OP-21/Bootloader - fixes GPS connected issues, enhances timings problems, further work on serial support

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2136 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/Bootloaders/OpenPilot/Makefile

@@ -155,7 +155,7 @@ SRC += $(PIOSCOMMON)/pios_com.c
 #SRC += $(PIOSCOMMON)/pios_bmp085.c
 SRC += $(PIOSCOMMON)/pios_opahrs_v0.c
 SRC += $(PIOSCOMMON)/pios_bl_helper.c
-
+SRC += $(PIOSCOMMON)/pios_iap.c
 SRC += $(PIOSCOMMON)/pios_opahrs_proto.c
 SRC += $(PIOSCOMMON)/printf-stdarg.c
 

flight/Bootloaders/OpenPilot/inc/common.h

@@ -66,6 +66,14 @@ typedef enum {
 //2
 } DFUTransfer;
 /**************************************************/
+/* OP_DFU transfer port                           */
+/**************************************************/
+typedef enum {
+	Usb, //0
+	Serial
+//2
+} DFUPort;
+/**************************************************/
 /* OP_DFU programable programable HW types        */
 /**************************************************/
 typedef enum {

flight/Bootloaders/OpenPilot/inc/pios_config.h

@@ -36,27 +36,17 @@
 #define PIOS_INCLUDE_BL_HELPER
 #define USB_HID
 /* Enable/Disable PiOS Modules */
-//#define PIOS_INCLUDE_ADC
 #define PIOS_INCLUDE_DELAY
-//#define PIOS_INCLUDE_I2C
 #define PIOS_INCLUDE_IRQ
 #define PIOS_INCLUDE_LED
-//#define PIOS_INCLUDE_SPEKTRUM
-//#define PIOS_INCLUDE_PPM
-//#define PIOS_INCLUDE_PWM
-//#define PIOS_INCLUDE_SERVO
 #define PIOS_INCLUDE_SPI
 #define PIOS_INCLUDE_SYS
 #define PIOS_INCLUDE_USART
 #define PIOS_INCLUDE_USB_HID
-//#define PIOS_INCLUDE_BMP085
 #define PIOS_INCLUDE_OPAHRS
 #define PIOS_INCLUDE_COM
-//#define PIOS_INCLUDE_SDCARD
-//#define PIOS_INCLUDE_SETTINGS
-//#define PIOS_INCLUDE_FREERTOS
 #define PIOS_INCLUDE_GPIO
-//#define PIOS_INCLUDE_EXTI
+#define PIOS_NO_GPS
 
 
 /* Defaults for Logging */
@@ -73,7 +63,6 @@
 #define SERVOS_POSITION_MIN		800
 #define SERVOS_POSITION_MAX		2200
 
-
 #endif /* PIOS_CONFIG_H */
 /**
  * @}

flight/Bootloaders/OpenPilot/main.c

@@ -38,6 +38,7 @@
 #include "stopwatch.h"
 #include "op_dfu.h"
 #include "usb_lib.h"
+#include "pios_iap.h"
 /* Prototype of PIOS_Board_Init() function */
 extern void PIOS_Board_Init(void);
 extern void FLASH_Download();
@@ -59,6 +60,7 @@ uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
 
 /* Extern variables ----------------------------------------------------------*/
 DFUStates DeviceState;
+DFUPort ProgPort;
 uint8_t JumpToApp = FALSE;
 uint8_t GO_dfu = FALSE;
 uint8_t USB_connected = FALSE;
@@ -81,13 +83,21 @@ int main() {
 	if (BSL_HOLD_STATE == 0)
 		USB_connected = TRUE;
 
+	PIOS_IAP_Init();
+	if (PIOS_IAP_CheckRequest() == TRUE) {
+		User_DFU_request = TRUE;
+		PIOS_IAP_ClearRequest();
+	}
 	GO_dfu = (USB_connected==TRUE) || (User_DFU_request==TRUE);
 	if (GO_dfu == TRUE) {
+		if(USB_connected)
+			ProgPort=Usb;
+		else
+			ProgPort=Serial;
 		PIOS_Board_Init();
 		PIOS_OPAHRS_Init();
 		DeviceState = BLidle;
 		STOPWATCH_Init(100);
-		USB_connected = TRUE;
 		PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
 		//OPDfuIni(false);
 

flight/Bootloaders/OpenPilot/op_dfu.c

@@ -158,7 +158,7 @@ void processComand(uint8_t *xReceive_Buffer) {
 	case EnterDFU:
 		if (((DeviceState == BLidle) && (Data0 < numberOfDevices))
 				|| (DeviceState == DFUidle)) {
-			if (Data0 > 0)
+			if (Data0 > 0)//PORQUE???
 				OPDfuIni(TRUE);
 			DeviceState = DFUidle;
 			currentProgrammingDestination = devicesTable[Data0].programmingType;

flight/Bootloaders/OpenPilot/pios_board.c

@@ -55,33 +55,11 @@ void PIOS_Board_Init(void) {
 	/* SPI Init */
 	PIOS_SPI_Init();
 
