mirror of
https://bitbucket.org/librepilot/librepilot.git
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OP-1477 - Add platform support
This commit is contained in:
parent
81ae43ac40
commit
9b61fc611b
3
Makefile
3
Makefile
@ -197,7 +197,7 @@ export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
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export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics
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# Define supported board lists
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ALL_BOARDS := coptercontrol oplinkmini revolution osd revoproto simposix discoveryf4bare
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ALL_BOARDS := coptercontrol oplinkmini revolution osd revoproto simposix discoveryf4bare gpsplatinum
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# Short names of each board (used to display board name in parallel builds)
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coptercontrol_short := 'cc '
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@ -207,6 +207,7 @@ osd_short := 'osd '
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revoproto_short := 'revp'
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simposix_short := 'posx'
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discoveryf4bare_short := 'df4b'
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gpsplatinum_short := 'osd '
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# SimPosix only builds on Linux so drop it from the list for
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# all other platforms.
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23
flight/targets/boards/gpsplatinum/board-info.mk
Normal file
23
flight/targets/boards/gpsplatinum/board-info.mk
Normal file
@ -0,0 +1,23 @@
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BOARD_TYPE := 0x09
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BOARD_REVISION := 0x01
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BOOTLOADER_VERSION := 0x01
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HW_TYPE := 0x01
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MCU := cortex-m0
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CHIP := STM32F051G
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BOARD := STM3205x_GPSP
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MODEL := 51
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MODEL_SUFFIX := _gpsp
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OPENOCD_JTAG_CONFIG := foss-jtag.revb.cfg
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OPENOCD_CONFIG := stm32f0x.cfg
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# Note: These must match the values in link_$(BOARD)_memory.ld
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BL_BANK_BASE := 0x08000000 # Start of bootloader flash
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BL_BANK_SIZE := 0x00001000 # Should include BD_INFO region
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FW_BANK_BASE := 0x08001000 # Start of firmware flash
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FW_BANK_SIZE := 0x00008000 # Should include FW_DESC_SIZE
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FW_DESC_SIZE := 0x00000064
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OSCILLATOR_FREQ := 8000000
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359
flight/targets/boards/gpsplatinum/board_hw_defs.c
Normal file
359
flight/targets/boards/gpsplatinum/board_hw_defs.c
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@ -0,0 +1,359 @@
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/**
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******************************************************************************
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* @file board_hw_defs.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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* @addtogroup OpenPilotSystem OpenPilot System
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* @{
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* @addtogroup OpenPilotCore OpenPilot Core
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* @{
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* @brief Defines board specific static initializers for hardware for the GPS board.
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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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#define BOARD_REVISION_GPSP 1
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#if defined(PIOS_INCLUDE_LED)
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#include <pios_led_priv.h>
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static const struct pios_gpio pios_leds_gpsp[] = {
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// PB4
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[PIOS_LED_HEARTBEAT] = {
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.pin = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_4,
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.GPIO_Mode = GPIO_OType_OD,
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.GPIO_Speed = GPIO_Speed_Level_1,
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},
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},
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.active_low = true
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},
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};
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static const struct pios_gpio_cfg pios_led_cfg_gpsp = {
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.gpios = pios_leds_gpsp,
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.num_gpios = NELEMENTS(pios_leds_gpsp),
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};
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const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision)
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{
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return &pios_led_cfg_gpsp;
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}
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#endif /* PIOS_INCLUDE_LED */
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#if defined(PIOS_INCLUDE_SPI)
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#include <pios_spi_priv.h>
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/* Gyro interface */
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/* Flash/Accel Interface
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*
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* NOTE: Leave this declared as const data so that it ends up in the
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* .rodata section (ie. Flash) rather than in the .bss section (RAM).
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*/
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void PIOS_SPI_flash_irq_handler(void);
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void DMA1_Channel2_IRQHandler() __attribute__((alias("PIOS_SPI_flash_irq_handler")));
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void DMA1_Channel3_IRQHandler() __attribute__((alias("PIOS_SPI_flash_irq_handler")));
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static const struct pios_spi_cfg pios_spi_flash_cfg_gpsp = {
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.regs = SPI1,
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.init = {
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.SPI_Mode = SPI_Mode_Master,
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.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
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.SPI_DataSize = SPI_DataSize_8b,
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.SPI_NSS = SPI_NSS_Soft,
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.SPI_FirstBit = SPI_FirstBit_MSB,
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.SPI_CRCPolynomial = 7,
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.SPI_CPOL = SPI_CPOL_High,
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.SPI_CPHA = SPI_CPHA_2Edge,
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.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
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},
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.use_crc = false,
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.dma = {
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.ahb_clk = RCC_AHBPeriph_DMA1,
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.irq = {
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.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
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.init = {
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.NVIC_IRQChannel = DMA1_Channel2_3_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.channel = DMA1_Channel2,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
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.DMA_DIR = DMA_DIR_PeripheralSRC,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_High,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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.tx = {
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.channel = DMA1_Channel3,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
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.DMA_DIR = DMA_DIR_PeripheralDST,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_High,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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},
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.sclk = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_5,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_AF,
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},
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},
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.miso = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_6,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_AF,
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},
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},
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.mosi = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_7,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_AF,
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},
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},
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.slave_count = 1,
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.ssel = {
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{
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_4,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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}
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}
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},
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};
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static uint32_t pios_spi_flash_id;
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void PIOS_SPI_flash_irq_handler(void)
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{
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/* Call into the generic code to handle the IRQ for this specific device */
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PIOS_SPI_IRQ_Handler(pios_spi_flash_id);
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}
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#endif /* PIOS_INCLUDE_SPI */
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#if defined(PIOS_INCLUDE_FLASH)
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#include "pios_flashfs_logfs_priv.h"
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#include "pios_flash_jedec_priv.h"
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static const struct flashfs_logfs_cfg flashfs_w25x_cfg = {
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.fs_magic = 0x99abcdef,
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.total_fs_size = 0x00080000, /* 512K bytes (128 sectors = entire chip) */
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.arena_size = 0x00010000, /* 256 * slot size */
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.slot_size = 0x00000100, /* 256 bytes */
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.start_offset = 0, /* start at the beginning of the chip */
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.sector_size = 0x00001000, /* 4K bytes */
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.page_size = 0x00000100, /* 256 bytes */
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};
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static const struct flashfs_logfs_cfg flashfs_m25p_cfg = {
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.fs_magic = 0x99abceef,
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.total_fs_size = 0x00200000, /* 2M bytes (32 sectors = entire chip) */
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.arena_size = 0x00010000, /* 256 * slot size */
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.slot_size = 0x00000100, /* 256 bytes */
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.start_offset = 0, /* start at the beginning of the chip */
