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Code Issues Releases Activity

OP-291 PIOS/Servo: Make the remapping of timers a part of the driver structure

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2569 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2011-01-24 07:51:48 +00:00 committed by peabody124
parent da96ce15b9
commit 99fcd089d4
11 changed files with 43 additions and 29 deletions
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13
flight/CopterControl/Makefile
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@ -57,7 +57,7 @@ FLASH_TOOL = OPENOCD
USE_THUMB_MODE = YES USE_THUMB_MODE = YES
# List of modules to include # List of modules to include
MODULES = Telemetry CCAttitude MODULES = Telemetry ManualControl Actuator CCAttitude #Stabilization
#Actuator Telemetry ManualControl Stabilization FirmwareIAP #Actuator Telemetry ManualControl Stabilization FirmwareIAP
#MODULES = Telemetry Example #MODULES = Telemetry Example
@ -362,7 +362,7 @@ LINKERSCRIPTPATH = $(PIOSSTM32F10X)
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) # (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
ifeq ($(DEBUG),YES) ifeq ($(DEBUG),YES)
OPT = 0 OPT = 1
else else
OPT = s OPT = s
endif endif
@ -427,11 +427,16 @@ CFLAGS += -mcpu=$(MCU) -mthumb
CFLAGS += $(CDEFS) CFLAGS += $(CDEFS)
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I. CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
#CFLAGS += -fno-cprop-registers -fno-defer-pop -fno-guess-branch-probability -fno-section-anchors
#CFLAGS += -fno-if-conversion -fno-if-conversion2 -fno-ipa-pure-const -fno-ipa-reference -fno-merge-constants
#CFLAGS += -fno-split-wide-types -fno-tree-ccp -fno-tree-ch -fno-tree-copy-prop -fno-tree-copyrename
#CFLAGS += -fno-tree-dce -fno-tree-dominator-opts -fno-tree-dse -fno-tree-fre -fno-tree-sink -fno-tree-sra
#CFLAGS += -fno-tree-ter
#CFLAGS += -g$(DEBUGF) -DDEBUG
CFLAGS += -mapcs-frame CFLAGS += -mapcs-frame
CFLAGS += -fomit-frame-pointer CFLAGS += -fomit-frame-pointer
ifeq ($(CODE_SOURCERY), YES)
CFLAGS += -fpromote-loop-indices CFLAGS += -fpromote-loop-indices
endif
CFLAGS += -Wall CFLAGS += -Wall
CFLAGS += -Werror CFLAGS += -Werror

4
flight/CopterControl/System/inc/FreeRTOSConfig.h
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@ -29,8 +29,8 @@
#define configCPU_CLOCK_HZ ( ( unsigned long ) 72000000 ) #define configCPU_CLOCK_HZ ( ( unsigned long ) 72000000 )
#define configTICK_RATE_HZ ( ( portTickType ) 1000 ) #define configTICK_RATE_HZ ( ( portTickType ) 1000 )
#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 ) #define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 )
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 64 ) #define configMINIMAL_STACK_SIZE ( ( unsigned short ) 128 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 15 * 1024 ) ) #define configTOTAL_HEAP_SIZE ( ( size_t ) ( 13 * 1024 ) )
#define configMAX_TASK_NAME_LEN ( 16 ) #define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_TRACE_FACILITY 0 #define configUSE_TRACE_FACILITY 0
#define configUSE_16_BIT_TICKS 0 #define configUSE_16_BIT_TICKS 0

2
flight/CopterControl/System/inc/pios_config.h
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@ -54,7 +54,7 @@
#define PIOS_INCLUDE_FREERTOS #define PIOS_INCLUDE_FREERTOS
#define PIOS_INCLUDE_GPIO #define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_EXTI #define PIOS_INCLUDE_EXTI
//#define PIOS_INCLUDE_WDG #define PIOS_INCLUDE_WDG
#define PIOS_INCLUDE_I2C_ESC #define PIOS_INCLUDE_I2C_ESC
#define PIOS_INCLUDE_ADXL345 #define PIOS_INCLUDE_ADXL345

