;
/* Set up for output compare function */
switch(channel.channel) {
case TIM_Channel_1:
@ -106,19 +106,19 @@ void PIOS_Servo_Init(void)
TIM_OC4PreloadConfig(channel.timer, TIM_OCPreload_Enable);
break;
}
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
TIM_ARRPreloadConfig(channel.timer, ENABLE);
TIM_CtrlPWMOutputs(channel.timer, ENABLE);
TIM_Cmd(channel.timer, ENABLE);
}
TIM_Cmd(channel.timer, ENABLE);
}
if(pios_servo_cfg.remap) {
/* Warning, I don't think this will work for multiple remaps at once */
GPIO_PinRemapConfig(pios_servo_cfg.remap, ENABLE);
}
#endif // PIOS_INCLUDE_SERVO
#endif // PIOS_ENABLE_DEBUG_PINS
@ -137,19 +137,19 @@ void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks)
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
uint8_t set = 0;
for(uint8_t i = 0; (i < pios_servo_cfg.num_channels) && (set < banks); i++) {
for(uint8_t i = 0; (i < pios_servo_cfg.num_channels) && (set < banks); i++) {
bool new = true;
struct pios_servo_channel channel = pios_servo_cfg.channels[i];
/* See if any previous channels use that same timer */
for(uint8_t j = 0; (j < i) && new; j++)
for(uint8_t j = 0; (j < i) && new; j++)
new &= channel.timer != pios_servo_cfg.channels[j].timer;
if(new) {
TIM_TimeBaseStructure.TIM_Period = ((1000000 / speeds[set]) - 1);
TIM_TimeBaseStructure.TIM_Period = ((1000000 / speeds[set]) - 1);
TIM_TimeBaseInit(channel.timer, &TIM_TimeBaseStructure);
set++;
}
@ -161,7 +161,7 @@ void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks)
/**
* Set servo position
* \param[in] Servo Servo number (0-7)
* \param[in] Position Servo position in milliseconds
* \param[in] Position Servo position in microseconds
*/
void PIOS_Servo_Set(uint8_t Servo, uint16_t Position)
{
@ -184,7 +184,7 @@ void PIOS_Servo_Set(uint8_t Servo, uint16_t Position)
case TIM_Channel_4:
TIM_SetCompare4(pios_servo_cfg.channels[Servo].timer, Position);
break;
}
}
}
#endif // PIOS_INCLUDE_SERVO
#endif // PIOS_ENABLE_DEBUG_PINS

