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https://bitbucket.org/librepilot/librepilot.git
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LP-97 - Fixes for Osd and discoveryf4bare
This commit is contained in:
Alessio Morale
a*morale
parent
06f59d2c40
commit
970ae3df00
@ -34,46 +34,12 @@
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extern "C" {
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#include "inc/openpilot.h"
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#include <uavobjectsinit.h>
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#include <systemmod.h>
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/* Task Priorities */
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#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
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/* Global Variables */
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/* Local Variables */
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#define INCLUDE_TEST_TASKS 0
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#if INCLUDE_TEST_TASKS
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static uint8_t sdcard_available;
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#endif
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char Buffer[1024];
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uint32_t Cache;
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/* Function Prototypes */
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#if INCLUDE_TEST_TASKS
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static void TaskTick(void *pvParameters);
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static void TaskTesting(void *pvParameters);
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static void TaskHIDTest(void *pvParameters);
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static void TaskServos(void *pvParameters);
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static void TaskSDCard(void *pvParameters);
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#endif
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int32_t CONSOLE_Parse(uint8_t port, char c);
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void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value);
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/* Prototype of PIOS_Board_Init() function */
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extern void PIOS_Board_Init(void);
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extern void Stack_Change(void);
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static void Stack_Change_Weak() __attribute__((weakref("Stack_Change")));
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/* Local Variables */
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#define INIT_TASK_PRIORITY (tskIDLE_PRIORITY + configMAX_PRIORITIES - 1) // max priority
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#define INIT_TASK_STACK (1024 / 4) // XXX this seems excessive
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static xTaskHandle initTaskHandle;
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/* Function Prototypes */
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static void initTask(void *parameters);
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/* Prototype of generated InitModules() function */
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extern void InitModules(void);
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}
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/**
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@ -87,8 +53,6 @@ extern void InitModules(void);
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*/
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int main()
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{
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int result;
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/* NOTE: Do NOT modify the following start-up sequence */
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/* Any new initialization functions should be added in OpenPilotInit() */
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vPortInitialiseBlocks();
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@ -96,12 +60,7 @@ int main()
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/* Brings up System using CMSIS functions, enables the LEDs. */
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PIOS_SYS_Init();
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/* For Revolution we use a FreeRTOS task to bring up the system so we can */
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/* always rely on FreeRTOS primitive */
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result = xTaskCreate(initTask, "init",
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INIT_TASK_STACK, NULL, INIT_TASK_PRIORITY,
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&initTaskHandle);
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PIOS_Assert(result == pdPASS);
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SystemModStart();
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/* Start the FreeRTOS scheduler */
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vTaskStartScheduler();
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@ -117,22 +76,7 @@ int main()
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return 0;
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}
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/**
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* Initialisation task.
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*
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* Runs board and module initialisation, then terminates.
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*/
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void initTask(__attribute__((unused)) void *parameters)
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{
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/* board driver init */
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PIOS_Board_Init();
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/* Initialize modules */
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MODULE_INITIALISE_ALL;
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/* terminate this task */
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vTaskDelete(NULL);
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}
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/**
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* @}
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@ -24,6 +24,9 @@ endif
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include ../board-info.mk
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include $(ROOT_DIR)/make/firmware-defs.mk
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# REVO C++ support
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USE_CXX = YES
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# ARM DSP library
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override USE_DSP_LIB := NO
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@ -52,7 +55,7 @@ ifndef TESTAPP
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## Application Core
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SRC += ../pios_usb_board_data.c
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SRC += $(OPMODULEDIR)/System/systemmod.c
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SRC += $(OPSYSTEM)/osd.c
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CPPSRC += $(OPSYSTEM)/osd.cpp
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SRC += $(OPSYSTEM)/pios_board.c
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SRC += $(FLIGHTLIB)/alarms.c
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SRC += $(OPUAVTALK)/uavtalk.c
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@ -1,229 +0,0 @@
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/**
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******************************************************************************
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*
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* @file main.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Main modem functions
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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// *****************************************************************************
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// #define USE_WATCHDOG // comment this out if you don't want to use the watchdog
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// *****************************************************************************
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#include "inc/openpilot.h"
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#include <string.h>
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/* Task Priorities */
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#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
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/* Global Variables */
