mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-29 14:52:12 +01:00
Merged some stuff to make original hardware work better
This commit is contained in:
Sambas
parent
faf3532ad3
commit
a3b9451bcd
@ -480,7 +480,6 @@ void drawBox(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2)
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*/
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void write_pixel(uint8_t *buff, unsigned int x, unsigned int y, int mode)
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{
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APPLY_DEADBAND(x, y);
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CHECK_COORDS(x, y);
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// Determine the bit in the word to be set and the word
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// index to set it in.
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@ -2179,14 +2178,65 @@ void lamas(void)
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//main draw function
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void updateGraphics() {
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OsdSettingsData OsdSettings;
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OsdSettingsGet (&OsdSettings);
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AttitudeActualData attitude;
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AttitudeActualGet(&attitude);
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GPSPositionData gpsData;
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GPSPositionGet(&gpsData);
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HomeLocationData home;
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HomeLocationGet(&home);
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if(home.Set == HOMELOCATION_SET_FALSE)
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{
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char temps[20]={0};
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sprintf(temps,"HOME NOT SET");
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//printTextFB(x,y,temp);
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write_string(temps, GRAPHICS_WIDTH_REAL/2-((12*12)/2), GRAPHICS_HEIGHT_REAL/2-18/2, 0, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 3);
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}
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uint32_t disp = 0;
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switch (disp) {
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case 0: // Dave simple
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{
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if(gpsData.Heading>180)
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setAttitudeOsd(0,0,(int16_t)(gpsData.Heading-360));
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else
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setAttitudeOsd(0,0,(int16_t)(gpsData.Heading));
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char temp[50]={0};
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memset(temp, ' ', 40);
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sprintf(temp,"Lat:%11.7f",gpsData.Latitude/10000000.0f);
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write_string(temp, 170, GRAPHICS_HEIGHT_REAL-30, 0, 0, TEXT_VA_BOTTOM, TEXT_HA_LEFT, 0, 3);
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sprintf(temp,"Lon:%11.7f",gpsData.Longitude/10000000.0f);
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write_string(temp, 170, GRAPHICS_HEIGHT_REAL-10, 0, 0, TEXT_VA_BOTTOM, TEXT_HA_LEFT, 0, 3);
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sprintf(temp,"Sat:%d",(int)gpsData.Satellites);
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write_string(temp, GRAPHICS_WIDTH_REAL-40, 30, 0, 0, TEXT_VA_TOP, TEXT_HA_RIGHT, 0, 2);
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/* Print ADC voltage FLIGHT*/
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sprintf(temp,"V:%4.2fV",(PIOS_ADC_PinGet(2)*3.0f*6.1f/4096.0f));
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write_string(temp, 170, 20, 0, 0, TEXT_VA_TOP, TEXT_HA_LEFT, 0, 3);
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calcHomeArrow();
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write_vline( draw_buffer_level,GRAPHICS_WIDTH_REAL-12,0,GRAPHICS_HEIGHT_REAL-1,1);
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write_vline( draw_buffer_mask,GRAPHICS_WIDTH_REAL-12,0,GRAPHICS_HEIGHT_REAL-1,1);
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// Last pixel
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write_vline( draw_buffer_level,GRAPHICS_WIDTH_REAL-1,0,GRAPHICS_HEIGHT_REAL-1,0);
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write_vline( draw_buffer_mask,GRAPHICS_WIDTH_REAL-1,0,GRAPHICS_HEIGHT_REAL-1,0);
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}
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break;
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case 1:
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{
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if(OsdSettings.Attitude == OSDSETTINGS_ATTITUDE_ENABLED)
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{
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// GPS HACK
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if(gpsData.Heading>180)
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setAttitudeOsd(0,0,(int16_t)(gpsData.Heading-360));
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else
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setAttitudeOsd(0,0,(int16_t)(gpsData.Heading));
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/*drawBox(2,2,GRAPHICS_WIDTH_REAL-4,GRAPHICS_HEIGHT_REAL-4);
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write_filled_rectangle(draw_buffer_mask,0,0,GRAPHICS_WIDTH_REAL-2,GRAPHICS_HEIGHT_REAL-2,0);
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write_filled_rectangle(draw_buffer_mask,2,2,GRAPHICS_WIDTH_REAL-4-2,GRAPHICS_HEIGHT_REAL-4-2,2);
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@ -2213,7 +2263,8 @@ void updateGraphics() {
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calcHomeArrow();
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/* Draw Attitude Indicator */
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if(OsdSettings.Attitude == OSDSETTINGS_ATTITUDE_ENABLED)
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//if(OsdSettings.Attitude == OSDSETTINGS_ATTITUDE_ENABLED)
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if(0)
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{
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drawAttitude(OsdSettings.AttitudeSetup[OSDSETTINGS_ATTITUDESETUP_X],OsdSettings.AttitudeSetup[OSDSETTINGS_ATTITUDESETUP_Y],attitude.Pitch,attitude.Roll,96);
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}
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@ -2245,19 +2296,19 @@ void updateGraphics() {
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/* Print ADC voltage */
