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Merge branch 'next' into CC_GPS

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This commit is contained in:
Corvus Corax 2011-08-19 21:34:38 +02:00
commit b75890fcd4
546 changed files with 49976 additions and 26241 deletions
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59
CREDITS.txt
View File

@ -1,13 +1,13 @@
This is a credits file of people that are or have been key contributors to the OpenPilot project.
Without the work of the people in this file OpenPilot would not be what it is today.
This is a credits file of people that are or have been key contributors to the OpenPilot project.
Without the work of the people in this file OpenPilot would not be what it is today.
It is sorted alphabetically by name and formatted so that it allows for easy grepping and beautification by scripts.
It is sorted alphabetically by name and formatted so that it allows for easy grepping and beautification by scripts.
The fields are:
The fields are:
Name (N)
Email (E),
Description of work (D)
Description of work (D)
Current maintainer function (M)
----------
@ -19,29 +19,33 @@ M: SITL Win32
N: David Ankers
E: david (at) openpilot (dot) org
D: Co-founder, Project Coordination
D: Minor GCS infrastructure, updating the credit file
D: Co-founder, Project Coordination
D: Minor GCS infrastructure, updating the credit file
M: Admin
N: Pedro Assuncao
E: pedro (dot) agda (plus) openpilot (at) gmail (dot) com
D: Initial GCS Settings Gadget work
N: Werner Backes
E: werner (at) bit-1 (dot) de
D: Port of CopterControl to PS3 Move Controller (MoveCopter)
N: Jose Barros
E: josembarros (at) hotmail (dot) com
D: Next-Gen OP Map Lib, Y-Modem Library, Uploader Plugin
D: OP Bootloader, AHRS Bootloader, OPUploadTool
M: Bootloader, OP MAP Lib
N: David "Buzz" Carlson
M: Bootloader, OP MAP Lib
N: David "Buzz" Carlson
E: chebuzz (plus) openpilot (at) gmail (dot) com
D: 3D ModelView GCS Plugin, sponsor of HITL merge work and XPlane addition
M: 3D Modelview
N: James Cotton
E: peabody124 (plus) openpilot (at) gmail (dot) com
D: Multiplatform HID implementation (firmware & GCS), GCS Joystick control
D: Posix OpenPilot work and Mac implementation
D: Multiplatform HID implementation (firmware & GCS), GCS Joystick control
D: Posix OpenPilot work and Mac implementation
D: Firmware implementation of Professor Schinstock's INS/GPS
M: Architecture co-lead
@ -52,7 +56,7 @@ D: Floss-JTAG Rev A, 4-layer initial design
N: Frederic Goddeeris
E: fredericgoddeeris (at) hotmail (dot) com
D: I2C work and FreeRTOS work, MK integration
D: EagleTree OSD implementation
D: EagleTree OSD implementation
M: OSD Module
N: Daniel Godin
@ -83,21 +87,21 @@ M: Hardware Architecture Team
N: Mark James
E: mjames (plus) openpilot (at) gmail (dot) com
D: Some of Silk Icon set used in GCS - http://www.famfamfam.com/lab/icons/silk
D: Some of Silk Icon set used in GCS - http://www.famfamfam.com/lab/icons/silk
N: Sami Korhonen
E: samik (dot) korhonen (plus) openpilot (at) gmail (dot) com
D: GPS Module, Spektrum RC Module, OSD work
D: GPS Module, Spektrum RC Module, OSD work
N: Thorsten Klose
E: thorsten (dot) klose (at) dmx (dot) de
D: Embedded STM32 infrastructure
D: Embedded STM32 infrastructure
N: Hallvard Kristiansen
E: hal (at) fleshmx (dot) com
D: GCS Artwork, Quad layout diagrams
N: Edouard Lafargue
N: Edouard Lafargue
E: edouard (at) lafargue (dot) name
D: GCS Dial Plugins, GCS PFD Plugin, GCS GPS plugin, GCS Config plugin
D: Artwork including standard display dials
@ -105,7 +109,7 @@ M: GCS Core
N: Matt Lipski
E: mattlipski (plus) openpilot (at) gmail (dot) com
D: Deluxe Dials Set artwork, (Artificial Horizon, Compass, Turn Indicator)
D: Deluxe Dials Set artwork, (Artificial Horizon, Compass, Turn Indicator)
N: Les Newell
E: les (dot) newell (at) fastmail (dot) co (dot) uk
@ -113,9 +117,9 @@ D: Advanced mixer matrix, SPI protocol based on UAVObjects
N: Ken Northup
E: helos360 (at) bellsouth (dot) net
D: 3D Modelling, Easystar adaption from FMS
D: 3D Modelling, Easystar adaption from FMS
N: Guy McCaldin
N: Guy McCaldin
E: guymcc (at) gmail (dot) com
D: Artwork and design including work on the Deluxe Dial Set
@ -123,11 +127,11 @@ N: Cathy Moss
E: cmoss296 (at) blueyonder (dot) co (dot) uk
D: Hardware design Lead: Gen 2 Mainboard, PipXtreme, Current Sensor
D: Lead dev PipXtreme, creator OP Map Plugin
M: Hardware Architecture Team / PipX Modem
M: Hardware Architecture Team / PipX Modem
N: Angus Peart
E: gussy (at) openpilot (dot) org
D: Co-founder, Principal hardware architect.
D: Co-founder, Principal hardware architect.
D: Hardware design of OpenPilot, AHRS, GPS and other hardware
D: Core developer embedded code
@ -152,7 +156,7 @@ D: GCS Framework and Plugins for the GCS
N: Zik Saleeba
E: zik (at) zikzak (dot) net
D: Initial schematic based on Zik's Flying Fox schematic
D: Initial schematic based on Zik's Flying Fox schematic
N: Professor Dale Schinstock
E: dales (at) ksu (dot) edu
@ -162,16 +166,18 @@ D: Creator of the OpenPilot INS / EKF
N: Oleg Semyonov
E: os-openpilot-org (at) os-propo (dot) info
D: Core tester & Project organisation
M: Common part of multi-platform packaging system
M: Windows NSIS Installer
M: Russian Documentation Lead
N: Stacey Sheldon
E: stac (at) solidgoldbomb (dot) org
D: Core Embedded Developer
D: SPI protocol for AHRS, I2C rewrite and much core work
D: SPI protocol for AHRS, I2C rewrite and much core work
N: Troy Schultz
E: troy (dot) schultz (at) rogers (dot) com
D: INS design review and optimisation
D: INS design review and optimisation
M: Hardware Architecture Team
N: Dr. Erhard Siegl
@ -194,11 +200,10 @@ D: Helicopter support code and mixing for CCPM
N: Vassilis Varveropoulos
E: vassilis (at) openpilot (dot) org
D: Co-founder, Principal embedded software architect.
D: Co-founder, Principal embedded software architect.
D: Module architecture and UAVTalk/UAVObjects implementation.
M: Architecture co-lead
N: Alex Vrubel
E: alex (dot) vrubel (plus) openpilot (at) gmail (dot) com
D: Russian translation of the GCS

43
HISTORY.txt Normal file
View File

@ -0,0 +1,43 @@
Short summary of changes. For a complete list see the git log.
2011-08-10
Added Camera Stabilization and a gui to configure this. This is a software
selectable module from the GUI. However, a restart is required to make it
active. The GUI does not currently expose the configuration for using the
transmitter to change the view angle but this is supported by the hardware.
2011-08-10
By default a lot of diagnostic objects that were enabled by default are now
disabled in the build. This include TaskInfo (and all the FreeRTOS options
that provide that debugging information). Also MixerStatus, I2CStatus,
WatchdogStatus and RateDesired. These can be reenabled for debugging with
-DDIAGNOSTICS.
2011-08-04
Fixed packaging aesthetic issues. Also avoid runtime issues on OSX Lion by
disabling the ModelView and Notify plugins for now (sorry).
2011-07-29
Added support for PPM receivers from James W. Now all 4 interfaces (R/C
standard PWM, combined PPM (MK), Spektrum satellite, Futaba S.Bus) are
supported and configurable through the GCS hardware configuration tab.
2011-07-17
Updated module initialization from Mathieu which separates the initialization
from the task startup. Also implements a method to reclaim unused ram from
initialization and end of memory for the FreeRTOS heap.
2011-07-12
Improvements to the stabilization code. Included a LPF on the gyros to smooth
out noise in high vibration environments. Also two new modes: axis-lock and
weak leveling. Axis-lock will try and hold an axis at a fixed position and
reject any disturbances. This is like heading-hold on a heli for the tail but
can be useful for other axes. Weak leveling is rate mode with a weak
correction to self level the craft - good for easier rate mode flying.
2011-07-07
Dynamic hardware configuration from Stac. The input type is now
selected from ManualControlSettings.InputMode and the aircraft must be rebooted
after changing this. Also for CopterControl the HwSettings object must
indicate which modules are connected to which ports. PPM currently not
working.