12
flight/CopterControl/System/pios_board.c
View File

@ -68,7 +68,6 @@ void PIOS_Board_Init(void) {
/* Remap AFIO pin */ /* Remap AFIO pin */
GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE); GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);
GPIO_PinRemapConfig( GPIO_PartialRemap_TIM3, ENABLE);
PIOS_Servo_Init(); PIOS_Servo_Init();
PIOS_ADC_Init(); PIOS_ADC_Init();
@ -78,14 +77,14 @@ void PIOS_Board_Init(void) {
PIOS_PWM_Init(); PIOS_PWM_Init();
#endif #endif
#if defined(PIOS_INCLUDE_PPM) #if defined(PIOS_INCLUDE_PPM)
//PIOS_PPM_Init(); PIOS_PPM_Init();
#endif #endif
#if defined(PIOS_INCLUDE_USB_HID) #if defined(PIOS_INCLUDE_USB_HID)
PIOS_USB_HID_Init(0); //PIOS_USB_HID_Init(0);
#endif #endif
PIOS_I2C_Init(); //PIOS_I2C_Init();
PIOS_IAP_Init(); //PIOS_IAP_Init();
PIOS_WDG_Init(); //PIOS_WDG_Init();
} }
/* Flash/Accel Interface /* Flash/Accel Interface
@ -543,6 +542,7 @@ const struct pios_servo_cfg pios_servo_cfg = {
.GPIO_Mode = GPIO_Mode_AF_PP, .GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Speed = GPIO_Speed_2MHz,
}, },
.remap = GPIO_PartialRemap_TIM3,
.channels = pios_servo_channels, .channels = pios_servo_channels,
.num_channels = NELEMENTS(pios_servo_channels), .num_channels = NELEMENTS(pios_servo_channels),
}; };

4
flight/Modules/Actuator/actuator.c
View File

@ -44,8 +44,8 @@
// Private constants // Private constants
#define MAX_QUEUE_SIZE 2 #define MAX_QUEUE_SIZE 2
#define STACK_SIZE configMINIMAL_STACK_SIZE #define STACK_SIZE configMINIMAL_STACK_SIZE+200
#define TASK_PRIORITY (tskIDLE_PRIORITY+4) #define TASK_PRIORITY (tskIDLE_PRIORITY+0)
#define FAILSAFE_TIMEOUT_MS 100 #define FAILSAFE_TIMEOUT_MS 100
#define MAX_MIX_ACTUATORS ACTUATORCOMMAND_CHANNEL_NUMELEM #define MAX_MIX_ACTUATORS ACTUATORCOMMAND_CHANNEL_NUMELEM

16
flight/Modules/CCAttitude/ccattitude.c
View File

@ -60,10 +60,9 @@
// Private constants // Private constants
#define STACK_SIZE_BYTES 740 #define STACK_SIZE_BYTES 740
#define STACK_SIZE_BYTES 540 #define TASK_PRIORITY (tskIDLE_PRIORITY+0)
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
#define UPDATE_RATE 10 /* ms */ #define UPDATE_RATE 100 /* ms */
#define GYRO_NEUTRAL 1665 #define GYRO_NEUTRAL 1665
#define GYRO_SCALE 0.010f #define GYRO_SCALE 0.010f
@ -122,6 +121,7 @@ static void CCAttitudeTask(void *parameters)
/* Wait for the next update interval */ /* Wait for the next update interval */
vTaskDelayUntil(&lastSysTime, UPDATE_RATE / portTICK_RATE_MS); vTaskDelayUntil(&lastSysTime, UPDATE_RATE / portTICK_RATE_MS);
//vTaskDelay(UPDATE_RATE / portTICK_RATE_MS);
} }
} }
@ -130,11 +130,11 @@ void updateInput()
{ {
ManualControlCommandData manual; ManualControlCommandData manual;
ManualControlCommandGet(&manual); ManualControlCommandGet(&manual);
manual.Throttle = (PIOS_PWM_Get(0) - 1100) / 900; manual.Throttle = (float) (PIOS_PWM_Get(0) - 1100.0f) / 900.0f;
manual.Roll = (PIOS_PWM_Get(1) - 1500) / 500; manual.Roll = (float) (PIOS_PWM_Get(1) - 1500.0f) / 500.0f;
manual.Pitch = (PIOS_PWM_Get(2) - 1500) / 500; manual.Pitch = (float) (PIOS_PWM_Get(2) - 1500.0f) / 500.0f;
manual.Yaw = (PIOS_PWM_Get(3) - 1500) / 500; manual.Yaw = (float) (PIOS_PWM_Get(3) - 1500.0f) / 500.0f;
manual.FlightMode = (PIOS_PWM_Get(4) - 1500) / 500; manual.FlightMode = (float) (PIOS_PWM_Get(4) - 1500) / 500;
ManualControlCommandSet(&manual); ManualControlCommandSet(&manual);
} }

1
flight/OpenPilot/System/pios_board.c
View File

@ -682,6 +682,7 @@ const struct pios_servo_cfg pios_servo_cfg = {
.GPIO_Mode = GPIO_Mode_AF_PP, .GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Speed = GPIO_Speed_2MHz,
}, },
.remap = 0,
.channels = pios_servo_channels, .channels = pios_servo_channels,
.num_channels = NELEMENTS(pios_servo_channels), .num_channels = NELEMENTS(pios_servo_channels),
}; };