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//sprintf(temp,"Rssi:%4dV",(int)(PIOS_ADC_PinGet(4)*3000/4096));
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//write_string(temp, (GRAPHICS_WIDTH_REAL - 2),15, 0, 0, TEXT_VA_TOP, TEXT_HA_RIGHT, 0, 2);
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sprintf(temp,"Rssi:%4.2fV",(PIOS_ADC_PinGet(4)*3.0f/4096));
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sprintf(temp,"Rssi:%4.2fV",(PIOS_ADC_PinGet(4)*3.0f/4096.0f));
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write_string(temp, (GRAPHICS_WIDTH_REAL - 2),15, 0, 0, TEXT_VA_TOP, TEXT_HA_RIGHT, 0, 2);
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/* Print CPU temperature */
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sprintf(temp,"Temp:%4.2fC",(PIOS_ADC_PinGet(6)*0.29296875f-279));
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sprintf(temp,"Temp:%4.2fC",(PIOS_ADC_PinGet(6)*0.29296875f-264));
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write_string(temp, (GRAPHICS_WIDTH_REAL - 2),25, 0, 0, TEXT_VA_TOP, TEXT_HA_RIGHT, 0, 2);
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/* Print ADC voltage FLIGHT*/
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sprintf(temp,"FltV:%4.2fV",(PIOS_ADC_PinGet(2)*3.0f*6.1f/4096));
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sprintf(temp,"FltV:%4.2fV",(PIOS_ADC_PinGet(2)*3.0f*6.1f/4096.0f));
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write_string(temp, (GRAPHICS_WIDTH_REAL - 2),35, 0, 0, TEXT_VA_TOP, TEXT_HA_RIGHT, 0, 2);
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/* Print ADC voltage VIDEO*/
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sprintf(temp,"VidV:%4.2fV",(PIOS_ADC_PinGet(3)*3.0f*6.1f/4096));
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sprintf(temp,"VidV:%4.2fV",(PIOS_ADC_PinGet(3)*3.0f*6.1f/4096.0f));
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write_string(temp, (GRAPHICS_WIDTH_REAL - 2),45, 0, 0, TEXT_VA_TOP, TEXT_HA_RIGHT, 0, 2);
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/* Print ADC voltage RSSI */
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@ -2279,7 +2330,8 @@ void updateGraphics() {
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dir=1;
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m_alt+=m_pitch/2;
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}
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if(OsdSettings.Battery == OSDSETTINGS_BATTERY_ENABLED)
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//if(OsdSettings.Battery == OSDSETTINGS_BATTERY_ENABLED)
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if(0)
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{
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drawBattery(OsdSettings.BatterySetup[OSDSETTINGS_BATTERYSETUP_X],OsdSettings.BatterySetup[OSDSETTINGS_BATTERYSETUP_Y],m_batt,16);
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}
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@ -2316,9 +2368,21 @@ void updateGraphics() {
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//write_filled_rectangle(draw_buffer_mask,30,30,30,30,1);
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//lamas();
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/* Make sure every line last bit is 0 */
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write_vline( draw_buffer_level,GRAPHICS_WIDTH_REAL-1,0,GRAPHICS_HEIGHT_REAL-1,0);
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write_vline( draw_buffer_mask,GRAPHICS_WIDTH_REAL-1,0,GRAPHICS_HEIGHT_REAL-1,0);
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}
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}
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break;
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default:
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write_vline( draw_buffer_level,0,0,GRAPHICS_HEIGHT_REAL-1,1);
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write_vline( draw_buffer_mask,0,0,GRAPHICS_HEIGHT_REAL-1,1);
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write_vline( draw_buffer_level,16,0,GRAPHICS_HEIGHT_REAL-1,1);
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write_vline( draw_buffer_mask,16,0,GRAPHICS_HEIGHT_REAL-1,1);
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}
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// Must mask out last half-word because SPI keeps clocking it out otherwise
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for (uint32_t i = 0; i < 16; i++) {
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write_vline( draw_buffer_level,GRAPHICS_WIDTH_REAL-i-1,0,GRAPHICS_HEIGHT_REAL-1,0);
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write_vline( draw_buffer_mask,GRAPHICS_WIDTH_REAL-i-1,0,GRAPHICS_HEIGHT_REAL-1,0);
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}
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}
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@ -38,7 +38,7 @@ OUTDIR := $(TOP)/build/$(TARGET)
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DEBUG ?= NO
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# Set to YES when using Code Sourcery toolchain
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CODE_SOURCERY ?= YES
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CODE_SOURCERY ?= NO
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ifeq ($(CODE_SOURCERY), YES)
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REMOVE_CMD = cs-rm
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@ -160,8 +160,8 @@ SRC += $(OPUAVSYNTHDIR)/osdsettings.c
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## PIOS Hardware (Common)
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SRC += $(PIOSCOMMON)/pios_com.c
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#SRC += $(PIOSCOMMON)/pios_hmc5843.c
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#SRC += $(PIOSCOMMON)/printf-stdarg.c
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SRC += $(PIOSCOMMON)/printf2.c
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SRC += $(PIOSCOMMON)/printf-stdarg.c
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#SRC += $(PIOSCOMMON)/printf2.c
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SRC += $(PIOSCOMMON)/pios_crc.c
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SRC += $(PIOSCOMMON)/pios_video.c
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SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c
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@ -10,7 +10,7 @@
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#define oplogo_width 144
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#define oplogo_height 144
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static unsigned short oplogo_bits[] = {
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const static unsigned short oplogo_bits[] = {
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0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
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0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
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0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