94
MILESTONES.txt
View File

@ -1,12 +1,12 @@
This is the Milestones file of the OpenPilot project, its intent is to record the major accomplishments achieved by people using the OpenPilot platform and who gets the karma for performing them.
This is the Milestones file of the OpenPilot project, its intent is to record the major accomplishments achieved by people using the OpenPilot platform and who gets the karma for performing them.
The CREDITS.txt in SVN records the developers and the achievements made by each individual; this file is different as it is aimed at recording and giving credit to the people who achieve milestones in the use of OpenPilot.
The CREDITS.txt in SVN records the developers and the achievements made by each individual; this file is different as it is aimed at recording and giving credit to the people who achieve milestones in the use of OpenPilot.
The fields are:
The fields are:
Milestone description (M)
Milestone description (M)
Credited to (C)
Date (D)
Video (V) - Optional link to video showing milestone
@ -22,7 +22,7 @@ C: James Cotton
D: September 2010
M: First stabilised fixed wing flight
C: Edouard Lafargue
C: Edouard Lafargue
D: September 2010
M: First stabilised Quad flight
@ -38,7 +38,7 @@ C: Cathy Moss
D: October 2010
M: First OpenPilot night flight
C: Dale Schintock
C: Dale Schinstock
D: October 2010
V: http://www.youtube.com/watch?v=yk8ckeRMV8U
@ -53,7 +53,7 @@ D: November 2010
V: http://vimeo.com/17488702
M: First solid OpenPilot Position Hold
C: Dale Schintock
C: Dale Schinstock
D: December 2010
V: http://www.youtube.com/watch?v=BBCGVP0Vpgw
@ -93,39 +93,89 @@ D: March 2011
V: http://vimeo.com/22221798
M: First CopterControl flight on a Hexa
C: Edouard Lafargue
D: March 2011
V: http://vimeo.com/21476466
C: Edouard Lafargue
D: March 2011
V: http://vimeo.com/21476466
M: First CopterControl flight on a Tri
C: Gary Mortimer and the Scorpion
D: March 2011
V: http://vimeo.com/22104334
M: First Y6 OpenPilot flight
C: Sami Korhonen (Sambas)
D: May 2011
V: http://www.vimeo.com/23637586
M: First CopterControl flight on a Flybarless Heli
C: ?
D: ?
V:
C: Oleg Semyonov (osnwt)
D: May 2011
V: http://www.youtube.com/watch?v=-J8cxqzxxWw
M: First V8 Octo OpenPilot flight
C: Sami Korhonen (Sambas)
D: May 2011
V: http://vimeo.com/24258192
M: First Y6 CopterControl flight
C: ?
D: ?
C: Michel Pet
D: June 2011
V: http://www.youtube.com/watch?v=QsE2MQELPZY
M: First MoveCopter flight
C: Werner Backes
D: July 2011
V: http://vimeo.com/25983655
M: First Y4 CopterControl flight
C: Mat Wellington
D: July 2011
V: http://www.youtube.com/watch?v=TxZ4MDGIj1o
M: First V-Tail4 CopterControl flight
C: Mat Wellington
D: July 2011
V: http://www.youtube.com/watch?v=YE4Fd9vdg1I
M: First CopterControl Flybared Heli inverted flight (2:33)
C: Maxim Izergin (Maximus43)
D: August 2011
V: http://www.youtube.com/watch?v=8SrfIS7OkB4
M: First CopterControl Flybared Heli funnel (4:18), loop (5:35)
C: Sergey Solodennikov (alconaft43)
D: August 2011
V: http://www.youtube.com/watch?v=8SrfIS7OkB4
M: First Altitude Hold using Sonar
C:
D:
V:
M: First CopterControl Navigation on RC Ground Vechicle
C:
D:
V:
M: First CopterControl Navigation on RC Water Vechicle
C:
D:
V:
M: First CopterControl flip on a Flybarless Heli
C:
D:
V:
An incomplete list of some future Milestones is below:
* First Helicopter flight with OpenPilot
* First Octo flight with OpenPilot
* First Y6 CopterControl flight
* First Helicopter flight with OpenPilot
* First successful flight using the GCS only and no RC TX
* First use of Magic Waypoint
* First Flybarless Helicopter flight with OpenPilot
* First flight with CopterControl
* First fixed wing navigation flight
* First fixed wing navigation flight
* First Multirotor navigation flight
* First Helicopter navigation flight
* First over 1km navigation flight