124
flight/PiOS/STM32F10x/pios_spektrum.c
View File

@ -34,12 +34,6 @@
#include "pios_spektrum_priv.h"
#if defined(PIOS_INCLUDE_SPEKTRUM)
#if defined(PIOS_INCLUDE_PWM)
#error "Both PWM and SPEKTRUM input defined, choose only one"
#endif
#if defined(PIOS_COM_AUX)
#error "AUX com cannot be used with SPEKTRUM"
#endif
/**
* @Note Framesyncing:
@ -51,31 +45,35 @@
/* Global Variables */
/* Provide a RCVR driver */
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,
};
/* Local Variables */
static uint16_t CaptureValue[12],CaptureValueTemp[12];
static uint16_t CaptureValue[PIOS_SPEKTRUM_NUM_INPUTS],CaptureValueTemp[PIOS_SPEKTRUM_NUM_INPUTS];
static uint8_t prev_byte = 0xFF, sync = 0, bytecount = 0, datalength=0, frame_error=0, byte_array[20] = { 0 };
uint8_t sync_of = 0;
uint16_t supv_timer=0;
static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id);
static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg);
/**
* Bind and Initialise Spektrum satellite receiver
*/
void PIOS_SPEKTRUM_Init(void)
void PIOS_SPEKTRUM_Init(const struct pios_spektrum_cfg * cfg, bool bind)
{
// TODO: need setting flag for bind on next powerup
if (0) {
PIOS_SPEKTRUM_Bind();
if (bind) {
PIOS_SPEKTRUM_Bind(cfg);
}
/* Init RTC supervisor timer interrupt */
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = RTC_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Init RTC clock */
PIOS_RTC_Init();
if (!PIOS_RTC_RegisterTickCallback(PIOS_SPEKTRUM_Supervisor, 0)) {
PIOS_DEBUG_Assert(0);
}
}
/**
@ -84,59 +82,42 @@ void PIOS_SPEKTRUM_Init(void)
* \output -1 Channel not available
* \output >0 Channel value
*/
int16_t PIOS_SPEKTRUM_Get(int8_t Channel)
static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel)
{
/* Return error if channel not available */
if (Channel >= 12) {
if (channel >= PIOS_SPEKTRUM_NUM_INPUTS) {
return -1;
}
return CaptureValue[Channel];
return CaptureValue[channel];
}
/**
* Spektrum bind function
* \output 1 Successful bind
* \output 0 Bind failed
* \note Applications shouldn't call these functions directly
* \output true Successful bind
* \output false Bind failed
*/
uint8_t PIOS_SPEKTRUM_Bind(void)
static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg)
{
GPIO_InitTypeDef GPIO_InitStructure = pios_spektrum_cfg.gpio_init;
GPIO_InitStructure.GPIO_Pin = pios_spektrum_cfg.pin;
GPIO_Init(pios_spektrum_cfg.port, &GPIO_InitStructure);
#define BIND_PULSES 5
pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
//PIOS_DELAY_WaitmS(75);
/* RX line, drive high for 10us */
pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
PIOS_DELAY_WaituS(10);
/* RX line, drive low for 120us */
pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
PIOS_DELAY_WaituS(120);
/* RX line, drive high for 120us */
pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
PIOS_DELAY_WaituS(120);
/* RX line, drive low for 120us */
pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
PIOS_DELAY_WaituS(120);
/* RX line, drive high for 120us */
pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
PIOS_DELAY_WaituS(120);
/* RX line, drive low for 120us */
pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
PIOS_DELAY_WaituS(120);
/* RX line, drive high for 120us */
pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
PIOS_DELAY_WaituS(120);
/* RX line, drive low for 120us */
pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
PIOS_DELAY_WaituS(120);
/* RX line, drive high for 120us */
pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
PIOS_DELAY_WaituS(120);
GPIO_Init(cfg->bind.gpio, &cfg->bind.init);
/* RX line, set high */
GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
/* on CC works upto 140ms, I guess bind window is around 20-140ms after powerup */
PIOS_DELAY_WaitmS(60);
for (int i = 0; i < BIND_PULSES ; i++) {
/* RX line, drive low for 120us */
GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(120);
/* RX line, drive high for 120us */
GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(120);
}
/* RX line, set input and wait for data, PIOS_SPEKTRUM_Init */
return 1;
return true;
}
/**
@ -147,7 +128,7 @@ uint8_t PIOS_SPEKTRUM_Bind(void)
* \return -2 if buffer full (retry)
* \note Applications shouldn't call these functions directly
*/
int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
static int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
{
static uint16_t channel = 0; /*, sync_word = 0;*/
uint8_t channeln = 0, frame = 0;
@ -201,7 +182,7 @@ int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
{
frame_error=1;
}
if (channeln < 12 && !frame_error)
if (channeln < PIOS_SPEKTRUM_NUM_INPUTS && !frame_error)
CaptureValueTemp[channeln] = data;
}
}
@ -212,7 +193,7 @@ int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
sync_of = 0;
if (!frame_error)
{
for(int i=0;i<12;i++)
for(int i=0;i<PIOS_SPEKTRUM_NUM_INPUTS;i++)
{
CaptureValue[i] = CaptureValueTemp[i];
}
@ -223,11 +204,16 @@ int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
return 0;
}
/* Interrupt handler for USART */
void SPEKTRUM_IRQHandler(uint32_t usart_id) {
/* Custom interrupt handler for USART */
void PIOS_SPEKTRUM_irq_handler(uint32_t usart_id) {
/* Grab the config for this device from the underlying USART device */
const struct pios_usart_cfg * cfg;
cfg = PIOS_USART_GetConfig(usart_id);
PIOS_Assert(cfg);
/* by always reading DR after SR make sure to clear any error interrupts */
volatile uint16_t sr = pios_spektrum_cfg.pios_usart_spektrum_cfg->regs->SR;
volatile uint8_t b = pios_spektrum_cfg.pios_usart_spektrum_cfg->regs->DR;
volatile uint16_t sr = cfg->regs->SR;
volatile uint8_t b = cfg->regs->DR;
/* check if RXNE flag is set */
if (sr & USART_SR_RXNE) {
@ -238,7 +224,7 @@ void SPEKTRUM_IRQHandler(uint32_t usart_id) {
if (sr & USART_SR_TXE) { // check if TXE flag is set
/* Disable TXE interrupt (TXEIE=0) */
USART_ITConfig(pios_spektrum_cfg.pios_usart_spektrum_cfg->regs, USART_IT_TXE, DISABLE);
USART_ITConfig(cfg->regs, USART_IT_TXE, DISABLE);
}
/* byte arrived so clear "watchdog" timer */
supv_timer=0;
@ -248,7 +234,7 @@ void SPEKTRUM_IRQHandler(uint32_t usart_id) {
*@brief This function is called between frames and when a spektrum word hasnt been decoded for too long
*@brief clears the channel values
*/
void PIOS_SPEKTRUM_irq_handler() {
static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id) {
/* 125hz */
supv_timer++;
if(supv_timer > 5) {
@ -262,7 +248,7 @@ void PIOS_SPEKTRUM_irq_handler() {
if (sync_of > 12) {
/* signal lost */
sync_of = 0;
for (int i = 0; i < 12; i++) {
for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) {
CaptureValue[i] = 0;
CaptureValueTemp[i] = 0;
}