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@ -156,7 +156,7 @@ static unsigned short oplogo_bits[] = {
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0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
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0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000 };
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static unsigned short oplogo_mask_bits[] = {
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const static unsigned short oplogo_mask_bits[] = {
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0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
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0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x003f, 0x0000, 0x0000, 0x0000,
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0x0000, 0x0000, 0x0000, 0x0000, 0xc000, 0x03ff, 0x0000, 0x0000, 0x0000,
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@ -305,7 +305,7 @@ static unsigned short oplogo_mask_bits[] = {
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#define level_width 144
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#define level_height 129
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static unsigned short level_bits[] = {
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const static unsigned short level_bits[] = {
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0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
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0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
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0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
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@ -438,7 +438,7 @@ static unsigned short level_bits[] = {
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#define level_mask_width 144
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#define level_mask_height 129
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static unsigned short level_mask_bits[] = {
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const static unsigned short level_mask_bits[] = {
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0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
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0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
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0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
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@ -571,7 +571,7 @@ static unsigned short level_mask_bits[] = {
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#define llama_width 240
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#define llama_height 260
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static unsigned short llama_bits[] = {
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const static unsigned short llama_bits[] = {
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0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
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0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
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0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
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@ -1009,7 +1009,7 @@ static unsigned short llama_bits[] = {
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#define llama_mask_width 240
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#define llama_mask_height 260
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static unsigned short llama_mask_bits[] = {
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const static unsigned short llama_mask_bits[] = {
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0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
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0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
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0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
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@ -101,10 +101,6 @@ void PIOS_Hsync_ISR() {
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//PIOS_LED_On(LED2);
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if(gLineType == LINE_TYPE_GRAPHICS)
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{
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for(int g=0;g<95;g++)
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{
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asm("nop");
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}
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// Activate new line
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DMA_Cmd(dev_cfg->level.dma.tx.channel, ENABLE);
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DMA_Cmd(dev_cfg->mask.dma.tx.channel, ENABLE);
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@ -183,12 +179,10 @@ void PIOS_Video_Init(const struct pios_video_cfg * cfg){
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if (cfg->level.remap)
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{
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GPIO_PinAFConfig(cfg->level.sclk.gpio,
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GPIO_PinSource3,
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//__builtin_ctz(cfg->mask.sclk.init.GPIO_Pin),
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__builtin_ctz(cfg->level.sclk.init.GPIO_Pin),
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cfg->level.remap);
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GPIO_PinAFConfig(cfg->level.miso.gpio,
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GPIO_PinSource4,
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//__builtin_ctz(cfg->level.miso.init.GPIO_Pin),
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__builtin_ctz(cfg->level.miso.init.GPIO_Pin),
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cfg->level.remap);
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}
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@ -246,6 +240,61 @@ void PIOS_Video_Init(const struct pios_video_cfg * cfg){
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}
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/**
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* @brief Interrupt for half and full buffer transfer
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*
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* This interrupt handler swaps between the two halfs of the double buffer to make
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* sure the ahrs uses the most recent data. Only swaps data when AHRS is idle, but
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* really this is a pretense of a sanity check since the DMA engine is consantly
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* running in the background. Keep an eye on the ekf_too_slow variable to make sure
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* it's keeping up.