449
Makefile
View File

@ -71,36 +71,46 @@ help:
@echo " qt_sdk_install - Install the QT v4.6.2 tools"
@echo " arm_sdk_install - Install the Code Sourcery ARM gcc toolchain"
@echo " openocd_install - Install the OpenOCD JTAG daemon"
@echo " stm32flash_install - Install the stm32flash tool for unbricking boards"
@echo
@echo " [Big Hammer]"
@echo " all - Generate UAVObjects, build openpilot firmware and gcs"
@echo " all_flight - Build all firmware, bootloaders and bootloader updaters"
@echo " all_fw - Build only firmware for all boards"
@echo " all_bl - Build only bootloaders for all boards"
@echo " all_blupd - Build only bootloader updaters for all boards"
@echo " all_bu - Build only bootloader updaters for all boards"
@echo
@echo " all_clean - Remove your build directory ($(BUILD_DIR))"
@echo " all_flight_clean - Remove all firmware, bootloaders and bootloader updaters"
@echo " all_fw_clean - Remove firmware for all boards"
@echo " all_bl_clean - Remove bootlaoders for all boards"
@echo " all_blupd_clean - Remove bootloader updaters for all boards"
@echo " all_bu_clean - Remove bootloader updaters for all boards"
@echo
@echo " all_<board> - Build all available images for <board>"
@echo " all_<board>_clean - Remove all available images for <board>"
@echo
@echo " [Firmware]"
@echo " <board> - Build firmware for <board>"
@echo " supported boards are ($(FW_TARGETS))"
@echo " <board>_clean - Remove firmware for <board>"
@echo " <board>_program - Use OpenOCD + JTAG to write firmware to <board>"
@echo " supported boards are ($(ALL_BOARDS))"
@echo " fw_<board> - Build firmware for <board>"
@echo " supported boards are ($(FW_BOARDS))"
@echo " fw_<board>_clean - Remove firmware for <board>"
@echo " fw_<board>_program - Use OpenOCD + JTAG to write firmware to <board>"
@echo
@echo " [Bootloader]"
@echo " bl_<board> - Build bootloader for <board>"
@echo " supported boards are ($(BL_TARGETS))"
@echo " supported boards are ($(BL_BOARDS))"
@echo " bl_<board>_clean - Remove bootloader for <board>"
@echo " bl_<board>_program - Use OpenOCD + JTAG to write bootloader to <board>"
@echo
@echo " [Bootloader Updater]"
@echo " blupd_<board> - Build bootloader updater for <board>"
@echo " supported boards are ($(BLUPD_TARGETS))"
@echo " blupd_<board>_clean - Remove bootloader updater for <board>"
@echo " bu_<board> - Build bootloader updater for <board>"
@echo " supported boards are ($(BU_BOARDS))"
@echo " bu_<board>_clean - Remove bootloader updater for <board>"
@echo
@echo " [Unbrick a board]"
@echo " unbrick_<board> - Use the STM32's built in boot ROM to write a bootloader to <board>"
@echo " supported boards are ($(BL_BOARDS))"
@echo
@echo " [Simulation]"
@echo " sim_posix - Build OpenPilot simulation firmware for"
@ -170,10 +180,10 @@ qt_sdk_clean:
$(V1) [ ! -d "$(QT_SDK_DIR)" ] || $(RM) -rf $(QT_SDK_DIR)
# Set up ARM (STM32) SDK
ARM_SDK_DIR := $(TOOLS_DIR)/arm-2009q3
ARM_SDK_DIR := $(TOOLS_DIR)/arm-2011.03
.PHONY: arm_sdk_install
arm_sdk_install: ARM_SDK_URL := http://www.codesourcery.com/sgpp/lite/arm/portal/package5353/public/arm-none-eabi/arm-2009q3-68-arm-none-eabi-i686-pc-linux-gnu.tar.bz2
arm_sdk_install: ARM_SDK_URL := http://www.codesourcery.com/sgpp/lite/arm/portal/package8734/public/arm-none-eabi/arm-2011.03-42-arm-none-eabi-i686-pc-linux-gnu.tar.bz2
arm_sdk_install: ARM_SDK_FILE := $(notdir $(ARM_SDK_URL))
# order-only prereq on directory existance:
arm_sdk_install: | $(DL_DIR) $(TOOLS_DIR)
@ -221,6 +231,25 @@ openocd_install: openocd_clean
openocd_clean:
$(V1) [ ! -d "$(OPENOCD_DIR)" ] || $(RM) -r "$(OPENOCD_DIR)"
STM32FLASH_DIR := $(TOOLS_DIR)/stm32flash
.PHONY: stm32flash_install
stm32flash_install: STM32FLASH_URL := http://stm32flash.googlecode.com/svn/trunk
stm32flash_install: STM32FLASH_REV := 52
stm32flash_install: stm32flash_clean
# download the source
$(V0) @echo " DOWNLOAD $(STM32FLASH_URL) @ r$(STM32FLASH_REV)"
$(V1) svn export -q -r "$(STM32FLASH_REV)" "$(STM32FLASH_URL)" "$(STM32FLASH_DIR)"
# build
$(V0) @echo " BUILD $(STM32FLASH_DIR)"
$(V1) $(MAKE) --silent -C $(STM32FLASH_DIR) all
.PHONY: stm32flash_clean
stm32flash_clean:
$(V0) @echo " CLEAN $(STM32FLASH_DIR)"
$(V1) [ ! -d "$(STM32FLASH_DIR)" ] || $(RM) -r "$(STM32FLASH_DIR)"
##############################
#
# Set up paths to tools
@ -265,33 +294,21 @@ gcs_clean: openpilotgcs_clean
.PHONY: openpilotgcs
openpilotgcs: uavobjects_gcs
$(V1) mkdir -p $(BUILD_DIR)/ground/$@
$(V1) ( cd $(BUILD_DIR)/ground/$@ ; \
$(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) ; \
$(V1) ( cd $(BUILD_DIR)/ground/$@ && \
$(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) && \
$(MAKE) -w ; \
)
.PHONY: gcs_installer
gcs_installer: openpilotgcs
ifeq ($(QT_SPEC), win32-g++)
ifeq ($(GCS_BUILD_CONF), release)
$(V1) cd $(BUILD_DIR)/ground/openpilotgcs/packaging/winx86 && $(MAKE) -r --no-print-directory $@
else
$(error $@ can be generated for release build only (GCS_BUILD_CONF=release))
endif
else
$(error $@ is currently only available on Windows)
endif
.PHONY: openpilotgcs_clean
openpilotgcs_clean:
$(V0) @echo " CLEAN $@"
$(V0) @echo " CLEAN $@"
$(V1) [ ! -d "$(BUILD_DIR)/ground/openpilotgcs" ] || $(RM) -r "$(BUILD_DIR)/ground/openpilotgcs"
.PHONY: uavobjgenerator
uavobjgenerator:
$(V1) mkdir -p $(BUILD_DIR)/ground/$@
$(V1) ( cd $(BUILD_DIR)/ground/$@ ; \
$(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro -spec $(QT_SPEC) -r CONFIG+=debug ; \
$(V1) ( cd $(BUILD_DIR)/ground/$@ && \
$(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro -spec $(QT_SPEC) -r CONFIG+=debug && \
$(MAKE) --no-print-directory -w ; \
)
@ -306,7 +323,7 @@ $(UAVOBJ_OUT_DIR):
$(V1) mkdir -p $@
uavobjects_%: $(UAVOBJ_OUT_DIR) uavobjgenerator
$(V1) ( cd $(UAVOBJ_OUT_DIR) ; \
$(V1) ( cd $(UAVOBJ_OUT_DIR) && \
$(UAVOBJGENERATOR) -$* $(UAVOBJ_XML_DIR) $(ROOT_DIR) ; \
)
@ -314,7 +331,7 @@ uavobjects_test: $(UAVOBJ_OUT_DIR) uavobjgenerator
$(V1) $(UAVOBJGENERATOR) -v -none $(UAVOBJ_XML_DIR) $(ROOT_DIR)
uavobjects_clean:
$(V0) @echo " CLEAN $@"
$(V0) @echo " CLEAN $@"
$(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)"
##############################
@ -323,254 +340,149 @@ uavobjects_clean:
#
##############################
FW_TARGETS := openpilot ahrs coptercontrol pipxtreme ins
BL_TARGETS := $(addprefix bl_, $(FW_TARGETS))
BLUPD_TARGETS := $(addprefix blupd_, $(FW_TARGETS))
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
# $(2) = Name of board used in source tree (e.g. CopterControl)
define FW_TEMPLATE
.PHONY: $(1) fw_$(1)
$(1): fw_$(1)_opfw
fw_$(1): fw_$(1)_opfw
fw_$(1)_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/fw_$(1)/dep
$(V1) cd $(ROOT_DIR)/flight/$(2) && \
$$(MAKE) -r --no-print-directory \
BOARD_NAME=$(1) \
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
$$*
.PHONY: $(1)_clean
$(1)_clean: fw_$(1)_clean
fw_$(1)_clean:
$(V0) @echo " CLEAN $$@"
$(V1) $(RM) -fr $(BUILD_DIR)/fw_$(1)
endef
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
# $(2) = Name of board used in source tree (e.g. CopterControl)
define BL_TEMPLATE
.PHONY: bl_$(1)
bl_$(1): bl_$(1)_bin
bl_$(1)_bino: bl_$(1)_bin
bl_$(1)_%:
$(V1) mkdir -p $(BUILD_DIR)/bl_$(1)/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/$(2) && \
$$(MAKE) -r --no-print-directory \
BOARD_NAME=$(1) \
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
$$*
.PHONY: unbrick_$(1)
unbrick_$(1): bl_$(1)_hex
$(if $(filter-out undefined,$(origin UNBRICK_TTY)),
$(V0) @echo " UNBRICK $(1) via $$(UNBRICK_TTY)"
$(V1) $(STM32FLASH_DIR)/stm32flash \
-w $(BUILD_DIR)/bl_$(1)/bl_$(1).hex \
-g 0x0 \
$$(UNBRICK_TTY)
,
$(V0) @echo
$(V0) @echo "ERROR: You must specify UNBRICK_TTY=<serial-device> to use for unbricking."
$(V0) @echo " eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0"
)
.PHONY: bl_$(1)_clean
bl_$(1)_clean:
$(V0) @echo " CLEAN $$@"
$(V1) $(RM) -fr $(BUILD_DIR)/bl_$(1)
endef
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
define BU_TEMPLATE
.PHONY: bu_$(1)
bu_$(1): bu_$(1)_opfw
bu_$(1)_%: bl_$(1)_bino
$(V1) mkdir -p $(BUILD_DIR)/bu_$(1)/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
$$(MAKE) -r --no-print-directory \
BOARD_NAME=$(1) \
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
$$*
.PHONY: bu_$(1)_clean
bu_$(1)_clean:
$(V0) @echo " CLEAN $$@"
$(V1) $(RM) -fr $(BUILD_DIR)/bu_$(1)
endef
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
define BOARD_PHONY_TEMPLATE
.PHONY: all_$(1)
all_$(1): $$(filter fw_$(1), $$(FW_TARGETS))
all_$(1): $$(filter bl_$(1), $$(BL_TARGETS))
all_$(1): $$(filter bu_$(1), $$(BU_TARGETS))
.PHONY: all_$(1)_clean
all_$(1)_clean: $$(addsuffix _clean, $$(filter fw_$(1), $$(FW_TARGETS)))
all_$(1)_clean: $$(addsuffix _clean, $$(filter bl_$(1), $$(BL_TARGETS)))
all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
endef
ALL_BOARDS := openpilot ahrs coptercontrol pipxtreme ins
# Friendly names of each board (used to find source tree)
openpilot_friendly := OpenPilot
coptercontrol_friendly := CopterControl
pipxtreme_friendly := PipXtreme
ins_friendly := INS
ahrs_friendly := AHRS
# Start out assuming that we'll build fw, bl and bu for all boards
FW_BOARDS := $(ALL_BOARDS)
BL_BOARDS := $(ALL_BOARDS)
BU_BOARDS := $(ALL_BOARDS)
# FIXME: The INS build doesn't have a bootloader or bootloader
# updater yet so we need to filter them out to prevent errors.
BL_TARGETS := $(filter-out bl_ins, $(BL_TARGETS))
BLUPD_TARGETS := $(filter-out blupd_ins, $(BLUPD_TARGETS))
BL_BOARDS := $(filter-out ins, $(ALL_BOARDS))
BU_BOARDS := $(filter-out ins, $(ALL_BOARDS))
# Generate the targets for whatever boards are left in each list
FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))
BU_TARGETS := $(addprefix bu_, $(BU_BOARDS))
.PHONY: all_fw all_fw_clean
all_fw: $(addsuffix _bin, $(FW_TARGETS))
all_fw_clean: $(addsuffix _clean, $(FW_TARGETS))
all_fw: $(addsuffix _opfw, $(FW_TARGETS))
all_fw_clean: $(addsuffix _clean, $(FW_TARGETS))
.PHONY: all_bl all_bl_clean
all_bl: $(addsuffix _bin, $(BL_TARGETS))
all_bl_clean: $(addsuffix _clean, $(BL_TARGETS))
all_bl: $(addsuffix _bin, $(BL_TARGETS))
all_bl_clean: $(addsuffix _clean, $(BL_TARGETS))
.PHONY: all_blupd all_blupd_clean
all_blupd: $(addsuffix _bin, $(BLUPD_TARGETS))
all_blupd_clean: $(addsuffix _clean, $(BLUPD_TARGETS))
.PHONY: all_bu all_bu_clean
all_bu: $(addsuffix _opfw, $(BU_TARGETS))
all_bu_clean: $(addsuffix _clean, $(BU_TARGETS))
.PHONY: all_flight all_flight_clean
all_flight: all_fw all_bl all_blupd
all_flight_clean: all_fw_clean all_bl_clean all_blupd_clean
all_flight: all_fw all_bl all_bu
all_flight_clean: all_fw_clean all_bl_clean all_bu_clean
.PHONY: openpilot
openpilot: openpilot_bin
# Expand the groups of targets for each board
$(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
openpilot_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/openpilot/dep
$(V1) cd $(ROOT_DIR)/flight/OpenPilot && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/openpilot" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
# Expand the bootloader updater rules
$(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_friendly))))
.PHONY: openpilot_clean
openpilot_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/openpilot
.PHONY: bl_openpilot
bl_openpilot: bl_openpilot_bin
bl_openpilot_bino: bl_openpilot_bin
bl_openpilot_%:
$(V1) mkdir -p $(BUILD_DIR)/bl_openpilot/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/OpenPilot && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/bl_openpilot" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: bl_openpilot_clean
bl_openpilot_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/bl_openpilot
.PHONY: blupd_openpilot
blupd_openpilot: blupd_openpilot_bin
blupd_openpilot_%: bl_openpilot_bino
$(V1) mkdir -p $(BUILD_DIR)/blupd_openpilot/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/blupd_openpilot" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
BOARD=STM3210E_OP MODEL=HD MODEL_SUFFIX=_OP \
BLOBJ=$(BUILD_DIR)/bl_openpilot/OpenPilot_BL.bin.o $*
.PHONY: blupd_openpilot_clean
blupd_openpilot_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/blupd_openpilot
.PHONY: ahrs
ahrs: ahrs_bin
ahrs_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/ahrs/dep
$(V1) cd $(ROOT_DIR)/flight/AHRS && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: ahrs_clean
ahrs_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/ahrs
.PHONY: bl_ahrs
bl_ahrs: bl_ahrs_bin
bl_ahrs_bino: bl_ahrs_bin
bl_ahrs_%:
$(V1) mkdir -p $(BUILD_DIR)/bl_ahrs/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/AHRS && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/bl_ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: bl_ahrs_clean
bl_ahrs_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/bl_ahrs
.PHONY: blupd_ahrs
blupd_ahrs: blupd_ahrs_bin
blupd_ahrs_%: bl_ahrs_bino bl_ahrs
$(V1) mkdir -p $(BUILD_DIR)/blupd_ahrs/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/blupd_ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
BOARD=STM32103CB_AHRS MODEL=MD \
BLOBJ=$(BUILD_DIR)/bl_ahrs/AHRS_BL.bin.o $*
.PHONY: blupd_ahrs_clean
blupd_ahrs_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/blupd_ahrs
.PHONY: coptercontrol
coptercontrol: coptercontrol_bin
coptercontrol_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/coptercontrol/dep
$(V1) cd $(ROOT_DIR)/flight/CopterControl && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: coptercontrol_clean
coptercontrol_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/coptercontrol
.PHONY: bl_coptercontrol
bl_coptercontrol: bl_coptercontrol_bin
bl_coptercontrol_bino: bl_coptercontrol_bin
bl_coptercontrol_%:
$(V1) mkdir -p $(BUILD_DIR)/bl_coptercontrol/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/CopterControl && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/bl_coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: bl_coptercontrol_clean
bl_coptercontrol_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/bl_coptercontrol
.PHONY: blupd_coptercontrol
blupd_coptercontrol: blupd_coptercontrol_bin
blupd_coptercontrol_%: bl_coptercontrol_bino
$(V1) mkdir -p $(BUILD_DIR)/blupd_coptercontrol/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/blupd_coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
BOARD=STM32103CB_CC_Rev1 MODEL=MD MODEL_SUFFIX=_CC \
BLOBJ=$(BUILD_DIR)/bl_coptercontrol/CopterControl_BL.bin.o $*
.PHONY: blupd_coptercontrol_clean
blupd_coptercontrol_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/blupd_coptercontrol
.PHONY: pipxtreme
pipxtreme: pipxtreme_bin
pipxtreme_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/pipxtreme/dep
$(V1) cd $(ROOT_DIR)/flight/PipXtreme && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/pipxtreme" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: pipxtreme_clean
pipxtreme_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/pipxtreme
.PHONY: bl_pipxtreme
bl_pipxtreme: bl_pipxtreme_bin
bl_pipxtreme_bino: bl_pipxtreme_bin
bl_pipxtreme_%:
$(V1) mkdir -p $(BUILD_DIR)/bl_pipxtreme/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/PipXtreme && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/bl_pipxtreme" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: bl_pipxtreme_clean
bl_pipxtreme_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/bl_pipxtreme
.PHONY: blupd_pipxtreme
blupd_pipxtreme: blupd_pipxtreme_bin
blupd_pipxtreme_%: bl_pipxtreme_bino
$(V1) mkdir -p $(BUILD_DIR)/blupd_pipxtreme/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/blupd_pipxtreme" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
BOARD=STM32103CB_PIPXTREME MODEL=MD MODEL_SUFFIX=_CC \
BLOBJ=$(BUILD_DIR)/bl_pipxtreme/PipXtreme_BL.bin.o $*
.PHONY: blupd_pipxtreme_clean
blupd_pipxtreme_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/blupd_pipxtreme
.PHONY: ins
ins: ins_bin
ins_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/ins/dep
$(V1) cd $(ROOT_DIR)/flight/INS && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/ins" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: ins_clean
ins_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/ins
.PHONY: bl_ins
bl_ins: bl_ins_elf
bl_ins_%:
$(V1) mkdir -p $(BUILD_DIR)/bl_ins/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/INS && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/bl_ins" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: bl_ins_clean
bl_ins_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/bl_ins
# Expand the firmware rules
$(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_friendly))))
# Expand the bootloader rules
$(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_friendly))))
.PHONY: sim_posix
sim_posix: sim_posix_elf
@ -587,3 +499,12 @@ sim_win32_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/sitl_win32
$(V1) $(MAKE) --no-print-directory \
-C $(ROOT_DIR)/flight/OpenPilot --file=$(ROOT_DIR)/flight/OpenPilot/Makefile.win32 $*
##############################
#
# Packaging components
#
##############################
.PHONY: package
package:
$(V1) cd $@ && $(MAKE) --no-print-directory $@