83
flight/PiOS/STM32F10x/pios_usart.c
View File

@ -51,6 +51,23 @@ const struct pios_com_driver pios_usart_com_driver = {
.rx_avail = PIOS_USART_RxBufferUsed,
};
enum pios_usart_dev_magic {
PIOS_USART_DEV_MAGIC = 0x11223344,
};
struct pios_usart_dev {
enum pios_usart_dev_magic magic;
const struct pios_usart_cfg * cfg;
// align to 32-bit to try and provide speed improvement;
uint8_t rx_buffer[PIOS_USART_RX_BUFFER_SIZE] __attribute__ ((aligned(4)));
t_fifo_buffer rx;
// align to 32-bit to try and provide speed improvement;
uint8_t tx_buffer[PIOS_USART_TX_BUFFER_SIZE] __attribute__ ((aligned(4)));
t_fifo_buffer tx;
};
static bool PIOS_USART_validate(struct pios_usart_dev * usart_dev)
{
return (usart_dev->magic == PIOS_USART_DEV_MAGIC);
@ -85,6 +102,34 @@ static struct pios_usart_dev * PIOS_USART_alloc(void)
}
#endif
/* Bind Interrupt Handlers
*
* Map all valid USART IRQs to the common interrupt handler
* and provide storage for a 32-bit device id IRQ to map
* each physical IRQ to a specific registered device instance.
*/
static void PIOS_USART_generic_irq_handler(uint32_t usart_id);
static uint32_t PIOS_USART_1_id;
void USART1_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_1_irq_handler")));
static void PIOS_USART_1_irq_handler (void)
{
PIOS_USART_generic_irq_handler (PIOS_USART_1_id);
}
static uint32_t PIOS_USART_2_id;
void USART2_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_2_irq_handler")));
static void PIOS_USART_2_irq_handler (void)
{
PIOS_USART_generic_irq_handler (PIOS_USART_2_id);
}
static uint32_t PIOS_USART_3_id;
void USART3_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_3_irq_handler")));
static void PIOS_USART_3_irq_handler (void)
{
PIOS_USART_generic_irq_handler (PIOS_USART_3_id);
}
/**
* Initialise a single USART device
@ -134,6 +179,17 @@ int32_t PIOS_USART_Init(uint32_t * usart_id, const struct pios_usart_cfg * cfg)
*usart_id = (uint32_t)usart_dev;
/* Configure USART Interrupts */
switch ((uint32_t)usart_dev->cfg->regs) {
case (uint32_t)USART1:
PIOS_USART_1_id = (uint32_t)usart_dev;
break;
case (uint32_t)USART2:
PIOS_USART_2_id = (uint32_t)usart_dev;
break;
case (uint32_t)USART3:
PIOS_USART_3_id = (uint32_t)usart_dev;
break;
}
NVIC_Init(&usart_dev->cfg->irq.init);
USART_ITConfig(usart_dev->cfg->regs, USART_IT_RXNE, ENABLE);
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, ENABLE);
@ -147,6 +203,19 @@ out_fail:
return(-1);
}
const struct pios_usart_cfg * PIOS_USART_GetConfig(uint32_t usart_id)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
if (!valid) {
return (NULL);
}
return usart_dev->cfg;
}
/**
* Changes the baud rate of the USART peripheral without re-initialising.
* \param[in] usart_id USART name (GPS, TELEM, AUX)
@ -157,7 +226,7 @@ static void PIOS_USART_ChangeBaud(uint32_t usart_id, uint32_t baud)
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid)
PIOS_Assert(valid);
USART_InitTypeDef USART_InitStructure;
@ -337,12 +406,20 @@ static int32_t PIOS_USART_TxBufferPutMore(uint32_t usart_id, const uint8_t *buff
return rc;
}
void PIOS_USART_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;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid)
PIOS_Assert(valid);
/* Call any user provided callback function instead of processing
* the interrupt ourselves.
*/
if (usart_dev->cfg->irq.handler) {
(usart_dev->cfg->irq.handler)(usart_id);
return;
}
/* Force read of dr after sr to make sure to clear error flags */
volatile uint16_t sr = usart_dev->cfg->regs->SR;