-	/* Enable and mount the SDCard */
-//	PIOS_SDCARD_Init();
-//	PIOS_SDCARD_MountFS(0);
-#if defined(PIOS_INCLUDE_SPEKTRUM)
-	/* SPEKTRUM init must come before comms */
-	PIOS_SPEKTRUM_Init();
-#endif
-	/* Initialize UAVObject libraries */
-//	EventDispatcherInitialize();
-//	UAVObjInitialize();
-//	UAVObjectsInitializeAll();
-
-	/* Initialize the alarms library */
-//	AlarmsInitialize();
 
 	/* Initialize the PiOS library */
 	PIOS_COM_Init();
-	//PIOS_Servo_Init();
-	//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);
 #endif
@@ -358,52 +336,7 @@ 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 = {
-  .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_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 = PIOS_USART_gps_irq_handler,
-    .init    = {
-      .NVIC_IRQChannel                   = USART3_IRQn,
-      .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
-      .NVIC_IRQChannelSubPriority        = 0,
-      .NVIC_IRQChannelCmd                = ENABLE,
-    },
-  },
-  .rx   = {
-    .gpio = GPIOC,
-    .init = {
-      .GPIO_Pin   = GPIO_Pin_11,
-      .GPIO_Speed = GPIO_Speed_2MHz,
-      .GPIO_Mode  = GPIO_Mode_IPU,
-    },
-  },
-  .tx   = {
-    .gpio = GPIOC,
-    .init = {
-      .GPIO_Pin   = GPIO_Pin_10,
-      .GPIO_Speed = GPIO_Speed_2MHz,
-      .GPIO_Mode  = GPIO_Mode_AF_PP,
-    },
-  },
-};
 
 #ifdef PIOS_COM_AUX
 /*
@@ -454,54 +387,6 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
 };
 #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 = {
-  .regs = USART1,
-  .init = {
-    #if defined (PIOS_COM_SPEKTRUM_BAUDRATE)
-        .USART_BaudRate        = PIOS_COM_SPEKTRUM_BAUDRATE,
-    #else
-        .USART_BaudRate        = 115200,
-    #endif
-    .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_USART_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,
-    },
-  },
-};
-#endif
-
 /*
  * Board specific number of devices.
  */
@@ -510,22 +395,12 @@ struct pios_usart_dev pios_usart_devs[] = {
   {
     .cfg = &pios_usart_telem_cfg,
   },
-#define PIOS_USART_GPS    1
-  {
-    .cfg = &pios_usart_gps_cfg,
-  },
 #ifdef PIOS_COM_AUX
-#define PIOS_USART_AUX    2
+#define PIOS_USART_AUX    1
   {
     .cfg = &pios_usart_aux_cfg,
   },
 #endif
-#ifdef PIOS_COM_SPEKTRUM
-#define PIOS_USART_AUX    2
-  {
-    .cfg = &pios_usart_spektrum_cfg,
-  },
-#endif
 };
 
 uint8_t pios_usart_num_devices = NELEMENTS(pios_usart_devs);
@@ -535,10 +410,6 @@ void PIOS_USART_telem_irq_handler(void)
   PIOS_USART_IRQ_Handler(PIOS_USART_TELEM);
 }
 
-void PIOS_USART_gps_irq_handler(void)
-{
-  PIOS_USART_IRQ_Handler(PIOS_USART_GPS);
-}
 
 #ifdef PIOS_COM_AUX
 void PIOS_USART_aux_irq_handler(void)
@@ -547,12 +418,6 @@ void PIOS_USART_aux_irq_handler(void)
 }
 #endif
 
-#ifdef PIOS_COM_SPEKTRUM
-void PIOS_USART_spektrum_irq_handler(void)
-{
-	SPEKTRUM_IRQHandler();
-}
-#endif
 
 /*
  * COM devices
@@ -569,10 +434,6 @@ struct pios_com_dev pios_com_devs[] = {
     .id     = PIOS_USART_TELEM,
     .driver = &pios_usart_com_driver,
   },
-  {
-    .id     = PIOS_USART_GPS,
-    .driver = &pios_usart_com_driver,
-  },
 #if defined(PIOS_INCLUDE_USB_HID)
   {
     .id     = 0,
@@ -585,12 +446,7 @@ struct pios_com_dev pios_com_devs[] = {
     .driver = &pios_usart_com_driver,
   },
 #endif
-#ifdef PIOS_COM_SPEKTRUM
+
-  {
-    .id     = PIOS_USART_AUX,
-    .driver = &pios_usart_com_driver,
-  },
-#endif
 };
 
 const uint8_t pios_com_num_devices = NELEMENTS(pios_com_devs);

flight/PiOS/Boards/STM3210E_OP.h

@@ -128,9 +128,14 @@ TIM8  | Servo 5   | Servo 6   | Servo 7   | Servo 8
 #define PIOS_COM_TELEM_BAUDRATE         57600
 #define PIOS_COM_GPS_BAUDRATE           57600
 
-#define PIOS_COM_TELEM_RF               0
+#ifdef PIOS_NO_GPS
-#define PIOS_COM_GPS                    1
+	#define PIOS_COM_TELEM_RF               0
-#define PIOS_COM_TELEM_USB              2
+	#define PIOS_COM_TELEM_USB              1
+#else
+	#define PIOS_COM_TELEM_RF               0
+	#define PIOS_COM_GPS                    1
+	#define PIOS_COM_TELEM_USB              2
+#endif
 
 #ifdef PIOS_ENABLE_AUX_UART
     #define PIOS_COM_AUX_BAUDRATE       57600