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2
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Those icons come from the Tango set and are used in the GCS.

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69
flight/AHRS/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../)
include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := fw_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options
# Set to YES for debugging
@ -41,21 +48,6 @@ endif
FLASH_TOOL = OPENOCD
# MCU name, submodel and board
# - MCU used for compiler-option (-mcpu)
# - MODEL used for linker-script name (-T) and passed as define
# - BOARD just passed as define (optional)
MCU = cortex-m3
CHIP = STM32F103CBT
BOARD = STM32103CB_AHRS
MODEL = MD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/ahrs
# Target file name (without extension).
TARGET = AHRS
# Paths
AHRS = ./
AHRSINC = $(AHRS)/inc
@ -160,7 +152,7 @@ CPPSRCARM =
# Even though the DOS/Win* filesystem matches both .s and .S the same,
# it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line.
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM =
@ -223,7 +215,6 @@ CDEFS = -DSTM32F10X_$(MODEL)
CDEFS += -DUSE_STDPERIPH_DRIVER
CDEFS += -DUSE_$(BOARD)
CDEFS += -DIN_AHRS
CDEFS += -DUSE_BOOTLOADER
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
@ -299,21 +290,8 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08002000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08002000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f
###SHELL = sh
###COPY = cp
# List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -345,14 +323,6 @@ endif
endif
endif
# Program the device.
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -382,23 +352,37 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.PHONY: elf lss sym hex bin bino
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss
sym: $(OUTDIR)/$(TARGET).sym
hex: $(OUTDIR)/$(TARGET).hex
bin: $(OUTDIR)/$(TARGET).bin
bino: $(OUTDIR)/$(TARGET).bin.o
opfw: $(OUTDIR)/$(TARGET).opfw
# Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).opfw
ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
else
$(error INSTALL_DIR must be specified for $@)
endif
# Target: clean project.
clean: clean_list
@ -434,6 +418,5 @@ else
-include $(shell mkdir $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program
.PHONY : all build clean clean_list install

11
flight/AHRS/ahrs.c
View File

@ -33,6 +33,7 @@
/* OpenPilot Includes */
#include "ahrs.h"
#include <pios_board_info.h>
#include "pios.h"
#include "ahrs_timer.h"
#include "ahrs_spi_comm.h"
@ -1228,6 +1229,8 @@ void homelocation_callback(AhrsObjHandle obj)
void firmwareiapobj_callback(AhrsObjHandle obj)
{
const struct pios_board_info * bdinfo = &pios_board_info_blob;
FirmwareIAPObjData firmwareIAPObj;
FirmwareIAPObjGet(&firmwareIAPObj);
if(firmwareIAPObj.ArmReset==0)
@ -1235,7 +1238,7 @@ void firmwareiapobj_callback(AhrsObjHandle obj)
if(firmwareIAPObj.ArmReset==1)
{
if((firmwareIAPObj.BoardType==BOARD_TYPE) || (firmwareIAPObj.BoardType==0xFF))
if((firmwareIAPObj.BoardType==bdinfo->board_type) || (firmwareIAPObj.BoardType==0xFF))
{
++reset_count;
@ -1247,11 +1250,11 @@ void firmwareiapobj_callback(AhrsObjHandle obj)
}
}
}
else if(firmwareIAPObj.BoardType==BOARD_TYPE && firmwareIAPObj.crc!=PIOS_BL_HELPER_CRC_Memory_Calc())
else if(firmwareIAPObj.BoardType==bdinfo->board_type && firmwareIAPObj.crc!=PIOS_BL_HELPER_CRC_Memory_Calc())
{
PIOS_BL_HELPER_FLASH_Read_Description(firmwareIAPObj.Description,SIZE_OF_DESCRIPTION);
PIOS_BL_HELPER_FLASH_Read_Description(firmwareIAPObj.Description,bdinfo->desc_size);
firmwareIAPObj.crc=PIOS_BL_HELPER_CRC_Memory_Calc();
firmwareIAPObj.BoardRevision=BOARD_REVISION;
firmwareIAPObj.BoardRevision=bdinfo->board_rev;
FirmwareIAPObjSet(&firmwareIAPObj);
}
}

44
flight/AHRS/pios_board.c
View File

@ -54,7 +54,6 @@ static const struct pios_spi_cfg pios_spi_op_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_op_irq_handler,
.flags =
(DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 |
DMA1_FLAG_GL4),
@ -153,11 +152,10 @@ void PIOS_SPI_op_irq_handler(void)
extern void PIOS_ADC_handler(void);
void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
// Remap the ADC DMA handler to this one
const struct pios_adc_cfg pios_adc_cfg = {
static const struct pios_adc_cfg pios_adc_cfg = {
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_ADC_DMA_Handler,
.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
.init = {
.NVIC_IRQChannel = DMA1_Channel1_IRQn,
@ -205,17 +203,10 @@ void PIOS_ADC_handler() {
/*
* AUX USART
*/
void PIOS_USART_aux_irq_handler(void);
void USART3_IRQHandler()
__attribute__ ((alias("PIOS_USART_aux_irq_handler")));
const struct pios_usart_cfg pios_usart_aux_cfg = {
static const struct pios_usart_cfg pios_usart_aux_cfg = {
.regs = USART3,
.init = {
#if defined (PIOS_USART_BAUDRATE)
.USART_BaudRate = PIOS_USART_BAUDRATE,
#else
.USART_BaudRate = 57600,
#endif
.USART_BaudRate = 230400,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
@ -224,7 +215,6 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_aux_irq_handler,
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@ -250,18 +240,15 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
},
};
static uint32_t pios_usart_aux_id;
void PIOS_USART_aux_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_aux_id);
}
#endif /* PIOS_INCLUDE_USART */
#if defined(PIOS_INCLUDE_COM)
#include <pios_com_priv.h>
#define PIOS_COM_AUX_TX_BUF_LEN 192
static uint8_t pios_com_aux_tx_buffer[PIOS_COM_AUX_TX_BUF_LEN];
#endif /* PIOS_INCLUDE_COM */
#if defined(PIOS_INCLUDE_I2C)
@ -279,7 +266,7 @@ void I2C1_EV_IRQHandler()
void I2C1_ER_IRQHandler()
__attribute__ ((alias("PIOS_I2C_main_adapter_er_irq_handler")));
const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
.regs = I2C1,
.init = {
.I2C_Mode = I2C_Mode_I2C,
@ -307,7 +294,6 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.event = {
.handler = PIOS_I2C_main_adapter_ev_irq_handler,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_EV_IRQn,
@ -317,7 +303,6 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.error = {
.handler = PIOS_I2C_main_adapter_er_irq_handler,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_ER_IRQn,
@ -388,11 +373,16 @@ void PIOS_Board_Init(void) {
/* Communication system */
#if !defined(PIOS_ENABLE_DEBUG_PINS)
#if defined(PIOS_INCLUDE_COM)
if (PIOS_USART_Init(&pios_usart_aux_id, &pios_usart_aux_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_aux_id, &pios_usart_com_driver, pios_usart_aux_id)) {
PIOS_DEBUG_Assert(0);
{
uint32_t pios_usart_aux_id;
if (PIOS_USART_Init(&pios_usart_aux_id, &pios_usart_aux_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_aux_id, &pios_usart_com_driver, pios_usart_aux_id,
NULL, 0,
pios_com_aux_tx_buffer, sizeof(pios_com_aux_tx_buffer))) {
PIOS_DEBUG_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
#endif