73
flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S
View File

@ -36,6 +36,8 @@
.global g_pfnVectors
.global SystemInit_ExtMemCtl_Dummy
.global Default_Handler
.global xPortIncreaseHeapSize
.global Stack_Change
/* start address for the initialization values of the .data section.
defined in linker script */
@ -71,6 +73,35 @@ Reset_Handler:
/* restore original stack pointer */
LDR r0, =_irq_stack_top
MSR msp, r0
LDR r2, =_init_stack_top
MSR psp, r2
/* check if irq and init stack are the same */
/* if they are, we don't do stack swap */
/* and lets bypass the monitoring as well for now */
cmp r0, r2
beq SectionBssInit
/* DO
* - stay in thread process mode
* - stay in privilege level
* - use process stack
*/
movs r0, #2
MSR control, r0
ISB
/* Fill IRQ stack for watermark monitoring */
ldr r2, =_irq_stack_end
b LoopFillIRQStack
FillIRQStack:
movw r3, #0xA5A5
str r3, [r2], #4
LoopFillIRQStack:
ldr r3, = _irq_stack_top
cmp r2, r3
bcc FillIRQStack
SectionBssInit:
/* Copy the data segment initializers from flash to SRAM */
movs r1, #0
b LoopCopyDataInit
@ -100,9 +131,37 @@ LoopFillZerobss:
bcc FillZerobss
/* Call the application's entry point.*/
bl main
bx lr
/* will never return here */
bx lr
.size Reset_Handler, .-Reset_Handler
/**
* @brief This is the code that swaps stack (from end of heap to irq_stack).
* Also reclaim the heap that was used as a stack.
* @param None
* @retval : None
*/
.section .text.Stack_Change
.weak Stack_Change
.type Stack_Change, %function
Stack_Change:
mov r4, lr
/* Switches stack back momentarily to MSP */
movs r0, #0
msr control, r0
Heap_Reclaim:
/* add heap_post_rtos to the heap (if the capability/function exist) */
/* Also claim the unused memory (between end of heap to end of memory */
/* CAREFULL: the heap section must be the last section in RAM in order this to work */
ldr r0, = _init_stack_size
ldr r1, = _eheap_post_rtos
ldr r2, = _eram
subs r2, r2, r1
adds r0, r0, r2
bl xPortIncreaseHeapSize
bx r4
.size Stack_Change, .-Stack_Change
/**
* @brief Dummy SystemInit_ExtMemCtl function
* @param None
@ -114,12 +173,12 @@ SystemInit_ExtMemCtl_Dummy:
.size SystemInit_ExtMemCtl_Dummy, .-SystemInit_ExtMemCtl_Dummy
/**
* @brief This is the code that gets called when the processor receives an
* @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
* @param None
* @retval : None
*/
.section .text.Default_Handler,"ax",%progbits
Default_Handler:
@ -272,13 +331,13 @@ g_pfnVectors:
.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

80
flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S
View File

@ -33,6 +33,8 @@
.global g_pfnVectors
.global Default_Handler
.global xPortIncreaseHeapSize
.global Stack_Change
/* start address for the initialization values of the .data section.
defined in linker script */
@ -61,6 +63,47 @@ defined in linker script */
.type Reset_Handler, %function
Reset_Handler:
/*
* From COrtex-M3 reference manual:
* - Handler IRQ always use SP_main
* - Process use SP_main or SP_process
* Here, we will use beginning of SRAM for IRQ (SP_main)
* and end of heap for initialization (SP_process).
* Once the schedule starts, all threads will use their own stack
* from heap and NOBOBY should use SP_process again.
*/
/* Do set/reset the stack pointers */
LDR r0, =_irq_stack_top
MSR msp, r0
LDR r2, =_init_stack_top
MSR psp, r2
/* check if irq and init stack are the same */
/* if they are, we don't do stack swap */
/* and lets bypass the monitoring as well for now */
cmp r0, r2
beq SectionBssInit
/* DO
* - stay in thread process mode
* - stay in privilege level
* - use process stack
*/
movs r0, #2
MSR control, r0
ISB
/* Fill IRQ stack for watermark monitoring */
ldr r2, =_irq_stack_end
b LoopFillIRQStack
FillIRQStack:
movw r3, #0xA5A5
str r3, [r2], #4
LoopFillIRQStack:
ldr r3, = _irq_stack_top
cmp r2, r3
bcc FillIRQStack
SectionBssInit:
/* Copy the data segment initializers from flash to SRAM */
movs r1, #0
b LoopCopyDataInit
@ -90,16 +133,45 @@ LoopFillZerobss:
bcc FillZerobss
/* Call the application's entry point.*/
bl main
/* will never return here */
bx lr
.size Reset_Handler, .-Reset_Handler
/**
* @brief This is the code that gets called when the processor receives an
* @brief This is the code that swaps stack (from end of heap to irq_stack).
* Also reclaim the heap that was used as a stack.
* @param None
* @retval : None
*/
.section .text.Stack_Change
.weak Stack_Change
.type Stack_Change, %function
Stack_Change:
mov r4, lr
/* Switches stack back momentarily to MSP */
movs r0, #0
msr control, r0
Heap_Reclaim:
/* add heap_post_rtos to the heap (if the capability/function exist) */
/* Also claim the unused memory (between end of heap to end of memory */
/* CAREFULL: the heap section must be the last section in RAM in order this to work */
ldr r0, = _init_stack_size
ldr r1, = _eheap_post_rtos
ldr r2, = _eram
subs r2, r2, r1
adds r0, r0, r2
bl xPortIncreaseHeapSize
bx r4
.size Stack_Change, .-Stack_Change
/**
* @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
* @param None
* @retval : None
*/
.section .text.Default_Handler,"ax",%progbits
Default_Handler:
@ -119,7 +191,7 @@ Infinite_Loop:
g_pfnVectors:
.word _estack
.word _irq_stack_top
.word Reset_Handler
.word NMI_Handler
.word HardFault_Handler