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.sector_size = 0x00010000, /* 64K bytes */
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.page_size = 0x00000100, /* 256 bytes */
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};
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#include "pios_flash.h"
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#endif /* PIOS_INCLUDE_FLASH */
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#if defined(PIOS_INCLUDE_USART)
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#include "pios_usart_priv.h"
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static const struct pios_usart_cfg pios_usart_generic_main_cfg = {
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.regs = USART1,
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.init = {
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.USART_BaudRate = 57600,
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.USART_WordLength = USART_WordLength_8b,
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.USART_Parity = USART_Parity_No,
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.USART_StopBits = USART_StopBits_1,
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.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
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.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
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},
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.irq = {
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.init = {
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.NVIC_IRQChannel = USART1_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_10,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_IPU,
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},
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},
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.tx = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_9,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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};
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#endif /* PIOS_INCLUDE_USART */
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#if defined(PIOS_INCLUDE_COM)
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#include "pios_com_priv.h"
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#endif /* PIOS_INCLUDE_COM */
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#if defined(PIOS_INCLUDE_RTC)
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/*
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* Realtime Clock (RTC)
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*/
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#include <pios_rtc_priv.h>
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void PIOS_RTC_IRQ_Handler(void);
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void RTC_IRQHandler() __attribute__((alias("PIOS_RTC_IRQ_Handler")));
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static const struct pios_rtc_cfg pios_rtc_main_cfg = {
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.clksrc = RCC_RTCCLKSource_LSI,
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.prescaler = 100,
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.irq = {
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.init = {
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.NVIC_IRQChannel = RTC_IRQn,
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.NVIC_IRQChannelPriority = PIOS_IRQ_PRIO_MID,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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};
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void PIOS_RTC_IRQ_Handler(void)
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{
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PIOS_RTC_irq_handler();
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}
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#endif /* if defined(PIOS_INCLUDE_RTC) */
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#if defined(PIOS_INCLUDE_I2C)
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#include <pios_i2c_priv.h>
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/*
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* I2C Adapters
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*/
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void PIOS_I2C_flexi_adapter_ev_irq_handler(void);
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void PIOS_I2C_flexi_adapter_er_irq_handler(void);
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void I2C2_EV_IRQHandler() __attribute__((alias("PIOS_I2C_flexi_adapter_ev_irq_handler")));
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void I2C2_ER_IRQHandler() __attribute__((alias("PIOS_I2C_flexi_adapter_er_irq_handler")));
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static const struct pios_i2c_adapter_cfg pios_i2c_flexi_adapter_cfg = {
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.regs = I2C2,
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.init = {
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.I2C_Mode = I2C_Mode_I2C,
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.I2C_OwnAddress1 = 0,
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.I2C_Ack = I2C_Ack_Enable,
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.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
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.I2C_DutyCycle = I2C_DutyCycle_2,
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.I2C_ClockSpeed = 400000, /* bits/s */
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},
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.transfer_timeout_ms = 50,
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.scl = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_10,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_AF_OD,
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},
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},
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.sda = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_11,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_AF_OD,
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},
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},
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.event = {
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.flags = 0, /* FIXME: check this */
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.init = {
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.NVIC_IRQChannel = I2C2_EV_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.error = {
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.flags = 0, /* FIXME: check this */
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.init = {
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.NVIC_IRQChannel = I2C2_ER_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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};
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uint32_t pios_i2c_flexi_adapter_id;
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void PIOS_I2C_flexi_adapter_ev_irq_handler(void)
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{
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/* Call into the generic code to handle the IRQ for this specific device */
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PIOS_I2C_EV_IRQ_Handler(pios_i2c_flexi_adapter_id);
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}
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void PIOS_I2C_flexi_adapter_er_irq_handler(void)
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{
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/* Call into the generic code to handle the IRQ for this specific device */
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PIOS_I2C_ER_IRQ_Handler(pios_i2c_flexi_adapter_id);
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}
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#endif /* PIOS_INCLUDE_I2C */
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#if defined(PIOS_INCLUDE_COM_MSG)
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#include <pios_com_msg_priv.h>
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#endif /* PIOS_INCLUDE_COM_MSG */
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30
flight/targets/boards/gpsplatinum/bootloader/Makefile
Normal file
30
flight/targets/boards/gpsplatinum/bootloader/Makefile
Normal file
@ -0,0 +1,30 @@
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#
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# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
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#
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# 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.
|
||||
#
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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
|
||||
# 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
|
||||
#
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||||
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ifndef OPENPILOT_IS_COOL
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$(error Top level Makefile must be used to build this target)
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endif
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## The standard CMSIS startup
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SRC += $(CMSIS_DEVICEDIR)/Source/system_stm32f0xx.c
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include ../board-info.mk
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include $(ROOT_DIR)/make/firmware-defs.mk
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include $(ROOT_DIR)/make/boot-defs.mk
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include $(ROOT_DIR)/make/common-defs.mk
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|
115
flight/targets/boards/gpsplatinum/bootloader/inc/common.h
Normal file
115
flight/targets/boards/gpsplatinum/bootloader/inc/common.h
Normal file
@ -0,0 +1,115 @@
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/**
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||||
******************************************************************************
|
||||
* @addtogroup CopterControlBL CopterControl BootLoader
|
||||
* @brief These files contain the code to the CopterControl Bootloader.
|
||||
*
|
||||
* @{
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||||
* @file common.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief This file contains various common defines for the BootLoader
|
||||
* @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 COMMON_H_
|
||||
#define COMMON_H_
|
||||
|
||||
// #include "board.h"
|
||||
|
||||
typedef enum {
|
||||
start, keepgoing,
|
||||
} DownloadAction;
|
||||
|
||||
/**************************************************/
|
||||
/* OP_DFU states */
|
||||
/**************************************************/
|
||||
|
||||
typedef enum {
|
||||
DFUidle, // 0
|
||||
uploading, // 1
|
||||
wrong_packet_received, // 2
|
||||
too_many_packets, // 3
|
||||
too_few_packets, // 4
|
||||
Last_operation_Success, // 5
|
||||
downloading, // 6
|
||||
BLidle, // 7
|
||||
Last_operation_failed, // 8
|
||||
uploadingStarting, // 9
|
||||
outsideDevCapabilities, // 10
|
||||
CRC_Fail, // 11
|
||||
failed_jump,
|
||||
// 12
|
||||
} DFUStates;
|
||||
/**************************************************/
|
||||
/* OP_DFU commands */
|
||||
/**************************************************/
|
||||
typedef enum {
|
||||
Reserved, // 0
|
||||
Req_Capabilities, // 1
|
||||
Rep_Capabilities, // 2
|
||||
EnterDFU, // 3
|
||||
JumpFW, // 4
|
||||
Reset, // 5
|
||||
Abort_Operation, // 6
|
||||
Upload, // 7
|
||||
Op_END, // 8
|
||||
Download_Req, // 9
|
||||
Download, // 10
|
||||
Status_Request, // 11
|
||||
Status_Rep
|
||||
// 12
|
||||
} DFUCommands;
|
||||
|
||||
typedef enum {
|
||||
High_Density, Medium_Density
|
||||
} DeviceType;
|
||||
/**************************************************/
|
||||
/* OP_DFU transfer types */
|
||||
/**************************************************/
|
||||
typedef enum {
|
||||
FW, // 0
|
||||
Descript
|
||||
// 2
|
||||
} DFUTransfer;
|
||||
/**************************************************/
|
||||
/* OP_DFU transfer port */
|
||||
/**************************************************/
|
||||
typedef enum {
|
||||
Usb, // 0
|
||||
Serial
|
||||
// 2
|
||||
} DFUPort;
|
||||
/**************************************************/
|
||||
/* OP_DFU programable programable HW types */
|
||||
/**************************************************/
|
||||
typedef enum {
|
||||
Self_flash, // 0
|
||||
Remote_flash_via_spi
|
||||
// 1
|
||||
} DFUProgType;
|
||||
/**************************************************/
|
||||
/* OP_DFU programable sources */
|
||||
/**************************************************/
|
||||
#define USB 0
|
||||
#define SPI 1
|
||||
|
||||
#define DownloadDelay 100000
|
||||
|
||||
#define MAX_DEL_RETRYS 3
|
||||
#define MAX_WRI_RETRYS 3
|
||||
|
||||
#endif /* COMMON_H_ */
|
@ -0,0 +1,51 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup CopterControlBL CopterControl BootLoader
|
||||
* @brief These files contain the code to the CopterControl Bootloader.