78
flight/Bootloaders/AHRS/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../../)
include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := bl_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options
# Set to YES for debugging
@ -41,23 +48,6 @@ endif
FLASH_TOOL = OPENOCD
# MCU name, submodel and board
# - MCU used for compiler-option (-mcpu)
# - MODEL used for linker-script name (-T) and passed as define
# - BOARD just passed as define (optional)
MCU = cortex-m3
CHIP = STM32F103CBT
BOARD = STM32103CB_AHRS
MODEL = MD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/bl_ahrs
# Target file name (without extension).
TARGET = AHRS_BL
# Paths
AHRS_BL = ./
AHRS_BLINC = $(AHRS_BL)/inc
@ -100,6 +90,7 @@ SRC += $(PIOSSTM32F10X)/pios_spi.c
## PIOS Hardware (Common)
#SRC += $(PIOSCOMMON)/pios_com.c
#SRC += $(PIOSCOMMON)/pios_hmc5843.c
SRC += $(PIOSCOMMON)/pios_board_info.c
SRC += $(PIOSCOMMON)/pios_opahrs_proto.c
SRC += $(PIOSCOMMON)/printf-stdarg.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
@ -148,7 +139,7 @@ CPPSRCARM =
# Even though the DOS/Win* filesystem matches both .s and .S the same,
# it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line.
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM =
@ -208,6 +199,15 @@ CDEFS = -DSTM32F10X_$(MODEL)
CDEFS += -DUSE_STDPERIPH_DRIVER
CDEFS += -DUSE_$(BOARD)
# Provide (only) the bootloader with board-specific defines
BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -242,8 +242,9 @@ CFLAGS += -O$(OPT)
ifeq ($(DEBUG),NO)
CFLAGS += -fdata-sections -ffunction-sections
endif
CFLAGS += -mcpu=$(MCU) -mthumb
CFLAGS += -mcpu=$(MCU)
CFLAGS += $(CDEFS)
CFLAGS += $(BLONLY_CDEFS)
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame
@ -265,7 +266,7 @@ CONLYFLAGS += $(CSTANDARD)
# Assembler flags.
# -Wa,...: tell GCC to pass this to the assembler.
# -ahlns: create listing
ASFLAGS = -mcpu=$(MCU) -mthumb -I. -x assembler-with-cpp
ASFLAGS = -mcpu=$(MCU) -I. -x assembler-with-cpp
ASFLAGS += $(ADEFS)
ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
@ -290,20 +291,8 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08000000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08000000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f
###SHELL = sh
###COPY = cp
# List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -335,14 +324,6 @@ endif
endif
endif
# Program the device.
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).bin
@echo "Programming with OPENOCD"
$(OOCD_EXE) $(OOCD_CL)
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -372,6 +353,9 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
.PHONY: elf lss sym hex bin bino
elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss
@ -382,13 +366,21 @@ bino: $(OUTDIR)/$(TARGET).bin.o
# Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin
ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
else
$(error INSTALL_DIR must be specified for $@)
endif
# Target: clean project.
clean: clean_list
@ -426,4 +418,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program
.PHONY : all build clean clean_list install

27
flight/Bootloaders/AHRS/main.c
View File

@ -33,6 +33,7 @@
/* OpenPilot Includes */
#include "ahrs_bl.h"
#include <pios_board_info.h>
#include "pios_opahrs_proto.h"
#include "bl_fsm.h" /* lfsm_state */
#include "stm32f10x_flash.h"
@ -108,6 +109,7 @@ static struct opahrs_msg_v0 link_rx_v0;
static struct opahrs_msg_v0 user_tx_v0;
static struct opahrs_msg_v0 user_rx_v0;
void process_spi_request(void) {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
bool msg_to_process = FALSE;
PIOS_IRQ_Disable();
@ -166,15 +168,15 @@ void process_spi_request(void) {
break;
case OPAHRS_MSG_V0_REQ_MEM_MAP:
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_MEM_MAP);
user_tx_v0.payload.user.v.rsp.mem_map.density = HW_TYPE;
user_tx_v0.payload.user.v.rsp.mem_map.density = bdinfo->hw_type;
user_tx_v0.payload.user.v.rsp.mem_map.rw_flags = (BOARD_READABLE
| (BOARD_WRITABLA << 1));
| (BOARD_WRITABLE << 1));
user_tx_v0.payload.user.v.rsp.mem_map.size_of_code_memory
= SIZE_OF_CODE;
= bdinfo->fw_size;
user_tx_v0.payload.user.v.rsp.mem_map.size_of_description
= SIZE_OF_DESCRIPTION;
= bdinfo->desc_size;
user_tx_v0.payload.user.v.rsp.mem_map.start_of_user_code
= START_OF_USER_CODE;
= bdinfo->fw_base;
lfsm_user_set_tx_v0(&user_tx_v0);
break;
case OPAHRS_MSG_V0_REQ_SERIAL:
@ -192,7 +194,7 @@ void process_spi_request(void) {
PIOS_LED_On(LED1);
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
if (!(user_rx_v0.payload.user.v.req.fwup_data.adress
< START_OF_USER_CODE)) {
< bdinfo->fw_base)) {
for (uint8_t x = 0; x
< user_rx_v0.payload.user.v.req.fwup_data.size; ++x) {
if (FLASH_ProgramWord(
@ -250,13 +252,10 @@ void process_spi_request(void) {
return;
}
void jump_to_app() {
//while(TRUE)
//{
// PIOS_LED_Toggle(LED1);
// PIOS_DELAY_WaitmS(1000);
//}
const struct pios_board_info * bdinfo = &pios_board_info_blob;
PIOS_LED_On(LED1);
if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
if (((*(__IO uint32_t*) bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
FLASH_Lock();
RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
@ -265,10 +264,10 @@ void jump_to_app() {
//_SetCNTR(0); // clear interrupt mask
//_SetISTR(0); // clear all requests
JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4);
JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
Jump_To_Application = (pFunction) JumpAddress;
/* Initialize user application's Stack Pointer */
__set_MSP(*(__IO uint32_t*) START_OF_USER_CODE);
__set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
Jump_To_Application();
} else {
boot_status = jump_failed;

8
flight/Bootloaders/AHRS/pios_board.c
View File

@ -55,7 +55,6 @@ static const struct pios_spi_cfg
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_op_irq_handler,
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
.init = {
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
@ -133,11 +132,18 @@ void PIOS_SPI_op_irq_handler(void) {
#include "bl_fsm.h" /* lfsm_* */
static bool board_init_complete = false;
void PIOS_Board_Init() {
if (board_init_complete) {
return;
}
/* Set up the SPI interface to the OP board */
if (PIOS_SPI_Init(&pios_spi_op_id, &pios_spi_op_cfg)) {
PIOS_DEBUG_Assert(0);
}
lfsm_attach(pios_spi_op_id);
lfsm_init();
board_init_complete = true;
}

47
flight/Bootloaders/BootloaderUpdater/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../../)
include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET = bu_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options
# Set to YES to compile for debugging
@ -51,21 +58,6 @@ endif
FLASH_TOOL = OPENOCD
# MCU name, submodel and board
# - MCU used for compiler-option (-mcpu)
# - MODEL used for linker-script name (-T) and passed as define
# - BOARD just passed as define (optional)
MCU = cortex-m3
CHIP = STM32F103CBT
BOARD ?= NULL
MODEL ?= NULL
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = ../../../build/bootloaders/BootloaderUpdater
# Target file name (without extension).
TARGET = BL_Updater
# Paths
OPSYSTEM = .
OPSYSTEMINC = $(OPSYSTEM)/inc
@ -224,7 +216,6 @@ endif
ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
endif
CDEFS += -DUSE_BOOTLOADER
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
@ -309,9 +300,9 @@ LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08003000 bin"
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) $(START_OF_FW_CODE) bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08003000 bin"
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) $(START_OF_FW_CODE) bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
@ -364,6 +355,7 @@ program: $(OUTDIR)/$(TARGET).bin
endif
# Link: create ELF output file from object files.
BLOBJ := $(TOP)/build/bl_$(BOARD_NAME)/bl_$(BOARD_NAME).bin.o
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ) $(BLOBJ)))
# Assemble: create object files from assembler source files.
@ -392,14 +384,16 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.PHONY: elf lss sym hex bin bino
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf
elf.stripped: $(OUTDIR)/$(TARGET).elf.stripped
lss: $(OUTDIR)/$(TARGET).lss
sym: $(OUTDIR)/$(TARGET).sym
hex: $(OUTDIR)/$(TARGET).hex
bin: $(OUTDIR)/$(TARGET).bin
bino: $(OUTDIR)/$(TARGET).bin.o
opfw: $(OUTDIR)/$(TARGET).opfw
# Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
@ -410,6 +404,16 @@ size: $(OUTDIR)/$(TARGET).elf_size
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).opfw
ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
else
$(error INSTALL_DIR must be specified for $@)
endif
# Target: clean project.
clean: begin clean_list finished end
@ -430,7 +434,6 @@ clean_list :
$(V1) $(REMOVE) $(CPPSRC:.cpp=.s)
$(V1) $(REMOVE) $(CPPSRCARM:.cpp=.s)
# Create output files directory
# all known MS Windows OS define the ComSpec environment variable
ifdef ComSpec
@ -447,4 +450,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program
.PHONY : all build clean clean_list program install

BIN
flight/Bootloaders/BootloaderUpdater/test.bin
View File

Binary file not shown.