7
flight/PiOS/inc/pios_delay.h
View File

@ -34,10 +34,9 @@
/* Public Functions */
extern int32_t PIOS_DELAY_Init(void);
extern int32_t PIOS_DELAY_WaituS(uint16_t uS);
extern int32_t PIOS_DELAY_WaitmS(uint16_t mS);
extern uint16_t PIOS_DELAY_GetuS();
extern int32_t PIOS_DELAY_DiffuS(uint16_t ref);
extern int32_t PIOS_DELAY_WaituS(uint32_t uS);
extern int32_t PIOS_DELAY_WaitmS(uint32_t mS);
extern uint32_t PIOS_DELAY_GetuS();
#endif /* PIOS_DELAY_H */

23
flight/PiOS/inc/pios_initcall.h
View File

@ -41,7 +41,15 @@
/*
* Used for initialization calls..
*/
typedef int32_t (*initcall_t)(void);
typedef struct {
initcall_t fn_minit;
initcall_t fn_tinit;
} initmodule_t;
/* Init module section */
extern initmodule_t __module_initcall_start[], __module_initcall_end[];
/* initcalls are now grouped by functionality into separate
* subsections. Ordering inside the subsections is determined
@ -55,7 +63,20 @@ typedef int32_t (*initcall_t)(void);
static initcall_t __initcall_##fn##id __attribute__((__used__)) \
__attribute__((__section__(".initcall" level ".init"))) = fn
#define uavobj_initcall(fn) __define_initcall("uavobj",fn,1)
#define __define_module_initcall(level, ifn, sfn) \
static initmodule_t __initcall_##fn __attribute__((__used__)) \
__attribute__((__section__(".initcall" level ".init"))) = { .fn_minit = ifn, .fn_tinit = sfn };
#define UAVOBJ_INITCALL(fn) __define_initcall("uavobj",fn,1)
#define MODULE_INITCALL(ifn, sfn) __define_module_initcall("module", ifn, sfn)
#define MODULE_INITIALISE_ALL { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \
if (fn->fn_minit) \
(fn->fn_minit)(); }
#define MODULE_TASKCREATE_ALL { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \
if (fn->fn_tinit) \
(fn->fn_tinit)(); }
#endif /* PIOS_INITCALL_H */

4
flight/PiOS/inc/pios_ppm.h
View File

@ -30,8 +30,4 @@
#ifndef PIOS_PPM_H
#define PIOS_PPM_H
/* Public Functions */
extern void PIOS_PPM_Init(void);
extern int32_t PIOS_PPM_Get(int8_t Channel);
#endif /* PIOS_PPM_H */

13
flight/PiOS/inc/pios_ppm_priv.h
View File

@ -34,13 +34,6 @@
#include <pios.h>
#include <pios_stm32.h>
struct pios_ppmsv_cfg {
TIM_TimeBaseInitTypeDef tim_base_init;
struct stm32_irq irq;
TIM_TypeDef * timer;
uint16_t ccr;
};
struct pios_ppm_cfg {
TIM_TimeBaseInitTypeDef tim_base_init;
TIM_ICInitTypeDef tim_ic_init;
@ -53,11 +46,13 @@ struct pios_ppm_cfg {
};
extern void PIOS_PPM_irq_handler();
extern void PIOS_PPMSV_irq_handler();
extern uint8_t pios_ppm_num_channels;
extern const struct pios_ppm_cfg pios_ppm_cfg;
extern const struct pios_ppmsv_cfg pios_ppmsv_cfg;
extern const struct pios_rcvr_driver pios_ppm_rcvr_driver;
extern void PIOS_PPM_Init(void);
#endif /* PIOS_PPM_PRIV_H */