|
||||
* @{
|
||||
* @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_DELAY
|
||||
#define PIOS_INCLUDE_SYS
|
||||
#define PIOS_INCLUDE_IRQ
|
||||
#define PIOS_INCLUDE_GPIO
|
||||
#define PIOS_INCLUDE_LED
|
||||
#define PIOS_INCLUDE_IAP
|
||||
#define PIOS_INCLUDE_COM
|
||||
#define PIOS_INCLUDE_COM_MSG
|
||||
#define PIOS_INCLUDE_BL_HELPER
|
||||
#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
|
||||
|
||||
#endif /* PIOS_CONFIG_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
217
flight/targets/boards/gpsplatinum/bootloader/main.c
Normal file
217
flight/targets/boards/gpsplatinum/bootloader/main.c
Normal file
@ -0,0 +1,217 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup CopterControlBL CopterControl BootLoader
|
||||
* @brief These files contain the code to the CopterControl Bootloader.
|
||||
*
|
||||
* @{
|
||||
* @file main.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief This is the file with the main function of the OpenPilot BootLoader
|
||||
* @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
|
||||
*/
|
||||
|
||||
#include <pios.h>
|
||||
#include <pios_board_info.h>
|
||||
#include <op_dfu.h>
|
||||
#include <pios_iap.h>
|
||||
#include <fifo_buffer.h>
|
||||
#include <pios_com_msg.h>
|
||||
|
||||
/* Prototype of PIOS_Board_Init() function */
|
||||
extern void PIOS_Board_Init(void);
|
||||
extern void FLASH_Download();
|
||||
#define BSL_HOLD_STATE ((PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) ? 0 : 1)
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
typedef void (*pFunction)(void);
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* Private macro -------------------------------------------------------------*/
|
||||
/* Private variables ---------------------------------------------------------*/
|
||||
pFunction Jump_To_Application;
|
||||
uint32_t JumpAddress;
|
||||
|
||||
/// LEDs PWM
|
||||
uint32_t period1 = 5000; // 5 mS
|
||||
uint32_t sweep_steps1 = 100; // * 5 mS -> 500 mS
|
||||
uint32_t period2 = 5000; // 5 mS
|
||||
uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
|
||||
|
||||
|
||||
////////////////////////////////////////
|
||||
uint8_t tempcount = 0;
|
||||
|
||||
/* Extern variables ----------------------------------------------------------*/
|
||||
DFUStates DeviceState;
|
||||
int16_t status = 0;
|
||||
uint8_t JumpToApp = FALSE;
|
||||
uint8_t GO_dfu = FALSE;
|
||||
uint8_t USB_connected = FALSE;
|
||||
uint8_t User_DFU_request = FALSE;
|
||||
static uint8_t mReceive_Buffer[63];
|
||||
/* Private function prototypes -----------------------------------------------*/
|
||||
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
|
||||
uint8_t processRX();
|
||||
void jump_to_app();
|
||||
|
||||
int main()
|
||||
{
|
||||
PIOS_SYS_Init();
|
||||
PIOS_Board_Init();
|
||||
PIOS_IAP_Init();
|
||||
|
||||
USB_connected = FALSE;
|
||||
|
||||
if (PIOS_IAP_CheckRequest() == TRUE) {
|
||||
PIOS_DELAY_WaitmS(1000);
|
||||
User_DFU_request = TRUE;
|
||||
PIOS_IAP_ClearRequest();
|
||||
}
|
||||
|
||||
GO_dfu = (USB_connected == TRUE) || (User_DFU_request == TRUE);
|
||||
|
||||
if (GO_dfu == TRUE) {
|
||||
PIOS_Board_Init();
|
||||
if (User_DFU_request == TRUE) {
|
||||
DeviceState = DFUidle;
|
||||
} else {
|
||||
DeviceState = BLidle;
|
||||
}
|
||||
} else {
|
||||
JumpToApp = TRUE;
|
||||
}
|
||||
|
||||
uint32_t stopwatch = 0;
|
||||
uint32_t prev_ticks = PIOS_DELAY_GetuS();
|
||||
while (TRUE) {
|
||||
/* Update the stopwatch */
|
||||
uint32_t elapsed_ticks = PIOS_DELAY_GetuSSince(prev_ticks);
|
||||
prev_ticks += elapsed_ticks;
|
||||
stopwatch += elapsed_ticks;
|
||||
|
||||
if (JumpToApp == TRUE) {
|
||||
jump_to_app();
|
||||
}
|
||||
|
||||
switch (DeviceState) {
|
||||
case Last_operation_Success:
|
||||
case uploadingStarting:
|
||||
case DFUidle:
|
||||
period1 = 5000;
|
||||
sweep_steps1 = 100;
|
||||
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
|
||||
period2 = 0;
|
||||
break;
|
||||
case uploading:
|
||||
period1 = 5000;
|
||||
sweep_steps1 = 100;
|
||||
period2 = 2500;
|
||||
sweep_steps2 = 50;
|
||||
break;
|
||||
case downloading:
|
||||
period1 = 2500;
|
||||
sweep_steps1 = 50;
|
||||
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
|
||||
period2 = 0;
|
||||
break;
|
||||
case BLidle:
|
||||
period1 = 0;
|
||||
PIOS_LED_On(PIOS_LED_HEARTBEAT);
|
||||
period2 = 0;
|
||||
break;
|
||||
default: // error
|
||||
period1 = 5000;
|
||||
sweep_steps1 = 100;
|
||||
period2 = 5000;
|
||||
sweep_steps2 = 100;
|
||||
}
|
||||
|
||||
if (period1 != 0) {
|
||||
if (LedPWM(period1, sweep_steps1, stopwatch)) {
|
||||
PIOS_LED_On(PIOS_LED_HEARTBEAT);
|
||||
} else {
|
||||
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
|
||||
}
|
||||
} else {
|
||||
PIOS_LED_On(PIOS_LED_HEARTBEAT);
|
||||
}
|
||||
|
||||
if (period2 != 0) {
|
||||
if (LedPWM(period2, sweep_steps2, stopwatch)) {
|
||||
PIOS_LED_On(PIOS_LED_HEARTBEAT);
|
||||
} else {
|
||||
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
|
||||
}
|
||||
} else {
|
||||
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
|
||||
}
|
||||
|
||||
if (stopwatch > 50 * 1000 * 1000) {
|
||||
stopwatch = 0;
|
||||
}
|
||||
if ((stopwatch > 6 * 1000 * 1000) && ((DeviceState == BLidle) || (DeviceState == DFUidle && !USB_connected))) {
|
||||
JumpToApp = TRUE;
|
||||
}
|
||||
|
||||
processRX();
|
||||
DataDownload(start);
|
||||
}
|
||||
}
|
||||
|
||||
void jump_to_app()
|
||||
{
|
||||
const struct pios_board_info *bdinfo = &pios_board_info_blob;
|
||||
|
||||
if (((*(__IO uint32_t *)bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
|
||||
FLASH_Lock();
|
||||
RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
|
||||
RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
|
||||
RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
|
||||
RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
|
||||
_SetCNTR(0); // clear interrupt mask
|
||||
_SetISTR(0); // clear all requests
|
||||
JumpAddress = *(__IO uint32_t *)(bdinfo->fw_base + 4);
|
||||
Jump_To_Application = (pFunction)JumpAddress;
|
||||
/* Initialize user application's Stack Pointer */
|
||||
__set_MSP(*(__IO uint32_t *)bdinfo->fw_base);
|
||||
Jump_To_Application();
|
||||
} else {
|
||||
DeviceState = failed_jump;
|
||||
return;
|
||||
}
|
||||
}
|
||||
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count)
|
||||
{
|
||||
uint32_t curr_step = (count / pwm_period) % pwm_sweep_steps; /* 0 - pwm_sweep_steps */
|
||||
uint32_t pwm_duty = pwm_period * curr_step / pwm_sweep_steps; /* fraction of pwm_period */
|
||||
|
||||
uint32_t curr_sweep = (count / (pwm_period * pwm_sweep_steps)); /* ticks once per full sweep */
|
||||
|
||||
if (curr_sweep & 1) {
|
||||
pwm_duty = pwm_period - pwm_duty; /* reverse direction in odd sweeps */
|
||||
}
|
||||
return ((count % pwm_period) > pwm_duty) ? 1 : 0;
|
||||
}
|
||||
|
||||
uint8_t processRX()
|
||||
{
|
||||
// if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
|
||||
// processComand(mReceive_Buffer);
|
||||
// }
|
||||
return TRUE;
|
||||
}
|
73
flight/targets/boards/gpsplatinum/bootloader/pios_board.c
Normal file
73
flight/targets/boards/gpsplatinum/bootloader/pios_board.c
Normal file
@ -0,0 +1,73 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file pios_board.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
|
||||
* @brief Defines board specific static initializers for hardware for the GPS board.