87
flight/Bootloaders/CopterControl/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../../)
include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := bl_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options
# Set to YES to compile for debugging
@ -48,21 +55,6 @@ endif
FLASH_TOOL = OPENOCD
# MCU name, submodel and board
# - MCU used for compiler-option (-mcpu)
# - MODEL used for linker-script name (-T) and passed as define
# - BOARD just passed as define (optional)
MCU = cortex-m3
CHIP = STM32F103CBT
BOARD = STM32103CB_CC_Rev1
MODEL = MD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/bl_coptercontrol
# Target file name (without extension).
TARGET = CopterControl_BL
# Paths
OPSYSTEM = .
OPSYSTEMINC = $(OPSYSTEM)/inc
@ -102,8 +94,6 @@ DOXYGENDIR = ../Doc/Doxygen
SRC += $(OPSYSTEM)/main.c
SRC += $(OPSYSTEM)/pios_board.c
SRC += $(OPSYSTEM)/op_dfu.c
SRC += $(FLIGHTLIB)/stopwatch.c
## PIOS Hardware (STM32F10x)
SRC += $(PIOSSTM32F10X)/pios_sys.c
@ -123,6 +113,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_board_info.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/pios_iap.c
@ -146,7 +137,6 @@ SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c
SRC += $(STMSPDSRCDIR)/misc.c
@ -180,7 +170,7 @@ CPPSRCARM =
# Even though the DOS/Win* filesystem matches both .s and .S the same,
# it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line.
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM =
@ -259,6 +249,15 @@ ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
endif
# Provide (only) the bootloader with board-specific defines
BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -294,8 +293,9 @@ ifeq ($(DEBUG),NO)
CFLAGS += -ffunction-sections
endif
CFLAGS += -mcpu=$(MCU) -mthumb
CFLAGS += -mcpu=$(MCU)
CFLAGS += $(CDEFS)
CFLAGS += $(BLONLY_CDEFS)
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame
@ -315,7 +315,7 @@ CONLYFLAGS += $(CSTANDARD)
# Assembler flags.
# -Wa,...: tell GCC to pass this to the assembler.
# -ahlns: create listing
ASFLAGS = -mcpu=$(MCU) -mthumb -I. -x assembler-with-cpp
ASFLAGS = -mcpu=$(MCU) -I. -x assembler-with-cpp
ASFLAGS += $(ADEFS)
ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
@ -340,20 +340,8 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08000000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08000000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f
###SHELL = sh
###COPY = cp
# List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -393,14 +381,6 @@ ${OUTDIR}/InitMods.c: Makefile
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# Program the device.
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -428,12 +408,11 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
# Compile: create assembler files from C source files. ARM only
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
# Generate Doxygen documents
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
.PHONY: elf lss sym hex bin bino
elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss
@ -444,8 +423,20 @@ bino: $(OUTDIR)/$(TARGET).bin.o
# Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin
ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
else
$(error INSTALL_DIR must be specified for $@)
endif
# Target: clean project.
clean: clean_list
@ -484,4 +475,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program
.PHONY : all build clean clean_list install

64
flight/Bootloaders/CopterControl/main.c
View File

@ -27,7 +27,7 @@
*/
/* Bootloader Includes */
#include <pios.h>
#include "stopwatch.h"
#include <pios_board_info.h>
#include "op_dfu.h"
#include "usb_lib.h"
#include "pios_iap.h"
@ -46,9 +46,9 @@ pFunction Jump_To_Application;
uint32_t JumpAddress;
/// LEDs PWM
uint32_t period1 = 50; // *100 uS -> 5 mS
uint32_t period1 = 5000; // 5 mS
uint32_t sweep_steps1 = 100; // * 5 mS -> 500 mS
uint32_t period2 = 50; // *100 uS -> 5 mS
uint32_t period2 = 5000; // 5 mS
uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
@ -69,7 +69,6 @@ uint8_t processRX();
void jump_to_app();
#define BLUE LED1
#define LED_PWM_TIMER TIM1
int main() {
PIOS_SYS_Init();
if (BSL_HOLD_STATE == 0)
@ -92,13 +91,17 @@ int main() {
DeviceState = DFUidle;
else
DeviceState = BLidle;
STOPWATCH_Init(100, LED_PWM_TIMER);
} else
JumpToApp = TRUE;
STOPWATCH_Reset(LED_PWM_TIMER);
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();
@ -106,19 +109,19 @@ int main() {
case Last_operation_Success:
case uploadingStarting:
case DFUidle:
period1 = 50;
period1 = 5000;
sweep_steps1 = 100;
PIOS_LED_Off(BLUE);
period2 = 0;
break;
case uploading:
period1 = 50;
period1 = 5000;
sweep_steps1 = 100;
period2 = 25;
period2 = 2500;
sweep_steps2 = 50;
break;
case downloading:
period1 = 25;
period1 = 2500;
sweep_steps1 = 50;
PIOS_LED_Off(BLUE);
period2 = 0;
@ -129,14 +132,14 @@ int main() {
period2 = 0;
break;
default://error
period1 = 50;
period1 = 5000;
sweep_steps1 = 100;
period2 = 50;
period2 = 5000;
sweep_steps2 = 100;
}
if (period1 != 0) {
if (LedPWM(period1, sweep_steps1, STOPWATCH_ValueGet(LED_PWM_TIMER)))
if (LedPWM(period1, sweep_steps1, stopwatch))
PIOS_LED_On(BLUE);
else
PIOS_LED_Off(BLUE);
@ -144,16 +147,16 @@ int main() {
PIOS_LED_On(BLUE);
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, STOPWATCH_ValueGet(LED_PWM_TIMER)))
if (LedPWM(period2, sweep_steps2, stopwatch))
PIOS_LED_On(BLUE);
else
PIOS_LED_Off(BLUE);
} else
PIOS_LED_Off(BLUE);
if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100)
STOPWATCH_Reset(LED_PWM_TIMER);
if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState
if (stopwatch > 50 * 1000 * 1000)
stopwatch = 0;
if ((stopwatch > 6 * 1000 * 1000) && (DeviceState
== BLidle))
JumpToApp = TRUE;
@ -163,7 +166,9 @@ int main() {
}
void jump_to_app() {
if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
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);
@ -171,10 +176,10 @@ void jump_to_app() {
RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
_SetCNTR(0); // clear interrupt mask
_SetISTR(0); // clear all requests
JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4);
JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
Jump_To_Application = (pFunction) JumpAddress;
/* Initialize user application's Stack Pointer */
__set_MSP(*(__IO uint32_t*) START_OF_USER_CODE);
__set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
Jump_To_Application();
} else {
DeviceState = failed_jump;
@ -182,20 +187,21 @@ void jump_to_app() {
}
}
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
uint32_t pwm_duty = ((count / pwm_period) % pwm_sweep_steps)
/ (pwm_sweep_steps / pwm_period);
if ((count % (2 * pwm_period * pwm_sweep_steps)) > pwm_period
* pwm_sweep_steps)
pwm_duty = pwm_period - pwm_duty; // negative direction each 50*100 ticks
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() {
while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB) >= 63) {
for (int32_t x = 0; x < 63; ++x) {
mReceive_Buffer[x] = PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB);
if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) {
processComand(mReceive_Buffer);
}
processComand(mReceive_Buffer);
}
return TRUE;
}

17
flight/Bootloaders/CopterControl/op_dfu.c
View File

@ -30,6 +30,7 @@
#include "pios.h"
#include "op_dfu.h"
#include "pios_bl_helper.h"
#include <pios_board_info.h>
//programmable devices
Device devicesTable[10];
uint8_t numberOfDevices = 0;
@ -382,16 +383,18 @@ void processComand(uint8_t *xReceive_Buffer) {
return;
}
void OPDfuIni(uint8_t discover) {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
Device dev;
dev.programmingType = Self_flash;
dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLA << 1));
dev.startOfUserCode = START_OF_USER_CODE;
dev.sizeOfCode = SIZE_OF_CODE;
dev.sizeOfDescription = SIZE_OF_DESCRIPTION;
dev.BL_Version = BOOTLOADER_VERSION;
dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
dev.startOfUserCode = bdinfo->fw_base;
dev.sizeOfCode = bdinfo->fw_size;
dev.sizeOfDescription = bdinfo->desc_size;
dev.BL_Version = bdinfo->bl_rev;
dev.FW_Crc = CalcFirmCRC();
dev.devID = (BOARD_TYPE << 8) | BOARD_REVISION;
dev.devType = HW_TYPE;
dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
dev.devType = bdinfo->hw_type;
numberOfDevices = 1;
devicesTable[0] = dev;
if (discover) {

41
flight/Bootloaders/CopterControl/pios_board.c
View File

@ -31,10 +31,31 @@
#include <pios_com_priv.h>
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
#endif /* PIOS_INCLUDE_COM */
// ***********************************************************************************
#if defined(PIOS_INCLUDE_USB_HID)
#include "pios_usb_hid_priv.h"
static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
.irq = {
.init = {
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
#endif /* PIOS_INCLUDE_USB_HID */
extern const struct pios_com_driver pios_usb_com_driver;
uint32_t pios_com_telem_usb_id;
@ -44,7 +65,12 @@ uint32_t pios_com_telem_usb_id;
* 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);
@ -58,13 +84,20 @@ void PIOS_Board_Init(void) {
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_USB_HID)
PIOS_USB_HID_Init(0);
uint32_t pios_usb_hid_id;
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg)) {
PIOS_Assert(0);
}
#if defined(PIOS_INCLUDE_COM)
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) {
PIOS_DEBUG_Assert(0);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_USB_HID */
#endif /* PIOS_INCLUDE_USB_HID */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar
board_init_complete = true;
}