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*/
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void PIOS_VIDEO_DMA_Handler(void);
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void DMA1_Stream7_IRQHandler(void) __attribute__ ((alias("PIOS_VIDEO_DMA_Handler")));
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void DMA2_Stream5_IRQHandler(void) __attribute__ ((alias("PIOS_VIDEO_DMA_Handler")));
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void PIOS_VIDEO_DMA_Handler(void)
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{
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if (DMA_GetFlagStatus(DMA1_Stream7,DMA_FLAG_TCIF7)) { // transfer completed load next line
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DMA_ClearFlag(DMA1_Stream7,DMA_FLAG_TCIF7);
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//PIOS_LED_Off(LED2);
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/*if(gLineType == LINE_TYPE_GRAPHICS)
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{
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// Load new line
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DMA_Cmd(dev_cfg->mask.dma.tx.channel, DISABLE);
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DMA_Cmd(dev_cfg->level.dma.tx.channel, DISABLE);
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DMA_MemoryTargetConfig(dev_cfg->level.dma.tx.channel,(uint32_t)&disp_buffer_level[line],DMA_Memory_0);
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DMA_MemoryTargetConfig(dev_cfg->mask.dma.tx.channel,(uint32_t)&disp_buffer_mask[line],DMA_Memory_0);
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//DMA_ClearFlag(dev_cfg->mask.dma.tx.channel,DMA_FLAG_TCIF5); // <-- TODO: HARDCODED
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//DMA_ClearFlag(dev_cfg->level.dma.tx.channel,DMA_FLAG_TCIF5); // <-- TODO: HARDCODED
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DMA_SetCurrDataCounter(dev_cfg->level.dma.tx.channel,BUFFER_LINE_LENGTH);
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DMA_SetCurrDataCounter(dev_cfg->mask.dma.tx.channel,BUFFER_LINE_LENGTH);
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}*/
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//PIOS_LED_Toggle(LED2);
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}
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else if (DMA_GetFlagStatus(DMA1_Stream7,DMA_FLAG_HTIF7)) {
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DMA_ClearFlag(DMA1_Stream7,DMA_FLAG_HTIF7);
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}
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else {
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}
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if (DMA_GetFlagStatus(DMA2_Stream5,DMA_FLAG_TCIF5)) { // whole double buffer filled
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DMA_ClearFlag(DMA2_Stream5,DMA_FLAG_TCIF5);
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//PIOS_LED_Toggle(LED3);
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}
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else if (DMA_GetFlagStatus(DMA2_Stream5,DMA_FLAG_HTIF5)) {
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DMA_ClearFlag(DMA2_Stream5,DMA_FLAG_HTIF5);
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}
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else {
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}
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}
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#endif
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@ -108,7 +108,7 @@ SECTIONS
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PROVIDE ( _end = _ebss ) ;
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} > SRAM
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PROVIDE(__HEAP_START = _end );
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/*PROVIDE(__HEAP_START = _end );*/
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/*
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* The heap consumes the remainder of the SRAM.