|
||||
* @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
|
||||
*/
|
||||
|
||||
#include <pios.h>
|
||||
#include <pios_board_info.h>
|
||||
|
||||
/*
|
||||
* Pull in the board-specific static HW definitions.
|
||||
* Including .c files is a bit ugly but this allows all of
|
||||
* the HW definitions to be const and static to limit their
|
||||
* scope.
|
||||
*
|
||||
* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
|
||||
*/
|
||||
#include "../board_hw_defs.c"
|
||||
|
||||
uint32_t pios_com_telem_usb_id;
|
||||
|
||||
/**
|
||||
* PIOS_Board_Init()
|
||||
* initializes all the core subsystems on this specific hardware
|
||||
* called from System/openpilot.c
|
||||
*/
|
||||
static bool board_init_complete = false;
|
||||
void PIOS_Board_Init(void)
|
||||
{
|
||||
if (board_init_complete) {
|
||||
return;
|
||||
}
|
||||
|
||||
/* Enable Prefetch Buffer */
|
||||
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
|
||||
|
||||
/* Flash 2 wait state */
|
||||
FLASH_SetLatency(FLASH_Latency_2);
|
||||
|
||||
/* Delay system */
|
||||
PIOS_DELAY_Init();
|
||||
|
||||
const struct pios_board_info *bdinfo = &pios_board_info_blob;
|
||||
|
||||
#if defined(PIOS_INCLUDE_LED)
|
||||
const struct pios_gpio_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
|
||||
PIOS_Assert(led_cfg);
|
||||
PIOS_LED_Init(led_cfg);
|
||||
#endif /* PIOS_INCLUDE_LED */
|
||||
|
||||
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE); // TODO Tirar
|
||||
board_init_complete = true;
|
||||
}
|
||||
|
71
flight/targets/boards/gpsplatinum/firmware/Makefile
Normal file
71
flight/targets/boards/gpsplatinum/firmware/Makefile
Normal file
@ -0,0 +1,71 @@
|
||||
#
|
||||
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
|
||||
# Copyright (c) 2012, PhoenixPilot, http://github.com/PhoenixPilot
|
||||
#
|
||||
# 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 OPENPILOT_IS_COOL
|
||||
$(error Top level Makefile must be used to build this target)
|
||||
endif
|
||||
|
||||
include ../board-info.mk
|
||||
include $(ROOT_DIR)/make/firmware-defs.mk
|
||||
|
||||
# ARM DSP library
|
||||
USE_DSP_LIB ?= NO
|
||||
|
||||
# Set to YES to build a FW version that will erase data flash memory
|
||||
ERASE_FLASH ?= NO
|
||||
|
||||
# List of mandatory modules to include
|
||||
MODULES += FirmwareIAP
|
||||
|
||||
|
||||
# Include all camera options
|
||||
CDEFS += -DUSE_INPUT_LPF -DUSE_GIMBAL_LPF -DUSE_GIMBAL_FF
|
||||
|
||||
# Erase flash firmware should be buildable from command line
|
||||
ifeq ($(ERASE_FLASH), YES)
|
||||
CDEFS += -DERASE_FLASH
|
||||
endif
|
||||
|
||||
# List C source files here (C dependencies are automatically generated).
|
||||
# Use file-extension c for "c-only"-files
|
||||
## The standard CMSIS startup
|
||||
SRC += $(CMSIS_DEVICEDIR)/system_stm32f0xx.c
|
||||
|
||||
## Application Core
|
||||
SRC += $(OPMODULEDIR)/System/systemmod.c
|
||||
SRC += $(OPSYSTEM)/gpsp.c
|
||||
SRC += $(OPSYSTEM)/pios_board.c
|
||||
SRC += $(FLIGHTLIB)/alarms.c
|
||||
SRC += $(OPUAVTALK)/uavtalk.c
|
||||
SRC += $(OPUAVOBJ)/uavobjectmanager.c
|
||||
SRC += $(OPUAVOBJ)/eventdispatcher.c
|
||||
|
||||
## UAVObjects
|
||||
SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
|
||||
SRC += $(OPUAVSYNTHDIR)/systemstats.c
|
||||
SRC += $(OPUAVSYNTHDIR)/systemsettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/i2cstats.c
|
||||
SRC += $(OPUAVSYNTHDIR)/watchdogstatus.c
|
||||
SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
|
||||
SRC += $(OPUAVSYNTHDIR)/taskinfo.c
|
||||
SRC += $(OPUAVSYNTHDIR)/callbackinfo.c
|
||||
|
||||
PIOS_OMITS_USB = YES
|
||||
include $(ROOT_DIR)/make/apps-defs.mk
|
||||
include $(ROOT_DIR)/make/common-defs.mk
|
117
flight/targets/boards/gpsplatinum/firmware/gpsp.c
Normal file
117
flight/targets/boards/gpsplatinum/firmware/gpsp.c
Normal file
@ -0,0 +1,117 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @brief These files are the core system files of OpenPilot.
|
||||
* They are the ground layer just above PiOS. In practice, OpenPilot actually starts
|
||||
* in the main() function of openpilot.c
|
||||
* @{
|
||||
* @addtogroup OpenPilotCore OpenPilot Core
|
||||
* @brief This is where the OP firmware starts. Those files also define the compile-time
|
||||
* options of the firmware.