72
flight/Bootloaders/OpenPilot/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../../)
include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := bl_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options
# Set to YES to compile for debugging
@ -48,21 +55,6 @@ endif
FLASH_TOOL = OPENOCD
# MCU name, submodel and board
# - MCU used for compiler-option (-mcpu)
# - MODEL used for linker-script name (-T) and passed as define
# - BOARD just passed as define (optional)
MCU = cortex-m3
CHIP = STM32F103RET
BOARD = STM3210E_OP
MODEL = HD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/bl_openpilot
# Target file name (without extension).
TARGET = OpenPilot_BL
# Paths
OPSYSTEM = .
OPSYSTEMINC = $(OPSYSTEM)/inc
@ -124,6 +116,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_board_info.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_opahrs_v0.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
@ -183,7 +176,7 @@ CPPSRCARM =
# Even though the DOS/Win* filesystem matches both .s and .S the same,
# it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line.
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)_OP.S
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM =
@ -262,6 +255,15 @@ ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
endif
# Provide (only) the bootloader with board-specific defines
BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -299,6 +301,7 @@ endif
CFLAGS += -mcpu=$(MCU)
CFLAGS += $(CDEFS)
CFLAGS += $(BLONLY_CDEFS)
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame
@ -343,20 +346,8 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08000000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08000000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f
###SHELL = sh
###COPY = cp
# List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -396,14 +387,6 @@ ${OUTDIR}/InitMods.c: Makefile
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# Program the device.
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -433,6 +416,9 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
.PHONY: elf lss sym hex bin bino
elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss
@ -443,13 +429,21 @@ bino: $(OUTDIR)/$(TARGET).bin.o
# Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin
ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
else
$(error INSTALL_DIR must be specified for $@)
endif
# Target: clean project.
clean: clean_list
@ -487,4 +481,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program
.PHONY : all build clean clean_list install

21
flight/Bootloaders/OpenPilot/main.c
View File

@ -27,6 +27,7 @@
*/
/* Bootloader Includes */
#include <pios.h>
#include <pios_board_info.h>
#include "pios_opahrs.h"
#include "stopwatch.h"
#include "op_dfu.h"
@ -216,7 +217,9 @@ int main() {
}
void jump_to_app() {
if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
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);
@ -225,10 +228,10 @@ void jump_to_app() {
_SetCNTR(0); // clear interrupt mask
_SetISTR(0); // clear all requests
JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4);
JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
Jump_To_Application = (pFunction) JumpAddress;
/* Initialize user application's Stack Pointer */
__set_MSP(*(__IO uint32_t*) START_OF_USER_CODE);
__set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
Jump_To_Application();
} else {
DeviceState = failed_jump;
@ -247,10 +250,9 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
uint8_t processRX() {
if (ProgPort == Usb) {
while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB) >= 63) {
for (int32_t x = 0; x < 63; ++x) {
mReceive_Buffer[x] = PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB);
if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) {
processComand(mReceive_Buffer);
}
processComand(mReceive_Buffer);
}
} else if (ProgPort == Serial) {
@ -276,7 +278,12 @@ void SSP_CallBack(uint8_t *buf, uint16_t len) {
}
int16_t SSP_SerialRead(void) {
if (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_RF) > 0) {
return PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_RF);
uint8_t byte;
if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_RF, &byte, 1, 0) == 1) {
return byte;
} else {
return -1;
}
} else
return -1;
}

17
flight/Bootloaders/OpenPilot/op_dfu.c
View File

@ -30,6 +30,7 @@
#include "pios.h"
#include "op_dfu.h"
#include "pios_bl_helper.h"
#include <pios_board_info.h>
#include "pios_opahrs.h"
#include "ssp.h"
/* Private typedef -----------------------------------------------------------*/
@ -447,16 +448,18 @@ void processComand(uint8_t *xReceive_Buffer) {
return;
}
void OPDfuIni(uint8_t discover) {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
Device dev;
dev.programmingType = Self_flash;
dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLA << 1));
dev.startOfUserCode = START_OF_USER_CODE;
dev.sizeOfCode = SIZE_OF_CODE;
dev.sizeOfDescription = SIZE_OF_DESCRIPTION;
dev.BL_Version = BOOTLOADER_VERSION;
dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
dev.startOfUserCode = bdinfo->fw_base;
dev.sizeOfCode = bdinfo->fw_size;
dev.sizeOfDescription = bdinfo->desc_size;
dev.BL_Version = bdinfo->bl_rev;
dev.FW_Crc = CalcFirmCRC();
dev.devID = (BOARD_TYPE << 8) | BOARD_REVISION;
dev.devType = HW_TYPE;
dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
dev.devType = bdinfo->hw_type;
numberOfDevices = 1;
devicesTable[0] = dev;
if (discover) {

62
flight/Bootloaders/OpenPilot/pios_board.c
View File

@ -60,7 +60,6 @@ const struct pios_spi_cfg
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_ahrs_irq_handler,
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
.init = {
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
@ -143,9 +142,9 @@ void PIOS_SPI_ahrs_irq_handler(void) {
/*
* Telemetry USART
*/
void PIOS_USART_telem_irq_handler(void);
void USART2_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler")));
const struct pios_usart_cfg pios_usart_telem_cfg = { .regs = USART2, .init = {
const struct pios_usart_cfg pios_usart_telem_cfg = {
.regs = USART2,
.init = {
#if defined (PIOS_COM_TELEM_BAUDRATE)
.USART_BaudRate = PIOS_COM_TELEM_BAUDRATE,
#else
@ -157,7 +156,6 @@ const struct pios_usart_cfg pios_usart_telem_cfg = { .regs = USART2, .init = {
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
}, .irq = {
.handler = PIOS_USART_telem_irq_handler,
.init = {
.NVIC_IRQChannel = USART2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@ -180,19 +178,41 @@ const struct pios_usart_cfg pios_usart_telem_cfg = { .regs = USART2, .init = {
},
}, };
static uint32_t pios_usart_telem_rf_id;
void PIOS_USART_telem_irq_handler(void) {
PIOS_USART_IRQ_Handler(pios_usart_telem_rf_id);
}
#endif /* PIOS_INCLUDE_USART */
#if defined(PIOS_INCLUDE_COM)
#include "pios_com_priv.h"
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
static uint8_t pios_com_telem_rf_rx_buffer[PIOS_COM_TELEM_RF_RX_BUF_LEN];
static uint8_t pios_com_telem_rf_tx_buffer[PIOS_COM_TELEM_RF_TX_BUF_LEN];
#endif /* PIOS_INCLUDE_COM */
#if defined(PIOS_INCLUDE_USB_HID)
#include "pios_usb_hid_priv.h"
static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
.irq = {
.init = {
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
#endif /* PIOS_INCLUDE_USB_HID */
extern const struct pios_com_driver pios_usb_com_driver;
uint32_t pios_com_telem_rf_id;
@ -205,7 +225,11 @@ uint32_t pios_com_telem_usb_id;
* 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);
@ -218,11 +242,14 @@ void PIOS_Board_Init(void) {
/* Initialize the PiOS library */
#if defined(PIOS_INCLUDE_COM)
uint32_t pios_usart_telem_rf_id;
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver,
pios_usart_telem_rf_id)) {
pios_usart_telem_rf_id,
pios_com_telem_rf_rx_buffer, sizeof(pios_com_telem_rf_rx_buffer),
pios_com_telem_rf_tx_buffer, sizeof(pios_com_telem_rf_tx_buffer))) {
PIOS_DEBUG_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */
@ -230,13 +257,16 @@ void PIOS_Board_Init(void) {
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_USB_HID)
PIOS_USB_HID_Init(0);
uint32_t pios_usb_hid_id;
PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg);
#if defined(PIOS_INCLUDE_COM)
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) {
PIOS_DEBUG_Assert(0);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_USB_HID */
#endif /* PIOS_INCLUDE_USB_HID */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar
@ -247,6 +277,8 @@ void PIOS_Board_Init(void) {
/* Bind the AHRS comms layer to the AHRS SPI link */
PIOS_OPAHRS_Attach(pios_spi_ahrs_id);
board_init_complete = true;
}
/**