6
flight/PiOS/STM32F10x/pios_servo.c
View File

@ -113,6 +113,12 @@ void PIOS_Servo_Init(void)
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_INCLUDE_SERVO
#endif // PIOS_ENABLE_DEBUG_PINS #endif // PIOS_ENABLE_DEBUG_PINS

1
flight/PiOS/inc/pios_servo_priv.h
View File

@ -45,6 +45,7 @@ struct pios_servo_cfg {
TIM_TimeBaseInitTypeDef tim_base_init; TIM_TimeBaseInitTypeDef tim_base_init;
TIM_OCInitTypeDef tim_oc_init; TIM_OCInitTypeDef tim_oc_init;
GPIO_InitTypeDef gpio_init; GPIO_InitTypeDef gpio_init;
uint32_t remap;
const struct pios_servo_channel *const channels; const struct pios_servo_channel *const channels;
uint8_t num_channels; uint8_t num_channels;
}; };

2
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -149,6 +149,7 @@
650D8ECE12DFE17500D05CC9 /* watchdogstatus.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = watchdogstatus.c; sourceTree = "<group>"; }; 650D8ECE12DFE17500D05CC9 /* watchdogstatus.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = watchdogstatus.c; sourceTree = "<group>"; };
650D8ED112DFE17500D05CC9 /* uavtalk.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = uavtalk.h; sourceTree = "<group>"; }; 650D8ED112DFE17500D05CC9 /* uavtalk.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = uavtalk.h; sourceTree = "<group>"; };
650D8ED212DFE17500D05CC9 /* uavtalk.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavtalk.c; sourceTree = "<group>"; }; 650D8ED212DFE17500D05CC9 /* uavtalk.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavtalk.c; sourceTree = "<group>"; };
65173C9F12EBFD1700D6A7CB /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; name = Makefile; path = ../../../Makefile; sourceTree = SOURCE_ROOT; };
651913371256C5240039C0A3 /* ahrs_comm_objects.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_comm_objects.c; sourceTree = "<group>"; }; 651913371256C5240039C0A3 /* ahrs_comm_objects.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_comm_objects.c; sourceTree = "<group>"; };
651913381256C5240039C0A3 /* ahrs_spi_comm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_spi_comm.c; sourceTree = "<group>"; }; 651913381256C5240039C0A3 /* ahrs_spi_comm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_spi_comm.c; sourceTree = "<group>"; };
6519133A1256C52B0039C0A3 /* ahrs_comm_objects.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_comm_objects.h; sourceTree = "<group>"; }; 6519133A1256C52B0039C0A3 /* ahrs_comm_objects.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_comm_objects.h; sourceTree = "<group>"; };
@ -2961,6 +2962,7 @@
08FB7794FE84155DC02AAC07 /* OpenPilotOSX */ = { 08FB7794FE84155DC02AAC07 /* OpenPilotOSX */ = {
isa = PBXGroup; isa = PBXGroup;
children = ( children = (
65173C9F12EBFD1700D6A7CB /* Makefile */,
657CEEB5121DBC49007A1FBE /* flight */, 657CEEB5121DBC49007A1FBE /* flight */,
65B35D7D121C261E003EAD18 /* ground */, 65B35D7D121C261E003EAD18 /* ground */,
); );

11
flight/UAVObjects/uavobjectsinit_cc.c
View File

@ -70,7 +70,6 @@
#include "velocitydesired.h" #include "velocitydesired.h"
#include "watchdogstatus.h" #include "watchdogstatus.h"
/** /**
* Function used to initialize the first instance of each object. * Function used to initialize the first instance of each object.
* This file is automatically updated by the UAVObjectGenerator. * This file is automatically updated by the UAVObjectGenerator.
@ -93,11 +92,11 @@ void UAVObjectsInitializeAll()
I2CStatsInitialize(); I2CStatsInitialize();
WatchdogStatusInitialize(); WatchdogStatusInitialize();
TelemetrySettingsInitialize(); TelemetrySettingsInitialize();
//StabilizationSettingsInitialize(); StabilizationSettingsInitialize();
//ActuatorSettingsInitialize(); ActuatorSettingsInitialize();
RateDesiredInitialize(); RateDesiredInitialize();
//AHRSSettingsInitialize(); //AHRSSettingsInitialize();
//ManualControlSettingsInitialize(); ManualControlSettingsInitialize();
//MixerSettingsInitialize(); MixerSettingsInitialize();
//MixerStatusInitialize(); MixerStatusInitialize();
} }