|
||||
* @{
|
||||
* @file openpilot.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Sets up and runs main OpenPilot tasks.
|
||||
* @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
|
||||
*/
|
||||
|
||||
#include "inc/openpilot.h"
|
||||
#include <uavobjectsinit.h>
|
||||
#include <hwsettings.h>
|
||||
|
||||
/* Task Priorities */
|
||||
#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
|
||||
|
||||
/* Global Variables */
|
||||
|
||||
/* 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) (Now handled by caller)
|
||||
* If something goes wrong, blink LED1 and LED2 every 100ms
|
||||
*
|
||||
*/
|
||||
int main()
|
||||
{
|
||||
/* NOTE: Do NOT modify the following start-up sequence */
|
||||
/* Any new initialization functions should be added in OpenPilotInit() */
|
||||
|
||||
/* Brings up System using CMSIS functions, enables the LEDs. */
|
||||
PIOS_SYS_Init();
|
||||
|
||||
/* Architecture dependant Hardware and
|
||||
* core subsystem initialisation
|
||||
* (see pios_board.c for your arch)
|
||||
* */
|
||||
PIOS_Board_Init();
|
||||
|
||||
#ifdef ERASE_FLASH
|
||||
PIOS_Flash_Jedec_EraseChip();
|
||||
#if defined(PIOS_LED_HEARTBEAT)
|
||||
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
|
||||
#endif /* PIOS_LED_HEARTBEAT */
|
||||
while (1) {
|
||||
;
|
||||
}
|
||||
#endif
|
||||
|
||||
/* Initialize modules */
|
||||
MODULE_INITIALISE_ALL
|
||||
/* swap the stack to use the IRQ stack */
|
||||
Stack_Change();
|
||||
|
||||
/* Start the FreeRTOS scheduler, which should never return.
|
||||
*
|
||||
* NOTE: OpenPilot runs an operating system (FreeRTOS), which constantly calls
|
||||
* (schedules) function files (modules). These functions never return from their
|
||||
* while loops, which explains why each module has a while(1){} segment. Thus,
|
||||
* the OpenPilot software actually starts at the vTaskStartScheduler() function,
|
||||
* even though this is somewhat obscure.
|
||||
*
|
||||
* In addition, there are many main() functions in the OpenPilot firmware source tree
|
||||
* This is because each main() refers to a separate hardware platform. Of course,
|
||||
* C only allows one main(), so only the relevant main() function is compiled when
|
||||
* making a specific firmware.
|
||||
*
|
||||
*/
|
||||
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 */
|
||||
while (1) {
|
||||
#if defined(PIOS_LED_HEARTBEAT)
|
||||
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
|
||||
#endif /* PIOS_LED_HEARTBEAT */
|
||||
PIOS_DELAY_WaitmS(100);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
@ -0,0 +1,98 @@
|
||||
#ifndef FREERTOS_CONFIG_H
|
||||
#define FREERTOS_CONFIG_H
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* Application specific definitions.
|
||||
*
|
||||
* These definitions should be adjusted for your particular hardware and
|
||||
* application requirements.
|
||||
*
|
||||
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
|
||||
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
|
||||
*
|
||||
* See http://www.freertos.org/a00110.html.
|
||||
*----------------------------------------------------------*/
|
||||
|
||||
/**
|
||||
* @addtogroup PIOS PIOS
|
||||
* @{
|
||||
* @addtogroup FreeRTOS FreeRTOS
|
||||
* @{
|
||||
*/
|
||||
|
||||
/* Notes: We use 5 task priorities */
|
||||
#define configUSE_PREEMPTION 1
|
||||
#define configUSE_IDLE_HOOK 1
|
||||
#define configUSE_TICK_HOOK 0
|
||||
#define configUSE_MALLOC_FAILED_HOOK 1
|
||||
#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)48)
|
||||
#define configTOTAL_HEAP_SIZE ((size_t)(53 * 256))
|
||||
#define configMAX_TASK_NAME_LEN (16)
|
||||
#define configUSE_TRACE_FACILITY 0
|
||||
#define configUSE_16_BIT_TICKS 0
|
||||
#define configIDLE_SHOULD_YIELD 0
|
||||
#define configUSE_MUTEXES 1
|
||||
#define configUSE_RECURSIVE_MUTEXES 1
|
||||
#define configUSE_COUNTING_SEMAPHORES 0
|
||||
#define configUSE_ALTERNATIVE_API 0
|
||||
#define configQUEUE_REGISTRY_SIZE 10
|
||||
|
||||
/* Co-routine definitions. */
|
||||
#define configUSE_CO_ROUTINES 0
|
||||
#define configMAX_CO_ROUTINE_PRIORITIES (2)
|
||||
|
||||
/* Set the following definitions to 1 to include the API function, or zero
|
||||
to exclude the API function. */
|
||||
|
||||
#define INCLUDE_vTaskPrioritySet 1
|
||||
#define INCLUDE_uxTaskPriorityGet 1
|
||||
#define INCLUDE_vTaskDelete 1
|
||||
#define INCLUDE_vTaskCleanUpResources 0
|
||||
#define INCLUDE_vTaskSuspend 1
|
||||
#define INCLUDE_vTaskDelayUntil 1
|
||||
#define INCLUDE_vTaskDelay 1
|
||||
#define INCLUDE_xTaskGetSchedulerState 1
|
||||
#define INCLUDE_xTaskGetCurrentTaskHandle 1
|
||||
#define INCLUDE_uxTaskGetStackHighWaterMark 1
|
||||
|
||||
/* This is the raw value as per the Cortex-M3 NVIC. Values can be 255
|
||||
(lowest) to 1 (highest maskable) to 0 (highest non-maskable). */
|
||||
#define configKERNEL_INTERRUPT_PRIORITY 15 << 4 /* equivalent to NVIC priority 15 */
|
||||
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 3 << 4 /* equivalent to NVIC priority 3 */
|
||||
|
||||
/* This is the value being used as per the ST library which permits 16
|
||||
priority values, 0 to 15. This must correspond to the
|
||||
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 */
|
||||
#define configGENERATE_RUN_TIME_STATS 1
|
||||
#define INCLUDE_uxTaskGetRunTime 1
|
||||
#define INCLUDE_xTaskGetIdleTaskHandle 1
|
||||
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() \
|
||||
do { \
|
||||
(*(unsigned long *)0xe000edfc) |= (1 << 24); /* DEMCR |= DEMCR_TRCENA */ \
|
||||
(*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */ \
|
||||
} \
|
||||
while (0)
|
||||
#define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004) /* DWT_CYCCNT */
|
||||
|
||||
#ifdef DIAG_TASKS
|
||||
#define configCHECK_FOR_STACK_OVERFLOW 2
|
||||
#else
|
||||
#define configCHECK_FOR_STACK_OVERFLOW 1
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
#endif /* FREERTOS_CONFIG_H */
|
51
flight/targets/boards/gpsplatinum/firmware/inc/openpilot.h
Normal file
51
flight/targets/boards/gpsplatinum/firmware/inc/openpilot.h
Normal file
@ -0,0 +1,51 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @{
|
||||
* @addtogroup OpenPilotCore OpenPilot Core
|
||||
* @{
|
||||
* @file openpilot.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Main OpenPilot 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 OPENPILOT_H
|
||||
#define OPENPILOT_H
|
||||
|
||||
/* PIOS Includes */
|
||||
#include <pios.h>
|
||||
|
||||
/* OpenPilot Libraries */
|
||||
#include <utlist.h>
|
||||
#include <uavobjectmanager.h>
|
||||
#include <eventdispatcher.h>
|
||||
#include <uavtalk.h>
|
||||
|
||||
#include "alarms.h"
|
||||
|
||||
/* Global Functions */
|
||||
void OpenPilotInit(void);
|
||||
|
||||
#endif /* OPENPILOT_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
177
flight/targets/boards/gpsplatinum/firmware/inc/pios_config.h
Normal file
177
flight/targets/boards/gpsplatinum/firmware/inc/pios_config.h
Normal file
@ -0,0 +1,177 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @{
|
||||
* @addtogroup OpenPilotCore OpenPilot Core
|
||||
* @{
|
||||
* @file pios_config.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013.