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/* Prototype of PIOS_Board_Init() function */
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extern void PIOS_Board_Init(void);
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extern void Stack_Change(void);
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static void Stack_Change_Weak() __attribute__((weakref("Stack_Change")));
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/* Function Prototypes */
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static void initTask(void *parameters);
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/* Local Variables */
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#define INIT_TASK_PRIORITY (tskIDLE_PRIORITY + configMAX_PRIORITIES - 1) // max priority
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#define INIT_TASK_STACK (1024 / 4) // XXX this seems excessive
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static xTaskHandle initTaskHandle;
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// *****************************************************************************
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// Global Variables
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// *****************************************************************************
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// Local Variables
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#if defined(USE_WATCHDOG)
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volatile uint16_t watchdog_timer;
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uint16_t watchdog_delay;
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#endif
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// *****************************************************************************
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#if defined(USE_WATCHDOG)
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void processWatchdog(void)
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{
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// random32 = UpdateCRC32(random32, IWDG->SR);
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if (watchdog_timer < watchdog_delay) {
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return;
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}
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// the watchdog needs resetting
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watchdog_timer = 0;
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watchdog_Clear();
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}
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void enableWatchdog(void)
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{ // enable a watchdog
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watchdog_timer = 0;
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watchdog_delay = watchdog_Init(1000); // 1 second watchdog timeout
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}
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#endif /* if defined(USE_WATCHDOG) */
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// *****************************************************************************
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void sequenceLEDs(void)
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{
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for (int i = 0; i < 2; i++) {
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// USB_LED_ON;
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PIOS_DELAY_WaitmS(100);
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// USB_LED_OFF;
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PIOS_DELAY_WaitmS(100);
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#if defined(USE_WATCHDOG)
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processWatchdog(); // process the watchdog
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#endif
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}
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}
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// *****************************************************************************
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// find out what caused our reset and act on it
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void processReset(void)
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{
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if (RCC_GetFlagStatus(RCC_FLAG_IWDGRST) != RESET) { // Independant Watchdog Reset
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#if defined(PIOS_COM_DEBUG_CONSOLE)
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DEBUG_PRINTF(0, "\r\nINDEPENDANT WATCHDOG CAUSED A RESET\r\n");
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#endif
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// all led's ON
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// USB_LED_ON;
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PIOS_DELAY_WaitmS(500); // delay a bit
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// all led's OFF
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// USB_LED_OFF;
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}
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/*
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if (RCC_GetFlagStatus(RCC_FLAG_WWDGRST) != RESET)
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{ // Window Watchdog Reset
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DEBUG_PRINTF(0, "\r\nWINDOW WATCHDOG CAUSED A REBOOT\r\n");
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// all led's ON
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USB_LED_ON;
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LINK_LED_ON;
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RX_LED_ON;
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TX_LED_ON;
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PIOS_DELAY_WaitmS(500); // delay a bit
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// all led's OFF
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USB_LED_OFF;
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LINK_LED_OFF;
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RX_LED_OFF;
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TX_LED_OFF;
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}
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*/
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if (RCC_GetFlagStatus(RCC_FLAG_PORRST) != RESET) { // Power-On Reset
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#if defined(PIOS_COM_DEBUG)
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DEBUG_PRINTF(0, "\r\nPOWER-ON-RESET\r\n");
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#endif
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}
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if (RCC_GetFlagStatus(RCC_FLAG_SFTRST) != RESET) { // Software Reset
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#if defined(PIOS_COM_DEBUG)
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DEBUG_PRINTF(0, "\r\nSOFTWARE RESET\r\n");
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#endif
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}
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if (RCC_GetFlagStatus(RCC_FLAG_LPWRRST) != RESET) { // Low-Power Reset
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#if defined(PIOS_COM_DEBUG)
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DEBUG_PRINTF(0, "\r\nLOW POWER RESET\r\n");
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#endif
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}
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if (RCC_GetFlagStatus(RCC_FLAG_PINRST) != RESET) { // Pin Reset
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#if defined(PIOS_COM_DEBUG)
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DEBUG_PRINTF("0, \r\nPIN RESET\r\n");
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#endif
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}
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// Clear reset flags
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// RCC_ClearFlag();
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}
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int main()
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{
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int result;
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// *************
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// init various variables
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// *************
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/* NOTE: Do NOT modify the following start-up sequence */
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/* Any new initialization functions should be added in OpenPilotInit() */
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vPortInitialiseBlocks();
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// Bring up System using CMSIS functions, enables the LEDs.