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*/
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@ -73,7 +73,7 @@ extern void PIOS_Vsync_ISR();
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#define GRAPHICS_LINE 32
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// Real OSD size
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#define GRAPHICS_WIDTH_REAL 336
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#define GRAPHICS_WIDTH_REAL 360
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#define GRAPHICS_HEIGHT_REAL 270
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#define GRAPHICS_WIDTH (GRAPHICS_WIDTH_REAL/8)
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@ -363,7 +363,6 @@ const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = {
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#include <pios_video.h>
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static const struct pios_exti_cfg pios_exti_hsync_cfg __exti_config = {
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.vector = PIOS_Hsync_ISR,
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.line = EXTI_Line7,
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.line = EXTI_Line2,
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.pin = {
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.gpio = GPIOD,
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@ -378,7 +377,7 @@ static const struct pios_exti_cfg pios_exti_hsync_cfg __exti_config = {
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.irq = {
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.init = {
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.NVIC_IRQChannel = EXTI2_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
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.NVIC_IRQChannelPreemptionPriority = 0,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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@ -446,32 +445,13 @@ static const struct pios_video_cfg pios_video_cfg = {
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.flags = (DMA_IT_TCIF7),
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.init = {
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.NVIC_IRQChannel = DMA1_Stream7_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
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.NVIC_IRQChannelPreemptionPriority = 0,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
|
||||
.rx = {
|
||||
//not used
|
||||
.channel = DMA1_Stream4,
|
||||
.init = {
|
||||
.DMA_Channel = DMA_Channel_0,
|
||||
.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR),
|
||||
.DMA_DIR = DMA_DIR_PeripheralToMemory,
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_Medium,
|
||||
//TODO: Enable FIFO
|
||||
.DMA_FIFOMode = DMA_FIFOMode_Disable,
|
||||
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
|
||||
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
|
||||
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
|
||||
},
|
||||
},
|
||||
.rx = {},
|
||||
.tx = {
|
||||
.channel = DMA1_Stream7,
|
||||
.init = {
|
||||
@ -482,9 +462,9 @@ static const struct pios_video_cfg pios_video_cfg = {
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_Word,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_High,
|
||||
.DMA_Priority = DMA_Priority_VeryHigh,
|
||||
.DMA_FIFOMode = DMA_FIFOMode_Disable,
|
||||
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
|
||||
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
|
||||
@ -550,25 +530,7 @@ static const struct pios_video_cfg pios_video_cfg = {
|
||||
},
|
||||
},
|
||||
|
||||
.rx = {
|
||||
//not used
|
||||
.channel = DMA2_Stream0,
|
||||
.init = {
|
||||
.DMA_Channel = DMA_Channel_3,
|
||||
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
|
||||
.DMA_DIR = DMA_DIR_PeripheralToMemory,
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_Medium,
|
||||
.DMA_FIFOMode = DMA_FIFOMode_Disable,
|
||||
/* .DMA_FIFOThreshold */
|
||||
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
|
||||
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
|
||||
},
|
||||
},
|
||||
.rx = {},
|
||||
.tx = {
|
||||
.channel = DMA2_Stream5,
|
||||
.init = {
|
||||
@ -579,9 +541,9 @@ static const struct pios_video_cfg pios_video_cfg = {
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_Word,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_High,
|
||||
.DMA_Priority = DMA_Priority_VeryHigh,
|
||||
.DMA_FIFOMode = DMA_FIFOMode_Disable,
|
||||
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
|
||||
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
|
||||
@ -630,45 +592,5 @@ static const struct pios_video_cfg pios_video_cfg = {
|
||||
|
||||
|
||||
|
||||
|
||||
void PIOS_VIDEO_DMA_Handler(void);
|
||||
void DMA1_Stream7_IRQHandler(void) __attribute__ ((alias("PIOS_VIDEO_DMA_Handler")));
|
||||
void DMA2_Stream5_IRQHandler(void) __attribute__ ((alias("PIOS_VIDEO_DMA_Handler")));
|
||||
|
||||
/**
|
||||
* @brief Interrupt for half and full buffer transfer
|
||||
*
|
||||
* This interrupt handler swaps between the two halfs of the double buffer to make
|
||||
* sure the ahrs uses the most recent data. Only swaps data when AHRS is idle, but
|
||||
* really this is a pretense of a sanity check since the DMA engine is consantly
|
||||
* running in the background. Keep an eye on the ekf_too_slow variable to make sure
|
||||
* it's keeping up.
|
||||
*/
|
||||
void PIOS_VIDEO_DMA_Handler(void)
|
||||
{
|
||||
if (DMA_GetFlagStatus(DMA1_Stream7,DMA_FLAG_TCIF7)) { // whole double buffer filled
|
||||
DMA_ClearFlag(DMA1_Stream7,DMA_FLAG_TCIF7);
|
||||
//PIOS_LED_Toggle(LED2);
|
||||
}
|
||||
else if (DMA_GetFlagStatus(DMA1_Stream7,DMA_FLAG_HTIF7)) {
|
||||
DMA_ClearFlag(DMA1_Stream7,DMA_FLAG_HTIF7);
|
||||
}
|
||||
else {
|
||||
|
||||
}
|
||||
|
||||
if (DMA_GetFlagStatus(DMA2_Stream5,DMA_FLAG_TCIF5)) { // whole double buffer filled
|
||||
DMA_ClearFlag(DMA2_Stream5,DMA_FLAG_TCIF5);
|
||||
//PIOS_LED_Toggle(LED3);
|
||||
}
|
||||
else if (DMA_GetFlagStatus(DMA2_Stream5,DMA_FLAG_HTIF5)) {
|
||||
DMA_ClearFlag(DMA2_Stream5,DMA_FLAG_HTIF5);
|
||||
}
|
||||
else {
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user