|
||||
* @brief PiOS configuration header, the compile time config file for the PIOS.
|
||||
* Defines 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
|
||||
|
||||
/*
|
||||
* Below is a complete list of PIOS configurable options.
|
||||
* Please do not remove or rearrange them. Only comment out
|
||||
* unused options in the list. See main pios.h header for more
|
||||
* details.
|
||||
*/
|
||||
|
||||
/* #define PIOS_INCLUDE_DEBUG_CONSOLE */
|
||||
/* #define DEBUG_LEVEL 0 */
|
||||
/* #define PIOS_ENABLE_DEBUG_PINS */
|
||||
|
||||
/* PIOS FreeRTOS support */
|
||||
#define PIOS_INCLUDE_FREERTOS
|
||||
|
||||
|
||||
/* PIOS CallbackScheduler support */
|
||||
#define PIOS_INCLUDE_CALLBACKSCHEDULER
|
||||
|
||||
/* PIOS bootloader helper */
|
||||
#define PIOS_INCLUDE_BL_HELPER
|
||||
/* #define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT */
|
||||
|
||||
/* PIOS system functions */
|
||||
#define PIOS_INCLUDE_DELAY
|
||||
#define PIOS_INCLUDE_INITCALL
|
||||
#define PIOS_INCLUDE_SYS
|
||||
#define PIOS_INCLUDE_TASK_MONITOR
|
||||
|
||||
/* PIOS hardware peripherals */
|
||||
#define PIOS_INCLUDE_IRQ
|
||||
#define PIOS_INCLUDE_RTC
|
||||
//#define PIOS_INCLUDE_TIM
|
||||
//#define PIOS_INCLUDE_USART
|
||||
//#define PIOS_INCLUDE_ADC
|
||||
/* #define PIOS_INCLUDE_I2C */
|
||||
//#define PIOS_INCLUDE_SPI
|
||||
#define PIOS_INCLUDE_GPIO
|
||||
#define PIOS_INCLUDE_EXTI
|
||||
//#define PIOS_INCLUDE_WDG
|
||||
|
||||
/* PIOS USB functions */
|
||||
//#define PIOS_INCLUDE_USB
|
||||
//#define PIOS_INCLUDE_USB_HID
|
||||
//#define PIOS_INCLUDE_USB_CDC
|
||||
//#define PIOS_INCLUDE_USB_RCTX
|
||||
|
||||
/* PIOS sensor interfaces */
|
||||
//#define PIOS_INCLUDE_ADXL345
|
||||
/* #define PIOS_INCLUDE_BMA180 */
|
||||
/* #define PIOS_INCLUDE_L3GD20 */
|
||||
//#define PIOS_INCLUDE_MPU6000
|
||||
//#define PIOS_MPU6000_ACCEL
|
||||
/* #define PIOS_INCLUDE_HMC5843 */
|
||||
/* #define PIOS_INCLUDE_HMC5883 */
|
||||
/* #define PIOS_HMC5883_HAS_GPIOS */
|
||||
/* #define PIOS_INCLUDE_BMP085 */
|
||||
/* #define PIOS_INCLUDE_MS5611 */
|
||||
/* #define PIOS_INCLUDE_MPXV */
|
||||
/* #define PIOS_INCLUDE_ETASV3 */
|
||||
/* #define PIOS_INCLUDE_HCSR04 */
|
||||
|
||||
/* PIOS receiver drivers */
|
||||
//#define PIOS_INCLUDE_PWM
|
||||
//#define PIOS_INCLUDE_PPM
|
||||
//#define PIOS_INCLUDE_PPM_FLEXI
|
||||
//#define PIOS_INCLUDE_DSM
|
||||
//#define PIOS_INCLUDE_SBUS
|
||||
//#define PIOS_INCLUDE_GCSRCVR
|
||||
//#define PIOS_INCLUDE_OPLINKRCVR
|
||||
|
||||
/* PIOS abstract receiver interface */
|
||||
//#define PIOS_INCLUDE_RCVR
|
||||
|
||||
/* PIOS common peripherals */
|
||||
#define PIOS_INCLUDE_LED
|
||||
#define PIOS_INCLUDE_IAP
|
||||
//#define PIOS_INCLUDE_SERVO
|
||||
/* #define PIOS_INCLUDE_I2C_ESC */
|
||||
/* #define PIOS_INCLUDE_OVERO */
|
||||
/* #define PIOS_OVERO_SPI */
|
||||
/* #define PIOS_INCLUDE_SDCARD */
|
||||
/* #define LOG_FILENAME "startup.log" */
|
||||
//#define PIOS_INCLUDE_FLASH
|
||||
//#define PIOS_INCLUDE_FLASH_LOGFS_SETTINGS
|
||||
/* #define FLASH_FREERTOS */
|
||||
/* #define PIOS_INCLUDE_FLASH_EEPROM */
|
||||
/* #define PIOS_INCLUDE_FLASH_INTERNAL */
|
||||
|
||||
/* PIOS radio modules */
|
||||
/* #define PIOS_INCLUDE_RFM22B */
|
||||
/* #define PIOS_INCLUDE_RFM22B_COM */
|
||||
/* #define PIOS_INCLUDE_PPM_OUT */
|
||||
/* #define PIOS_RFM22B_DEBUG_ON_TELEM */
|
||||
|
||||
/* PIOS misc peripherals */
|
||||
/* #define PIOS_INCLUDE_VIDEO */
|
||||
/* #define PIOS_INCLUDE_WAVE */
|
||||
/* #define PIOS_INCLUDE_UDP */
|
||||
|
||||
/* PIOS abstract comms interface with options */
|
||||
//#define PIOS_INCLUDE_COM
|
||||
/* #define PIOS_INCLUDE_COM_MSG */
|
||||
//#define PIOS_INCLUDE_TELEMETRY_RF
|
||||
/* #define PIOS_INCLUDE_COM_TELEM */
|
||||
/* #define PIOS_INCLUDE_COM_FLEXI */
|
||||
/* #define PIOS_INCLUDE_COM_AUX */
|
||||
/* #define PIOS_TELEM_PRIORITY_QUEUE */
|
||||
//#define PIOS_INCLUDE_GPS
|
||||
//#define PIOS_GPS_MINIMAL
|
||||
//#define PIOS_INCLUDE_GPS_NMEA_PARSER
|
||||
//#define PIOS_INCLUDE_GPS_UBX_PARSER
|
||||
/* #define PIOS_GPS_SETS_HOMELOCATION */
|
||||
|
||||
/* Stabilization options */
|
||||
/* #define PIOS_QUATERNION_STABILIZATION */
|
||||
|
||||
/* 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 850
|
||||
//#ifdef DIAG_TASKS
|
||||
//#define PIOS_SYSTEM_STACK_SIZE 720
|
||||
//#else
|
||||
//#define PIOS_SYSTEM_STACK_SIZE 660
|
||||
//#endif
|
||||
//#define PIOS_TELEM_STACK_SIZE 540
|
||||
//#define PIOS_EVENTDISPATCHER_STACK_SIZE 160
|
||||
|
||||
/* This can't be too high to stop eventdispatcher thread overflowing */
|
||||
//#define PIOS_EVENTDISAPTCHER_QUEUE 10
|
||||
|
||||
/* Revolution series */
|
||||
/* #define REVOLUTION */
|
||||
|
||||
#endif /* PIOS_CONFIG_H */
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
185
flight/targets/boards/gpsplatinum/firmware/pios_board.c
Normal file
185
flight/targets/boards/gpsplatinum/firmware/pios_board.c
Normal file
@ -0,0 +1,185 @@
|
||||
/**
|
||||
*****************************************************************************
|
||||
* @file pios_board.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @author PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @{
|
||||
* @addtogroup OpenPilotCore OpenPilot Core
|
||||
* @{
|
||||
* @brief Defines board specific static initializers for hardware for the CopterControl board.