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PIOS_SYS_Init();
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/* For Revolution we use a FreeRTOS task to bring up the system so we can */
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/* always rely on FreeRTOS primitive */
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result = xTaskCreate(initTask, "init",
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INIT_TASK_STACK, NULL, INIT_TASK_PRIORITY,
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&initTaskHandle);
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PIOS_Assert(result == pdPASS);
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/* Start the FreeRTOS scheduler which should never returns.*/
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vTaskStartScheduler();
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/* If all is well we will never reach here as the scheduler will now be running. */
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/* Do some indication to user that something bad just happened */
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PIOS_LED_Off(PIOS_LED_HEARTBEAT); \
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for (;;) { \
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PIOS_LED_Toggle(PIOS_LED_HEARTBEAT); \
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PIOS_DELAY_WaitmS(100); \
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}
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;
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return 0;
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}
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/**
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* Initialisation task.
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*
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* Runs board and module initialisation, then terminates.
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*/
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void initTask(__attribute__((unused)) void *parameters)
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{
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/* board driver init */
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PIOS_Board_Init();
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/* Initialize modules */
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MODULE_INITIALISE_ALL;
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/* terminate this task */
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vTaskDelete(NULL);
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}
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// *****************************************************************************
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85
flight/targets/boards/osd/firmware/osd.cpp
Normal file
85
flight/targets/boards/osd/firmware/osd.cpp
Normal file
@ -0,0 +1,85 @@
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/**
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******************************************************************************
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* @addtogroup LibrePilotSystem LibrePilot System
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* @brief These files are the core system files for Revolution.
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* They are the ground layer just above PiOS. In practice, OSD actually starts
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* in the main() function of osd.c
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* @{
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* @addtogroup LibrePilotCore LibrePilot Core
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* @brief This is where the LP firmware starts. Those files also define the compile-time
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* options of the firmware.
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* @{
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* @file osd.c
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2015
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* @brief Sets up and runs main tasks.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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extern "C" {
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#include "inc/openpilot.h"
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#include <uavobjectsinit.h>
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#include <systemmod.h>
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/* Global Variables */
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/* Local Variables */
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}
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/**
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* OpenPilot Main function:
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*
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* Initialize PiOS<BR>
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* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
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* Start FreeRTOS Scheduler (vTaskStartScheduler)<BR>
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* If something goes wrong, blink LED1 and LED2 every 100ms
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*
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*/
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int main()
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{
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/* NOTE: Do NOT modify the following start-up sequence */
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/* Any new initialization functions should be added in OpenPilotInit() */
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vPortInitialiseBlocks();
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/* Brings up System using CMSIS functions, enables the LEDs. */
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PIOS_SYS_Init();
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SystemModStart();
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/* Start the FreeRTOS scheduler */
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vTaskStartScheduler();
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/* If all is well we will never reach here as the scheduler will now be running. */
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/* Do some PIOS_LED_HEARTBEAT to user that something bad just happened */
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PIOS_LED_Off(PIOS_LED_HEARTBEAT); \
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for (;;) { \
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PIOS_LED_Toggle(PIOS_LED_HEARTBEAT); \
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PIOS_DELAY_WaitmS(100); \
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}
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;
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return 0;
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}
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/**
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* @}
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* @}
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*/
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