5
flight/PiOS/inc/pios_pwm.h
View File

@ -30,9 +30,4 @@
#ifndef PIOS_PWM_H
#define PIOS_PWM_H
/* Public Functions */
extern void PIOS_PWM_Init(void);
extern int32_t PIOS_PWM_Get(int8_t Channel);
//extern void PIOS_PWM_irq_handler(TIM_TypeDef * timer);
#endif /* PIOS_PWM_H */

4
flight/PiOS/inc/pios_pwm_priv.h
View File

@ -57,6 +57,10 @@ extern void PIOS_PWM_irq_handler(TIM_TypeDef * timer);
extern uint8_t pios_pwm_num_channels;
extern const struct pios_pwm_cfg pios_pwm_cfg;
extern const struct pios_rcvr_driver pios_pwm_rcvr_driver;
extern void PIOS_PWM_Init(void);
#endif /* PIOS_PWM_PRIV_H */
/**

54
flight/PiOS/inc/pios_rcvr.h Normal file
View File

@ -0,0 +1,54 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_RCVR RCVR layer functions
* @brief Hardware communication layer
* @{
*
* @file pios_rcvr.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief RCVR layer functions header
* @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
*/
#ifndef PIOS_RCVR_H
#define PIOS_RCVR_H
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, uint8_t channel);
};
/* Public Functions */
extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel);
#endif /* PIOS_RCVR_H */
/**
* @}
* @}
*/

48
flight/PiOS/inc/pios_rcvr_priv.h Normal file
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@ -0,0 +1,48 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_RCVR RCVR Functions
* @brief PIOS interface for RCVR drivers
* @{
*
* @file pios_rcvr_priv.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief USART private definitions.
* @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
*/
#ifndef PIOS_RCVR_PRIV_H
#define PIOS_RCVR_PRIV_H
#include <pios.h>
extern uint32_t pios_rcvr_max_channel;
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);
#endif /* PIOS_RCVR_PRIV_H */
/**
* @}
* @}
*/

6
flight/PiOS/inc/pios_rtc.h
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@ -30,13 +30,15 @@
#ifndef PIOS_RTC_H
#define PIOS_RTC_H
#include <stdbool.h>
/* Public Functions */
extern void PIOS_RTC_Init();
extern uint32_t PIOS_RTC_Counter();
extern float PIOS_RTC_Rate();
extern float PIOS_RTC_MsPerTick();
extern bool PIOS_RTC_RegisterTickCallback(void (*fn)(uint32_t id), uint32_t data);
#endif /* PIOS_SERVO_H */
#endif /* PIOS_RTC_H */
/**
* @}

52
flight/PiOS/inc/pios_rtc_priv.h Normal file
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/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_RTC RTC Functions
* @brief PIOS interface for RTC tick
* @{
*
* @file pios_rtc_priv.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief ADC private definitions.
* @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
*/
#ifndef PIOS_RTC_PRIV_H
#define PIOS_RTC_PRIV_H
#include <pios.h>
#include <pios_stm32.h>
struct pios_rtc_cfg {
uint32_t clksrc;
uint32_t prescaler;
struct stm32_irq irq;
};
extern void PIOS_RTC_Init(const struct pios_rtc_cfg * cfg);
extern void PIOS_RTC_irq_handler(void);
#endif /* PIOS_RTC_PRIV_H */
/**
* @}
* @}
*/

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