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* 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
|
||||
*/
|
||||
|
||||
#include "inc/openpilot.h"
|
||||
#include <pios_board_info.h>
|
||||
#include <uavobjectsinit.h>
|
||||
#include <hwsettings.h>
|
||||
#include <manualcontrolsettings.h>
|
||||
#include <gcsreceiver.h>
|
||||
#include <taskinfo.h>
|
||||
|
||||
/*
|
||||
* Pull in the board-specific static HW definitions.
|
||||
* Including .c files is a bit ugly but this allows all of
|
||||
* the HW definitions to be const and static to limit their
|
||||
* scope.
|
||||
*
|
||||
* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
|
||||
*/
|
||||
#include "../board_hw_defs.c"
|
||||
|
||||
#define PIOS_COM_MAIN_RX_BUF_LEN 32
|
||||
#define PIOS_COM_MAIN_TX_BUF_LEN 12
|
||||
|
||||
uint32_t pios_com_main_id;
|
||||
|
||||
uintptr_t pios_uavo_settings_fs_id;
|
||||
uintptr_t pios_user_fs_id = 0;
|
||||
|
||||
|
||||
/**
|
||||
* PIOS_Board_Init()
|
||||
* initializes all the core subsystems on this specific hardware
|
||||
* called from System/openpilot.c
|
||||
*/
|
||||
int32_t init_test;
|
||||
void PIOS_Board_Init(void)
|
||||
{
|
||||
/* Delay system */
|
||||
PIOS_DELAY_Init();
|
||||
|
||||
const struct pios_board_info *bdinfo = &pios_board_info_blob;
|
||||
|
||||
#if defined(PIOS_INCLUDE_LED)
|
||||
const struct pios_gpio_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
|
||||
PIOS_Assert(led_cfg);
|
||||
PIOS_LED_Init(led_cfg);
|
||||
#endif /* PIOS_INCLUDE_LED */
|
||||
|
||||
#if defined(PIOS_INCLUDE_SPI)
|
||||
/* Set up the SPI interface to the serial flash */
|
||||
if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg_cc3d)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
uintptr_t flash_id;
|
||||
switch (bdinfo->board_rev) {
|
||||
case BOARD_REVISION_CC:
|
||||
if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_flash_accel_id, 1)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_w25x_cfg, &pios_jedec_flash_driver, flash_id)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
break;
|
||||
case BOARD_REVISION_CC3D:
|
||||
if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_flash_accel_id, 0)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_m25p_cfg, &pios_jedec_flash_driver, flash_id)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
|
||||
/* Initialize the task monitor */
|
||||
if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
/* Initialize the delayed callback library */
|
||||
PIOS_CALLBACKSCHEDULER_Initialize();
|
||||
|
||||
/* Initialize UAVObject libraries */
|
||||
EventDispatcherInitialize();
|
||||
UAVObjInitialize();
|
||||
#endif
|
||||
|
||||
#if defined(PIOS_INCLUDE_RTC)
|
||||
/* Initialize the real-time clock and its associated tick */
|
||||
PIOS_RTC_Init(&pios_rtc_main_cfg);
|
||||
#endif
|
||||
PIOS_IAP_Init();
|
||||
// check for safe mode commands from gcs
|
||||
#ifdef PIOS_INCLUDE_FLASH_LOGFS_SETTINGS
|
||||
if (PIOS_IAP_ReadBootCmd(0) == PIOS_IAP_CLEAR_FLASH_CMD_0 &&
|
||||
PIOS_IAP_ReadBootCmd(1) == PIOS_IAP_CLEAR_FLASH_CMD_1 &&
|
||||
PIOS_IAP_ReadBootCmd(2) == PIOS_IAP_CLEAR_FLASH_CMD_2) {
|
||||
PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
|
||||
PIOS_IAP_WriteBootCmd(0, 0);
|
||||
PIOS_IAP_WriteBootCmd(1, 0);
|
||||
PIOS_IAP_WriteBootCmd(2, 0);
|
||||
}
|
||||
#endif
|
||||
|
||||
HwSettingsInitialize();
|
||||
|
||||
#ifndef ERASE_FLASH
|
||||
/* Initialize watchdog as early as possible to catch faults during init */
|
||||
#ifdef PIOS_INCLUDE_WDG
|
||||
PIOS_WDG_Init();
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/* Initialize the alarms library */
|
||||
AlarmsInitialize();
|
||||
|
||||
/* Check for repeated boot failures */
|
||||
uint16_t boot_count = PIOS_IAP_ReadBootCount();
|
||||
if (boot_count < 3) {
|
||||
PIOS_IAP_WriteBootCount(++boot_count);
|
||||
AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
|
||||
} else {
|
||||
/* Too many failed boot attempts, force hwsettings to defaults */
|
||||
HwSettingsSetDefaults(HwSettingsHandle(), 0);
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
|
||||
}
|
||||
#if defined(PIOS_INCLUDE_COM)
|
||||
{
|
||||
uint32_t pios_usart_generic_id;
|
||||
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_MAIN_RX_LEN);
|
||||
PIOS_Assert(rx_buffer);
|
||||
|
||||
uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_MAIN_TX_LEN);
|
||||
PIOS_Assert(tx_buffer);
|
||||
if (PIOS_COM_Init(&pios_com_main_id, &pios_usart_com_driver, pios_usart_generic_id,
|
||||
rx_buffer, PIOS_COM_MAIN_RX_LEN,
|
||||
tx_buffer, PIOS_COM_MAIN_TX_LEN)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined(PIOS_INCLUDE_I2C)
|
||||
{
|
||||
if (PIOS_I2C_Init(&pios_i2c_flexi_adapter_id, &pios_i2c_flexi_adapter_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_I2C */
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
208
flight/targets/boards/gpsplatinum/pios_board.h
Normal file
208
flight/targets/boards/gpsplatinum/pios_board.h
Normal file
@ -0,0 +1,208 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file pios_board.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Defines board hardware for the OpenPilot Version 1.1 hardware.
|
||||
* @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_BOARD_H
|
||||
#define PIOS_BOARD_H
|
||||
// ------------------------
|
||||
// Timers and Channels Used
|
||||
// ------------------------
|
||||
/*
|
||||
Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
|
||||
------+-----------+-----------+-----------+----------
|
||||
TIM1 | Servo 4 | | |
|
||||
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
|
||||
------+-----------+-----------+-----------+----------
|
||||
*/
|
||||
|
||||
// ------------------------
|
||||
// DMA Channels Used
|
||||
// ------------------------
|
||||
/* Channel 1 - */
|
||||
/* Channel 2 - */
|
||||
/* Channel 3 - */
|
||||
/* Channel 4 - */
|
||||
/* Channel 5 - */
|
||||
/* Channel 6 - */
|
||||
/* Channel 7 - */
|
||||
/* Channel 8 - */
|
||||
/* Channel 9 - */
|
||||
/* Channel 10 - */
|
||||
/* Channel 11 - */
|
||||
/* Channel 12 - */
|
||||
|
||||
// ------------------------
|
||||
// BOOTLOADER_SETTINGS
|
||||
// ------------------------
|
||||
#define BOARD_READABLE TRUE
|
||||
#define BOARD_WRITABLE TRUE
|
||||
#define MAX_DEL_RETRYS 3
|
||||
|
||||
// ------------------------
|
||||
// WATCHDOG_SETTINGS
|
||||
// ------------------------
|
||||
#define PIOS_WATCHDOG_TIMEOUT 250
|
||||
#define PIOS_WDG_REGISTER BKP_DR4
|
||||
#define PIOS_WDG_SYSTEM 0x0001
|
||||
#define PIOS_WDG_GPS 0x0002
|
||||
#define PIOS_WDG_MAG 0x0004
|
||||
|
||||
// ------------------------
|
||||
// TELEMETRY
|
||||
// ------------------------
|
||||
// #define TELEM_QUEUE_SIZE 20
|
||||
|
||||
// ------------------------
|
||||
// PIOS_LED
|
||||
// ------------------------
|
||||
#define PIOS_LED_HEARTBEAT 0
|
||||
|
||||
// -------------------------
|
||||
// System Settings
|
||||
// -------------------------
|
||||
#define PIOS_MASTER_CLOCK 48000000
|
||||
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
|
||||
|
||||
// -------------------------
|
||||
// Interrupt Priorities
|
||||
// -------------------------
|
||||
#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS
|
||||
#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS
|
||||
#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
|
||||
#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
|
||||
// ------------------------
|
||||
// PIOS_I2C
|
||||
// See also pios_board.c
|
||||
// ------------------------
|
||||
#define PIOS_I2C_MAX_DEVS 1
|
||||
extern uint32_t pios_i2c_gps_adapter_id;
|
||||
#define PIOS_I2C_GPS (pios_i2c_gps_adapter_id)
|
||||
|
||||
// -------------------------
|
||||
// SPI
|
||||
//
|
||||
// See also pios_board.c
|
||||
// -------------------------
|
||||
#define PIOS_SPI_MAX_DEVS 0
|
||||
|
||||
// -------------------------
|
||||
// PIOS_USART
|
||||
// -------------------------
|
||||
#define PIOS_USART_MAX_DEVS 1
|
||||
|
||||
// -------------------------
|
||||
// PIOS_COM
|
||||
//
|
||||
// See also pios_board.c
|
||||
// -------------------------
|
||||
#define PIOS_COM_MAX_DEVS 1
|
||||
|
||||
extern uint32_t pios_com_telem_rf_id;
|
||||
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
|
||||
|
||||
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
|
||||
extern uint32_t pios_com_debug_id;
|
||||
#define PIOS_COM_DEBUG (pios_com_debug_id)
|
||||
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
|
||||
|
||||
// -------------------------
|
||||
// ADC
|
||||
// PIOS_ADC_PinGet(0) = Gyro Z
|
||||
// PIOS_ADC_PinGet(1) = Gyro Y
|
||||
// PIOS_ADC_PinGet(2) = Gyro X
|
||||
// -------------------------
|
||||
// #define PIOS_ADC_OVERSAMPLING_RATE 1
|
||||
#if 0
|
||||
#define PIOS_ADC_USE_TEMP_SENSOR 1
|
||||
#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
|
||||
#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
|
||||
|
||||
#define PIOS_ADC_PIN1_GPIO_PORT GPIOA // PA4 (Gyro X)
|
||||
#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_4 // ADC12_IN4
|
||||
#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_4
|
||||
#define PIOS_ADC_PIN1_ADC ADC2
|
||||
#define PIOS_ADC_PIN1_ADC_NUMBER 1
|
||||
|
||||
#define PIOS_ADC_PIN2_GPIO_PORT GPIOA // PA5 (Gyro Y)
|
||||
#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_5 // ADC123_IN5
|
||||
#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_5
|
||||
#define PIOS_ADC_PIN2_ADC ADC1
|
||||
#define PIOS_ADC_PIN2_ADC_NUMBER 2
|
||||
|
||||
#define PIOS_ADC_PIN3_GPIO_PORT GPIOA // PA3 (Gyro Z)
|
||||
#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_3 // ADC12_IN3
|
||||
#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_3
|
||||
#define PIOS_ADC_PIN3_ADC ADC2
|
||||
#define PIOS_ADC_PIN3_ADC_NUMBER 2
|
||||
|
||||
#define PIOS_ADC_NUM_PINS 3
|
||||
|
||||
#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT }
|
||||
#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN }
|
||||
#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_ADC_CHANNELS 2
|
||||
#define PIOS_ADC_USE_ADC2 1
|
||||
#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
|
||||
#define PIOS_ADC_ADCCLK RCC_PCLK2_Div8
|
||||
/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
|
||||
/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
|
||||
/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
|
||||
/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
|
||||
#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
|
||||
/* Sample time: */
|
||||
/* With an ADCCLK = 14 MHz and a sampling time of 239.5 cycles: */
|
||||
/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
|
||||
/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
|
||||
#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_LOW
|
||||
|
||||
// Currently analog acquistion hard coded at 480 Hz
|
||||
// PCKL2 = HCLK / 16
|
||||
// ADCCLK = PCLK2 / 2
|
||||
#define PIOS_ADC_RATE (72.0e6f / 1.0f / 8.0f / 252.0f / (PIOS_ADC_NUM_CHANNELS >> PIOS_ADC_USE_ADC2))
|
||||
#define PIOS_ADC_MAX_OVERSAMPLING 36
|
||||
|
||||
#define PIOS_ADC_TEMPERATURE_PIN 0
|
||||
#endif // if 0
|
||||
|
||||
// --------------------------
|
||||
// Timer controller settings
|
||||
// --------------------------
|
||||
#define PIOS_TIM_MAX_DEVS 3
|
||||
|
||||
// -------------------------
|
||||
// GPIO
|
||||
// -------------------------
|
||||
#define PIOS_GPIO_PORTS {}
|
||||
#define PIOS_GPIO_PINS {}
|
||||
#define PIOS_GPIO_CLKS {}
|
||||
#define PIOS_GPIO_NUM 0
|
||||
|
||||
#define PIOS_USB_ENABLED 0
|
||||
|
||||
#endif /* PIOS_BOARD_H */
|
Loading…
x
Reference in New Issue
Block a user