82
flight/Bootloaders/PipXtreme/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../../)
include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := bl_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options
# Set to YES to compile for debugging
@ -48,21 +55,6 @@ endif
FLASH_TOOL = OPENOCD
# MCU name, submodel and board
# - MCU used for compiler-option (-mcpu)
# - MODEL used for linker-script name (-T) and passed as define
# - BOARD just passed as define (optional)
MCU = cortex-m3
CHIP = STM32F103CBT
BOARD = STM32103CB_PIPXTREME
MODEL = MD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/bl_pipxtreme
# Target file name (without extension).
TARGET = PipXtreme_BL
# Paths
OPSYSTEM = .
OPSYSTEMINC = $(OPSYSTEM)/inc
@ -102,8 +94,6 @@ DOXYGENDIR = ../Doc/Doxygen
SRC += $(OPSYSTEM)/main.c
SRC += $(OPSYSTEM)/pios_board.c
SRC += $(OPSYSTEM)/op_dfu.c
SRC += $(FLIGHTLIB)/stopwatch.c
## PIOS Hardware (STM32F10x)
SRC += $(PIOSSTM32F10X)/pios_sys.c
@ -122,6 +112,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_board_info.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/pios_iap.c
@ -145,7 +136,6 @@ SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c
SRC += $(STMSPDSRCDIR)/misc.c
@ -179,7 +169,7 @@ CPPSRCARM =
# Even though the DOS/Win* filesystem matches both .s and .S the same,
# it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line.
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM =
@ -258,6 +248,17 @@ ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
endif
# Provide (only) the bootloader with board-specific defines
BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
BLONLY_CDEFS += -DEE_BANK_BASE=$(EE_BANK_BASE)
BLONLY_CDEFS += -DEE_BANK_SIZE=$(EE_BANK_SIZE)
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -293,8 +294,9 @@ ifeq ($(DEBUG),NO)
CFLAGS += -ffunction-sections
endif
CFLAGS += -mcpu=$(MCU) -mthumb
CFLAGS += -mcpu=$(MCU)
CFLAGS += $(CDEFS)
CFLAGS += $(BLONLY_CDEFS)
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame
@ -314,7 +316,7 @@ CONLYFLAGS += $(CSTANDARD)
# Assembler flags.
# -Wa,...: tell GCC to pass this to the assembler.
# -ahlns: create listing
ASFLAGS = -mcpu=$(MCU) -mthumb -I. -x assembler-with-cpp
ASFLAGS = -mcpu=$(MCU) -I. -x assembler-with-cpp
ASFLAGS += $(ADEFS)
ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
@ -339,20 +341,8 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08000000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08000000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f
###SHELL = sh
###COPY = cp
# List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -392,14 +382,6 @@ ${OUTDIR}/InitMods.c: Makefile
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# Program the device.
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -429,6 +411,9 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
.PHONY: elf lss sym hex bin bino
elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss
@ -439,13 +424,21 @@ bino: $(OUTDIR)/$(TARGET).bin.o
# Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin
ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
else
$(error INSTALL_DIR must be specified for $@)
endif
# Target: clean project.
clean: clean_list
@ -483,5 +476,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program
.PHONY : all build clean clean_list install

66
flight/Bootloaders/PipXtreme/main.c
View File

@ -27,7 +27,7 @@
*/
/* Bootloader Includes */
#include <pios.h>
#include "stopwatch.h"
#include <pios_board_info.h>
#include "op_dfu.h"
#include "usb_lib.h"
#include "pios_iap.h"
@ -46,9 +46,9 @@ pFunction Jump_To_Application;
uint32_t JumpAddress;
/// LEDs PWM
uint32_t period1 = 50; // *100 uS -> 5 mS
uint32_t period1 = 5000; // 5 mS
uint32_t sweep_steps1 = 100; // * 5 mS -> 500 mS
uint32_t period2 = 50; // *100 uS -> 5 mS
uint32_t period2 = 5000; // 5 mS
uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
@ -70,7 +70,6 @@ void jump_to_app();
#define BLUE LED1
#define RED LED4
#define LED_PWM_TIMER TIM3
int main() {
/* NOTE: Do NOT modify the following start-up sequence */
/* Any new initialization functions should be added in OpenPilotInit() */
@ -97,35 +96,37 @@ int main() {
DeviceState = DFUidle;
else
DeviceState = BLidle;
STOPWATCH_Init(100, LED_PWM_TIMER);
} else
JumpToApp = TRUE;
STOPWATCH_Reset(LED_PWM_TIMER);
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();
//pwm_period = 50; // *100 uS -> 5 mS
//pwm_sweep_steps =100; // * 5 mS -> 500 mS
switch (DeviceState) {
case Last_operation_Success:
case uploadingStarting:
case DFUidle:
period1 = 50;
period1 = 5000;
sweep_steps1 = 100;
PIOS_LED_Off(RED);
period2 = 0;
break;
case uploading:
period1 = 50;
period1 = 5000;
sweep_steps1 = 100;
period2 = 25;
period2 = 2500;
sweep_steps2 = 50;
break;
case downloading:
period1 = 25;
period1 = 2500;
sweep_steps1 = 50;
PIOS_LED_Off(RED);
period2 = 0;
@ -136,14 +137,14 @@ int main() {
period2 = 0;
break;
default://error
period1 = 50;
period1 = 5000;
sweep_steps1 = 100;
period2 = 50;
period2 = 5000;
sweep_steps2 = 100;
}
if (period1 != 0) {
if (LedPWM(period1, sweep_steps1, STOPWATCH_ValueGet(LED_PWM_TIMER)))
if (LedPWM(period1, sweep_steps1, stopwatch))
PIOS_LED_On(BLUE);
else
PIOS_LED_Off(BLUE);
@ -151,16 +152,16 @@ int main() {
PIOS_LED_On(BLUE);
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, STOPWATCH_ValueGet(LED_PWM_TIMER)))
if (LedPWM(period2, sweep_steps2, stopwatch))
PIOS_LED_On(RED);
else
PIOS_LED_Off(RED);
} else
PIOS_LED_Off(RED);
if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100)
STOPWATCH_Reset(LED_PWM_TIMER);
if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState
if (stopwatch > 50 * 1000 * 1000)
stopwatch = 0;
if ((stopwatch > 6 * 1000 * 1000) && (DeviceState
== BLidle))
JumpToApp = TRUE;
@ -170,7 +171,9 @@ int main() {
}
void jump_to_app() {
if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
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);
@ -179,10 +182,10 @@ void jump_to_app() {
_SetCNTR(0); // clear interrupt mask
_SetISTR(0); // clear all requests
JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4);
JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
Jump_To_Application = (pFunction) JumpAddress;
/* Initialize user application's Stack Pointer */
__set_MSP(*(__IO uint32_t*) START_OF_USER_CODE);
__set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
Jump_To_Application();
} else {
DeviceState = failed_jump;
@ -190,20 +193,21 @@ void jump_to_app() {
}
}
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
uint32_t pwm_duty = ((count / pwm_period) % pwm_sweep_steps)
/ (pwm_sweep_steps / pwm_period);
if ((count % (2 * pwm_period * pwm_sweep_steps)) > pwm_period
* pwm_sweep_steps)
pwm_duty = pwm_period - pwm_duty; // negative direction each 50*100 ticks
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() {
while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB) >= 63) {
for (int32_t x = 0; x < 63; ++x) {
mReceive_Buffer[x] = PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB);
if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) {
processComand(mReceive_Buffer);
}
processComand(mReceive_Buffer);
}
return TRUE;
}

17
flight/Bootloaders/PipXtreme/op_dfu.c
View File

@ -30,6 +30,7 @@
#include "pios.h"
#include "op_dfu.h"
#include "pios_bl_helper.h"
#include <pios_board_info.h>
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
@ -414,16 +415,18 @@ void processComand(uint8_t *xReceive_Buffer) {
return;
}
void OPDfuIni(uint8_t discover) {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
Device dev;
dev.programmingType = Self_flash;
dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLA << 1));
dev.startOfUserCode = START_OF_USER_CODE;
dev.sizeOfCode = SIZE_OF_CODE;
dev.sizeOfDescription = SIZE_OF_DESCRIPTION;
dev.BL_Version = BOOTLOADER_VERSION;
dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
dev.startOfUserCode = bdinfo->fw_base;
dev.sizeOfCode = bdinfo->fw_size;
dev.sizeOfDescription = bdinfo->desc_size;
dev.BL_Version = bdinfo->bl_rev;
dev.FW_Crc = CalcFirmCRC();
dev.devID = (BOARD_TYPE << 8) | BOARD_REVISION;
dev.devType = HW_TYPE;
dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
dev.devType = bdinfo->hw_type;
numberOfDevices = 1;
devicesTable[0] = dev;
if (discover) {

39
flight/Bootloaders/PipXtreme/pios_board.c
View File

@ -31,10 +31,31 @@
#include <pios_com_priv.h>
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
#endif /* PIOS_INCLUDE_COM */
// ***********************************************************************************
#if defined(PIOS_INCLUDE_USB_HID)
#include "pios_usb_hid_priv.h"
static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
.irq = {
.init = {
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
#endif /* PIOS_INCLUDE_USB_HID */
extern const struct pios_com_driver pios_usb_com_driver;
uint32_t pios_com_telem_usb_id;
@ -44,7 +65,12 @@ uint32_t pios_com_telem_usb_id;
* 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);
@ -58,13 +84,18 @@ void PIOS_Board_Init(void) {
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_USB_HID)
PIOS_USB_HID_Init(0);
uint32_t pios_usb_hid_id;
PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg);
#if defined(PIOS_INCLUDE_COM)
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) {
PIOS_DEBUG_Assert(0);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_USB_HID */
#endif /* PIOS_INCLUDE_USB_HID */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar
board_init_complete = true;
}

132
flight/CopterControl/Makefile
View File

@ -25,11 +25,21 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../)
include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := fw_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options
# Set to YES to compile for debugging
DEBUG ?= NO
# Include objects that are just nice information to show
DIAGNOSTICS ?= NO
# Set to YES to build a FW version that will erase all flash memory
ERASE_FLASH ?= NO
# Set to YES to use the Servo output pins for debugging via scope or logic analyser
@ -38,7 +48,7 @@ ENABLE_DEBUG_PINS ?= NO
# Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
ENABLE_AUX_UART ?= NO
USE_SPEKTRUM ?= NO
USE_GPS ?= NO
USE_I2C ?= NO
@ -55,22 +65,9 @@ endif
FLASH_TOOL = OPENOCD
# List of modules to include
MODULES = Telemetry Attitude Stabilization Actuator ManualControl FirmwareIAP
# MCU name, submodel and board
# - MCU used for compiler-option (-mcpu)
# - MODEL used for linker-script name (-T) and passed as define
# - BOARD just passed as define (optional)
MCU = cortex-m3
CHIP = STM32F103CBT
BOARD = STM32103CB_CC_Rev1
MODEL = MD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/coptercontrol
# Target file name (without extension).
TARGET = CopterControl
MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP CameraStab
# Telemetry must be last to grab the optional modules
MODULES += Telemetry
# Paths
OPSYSTEM = ./System
@ -121,12 +118,9 @@ OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files
MODNAMES = $(notdir ${MODULES})
ifndef TESTAPP
## MODULES
SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
SRC += ${OUTDIR}/InitMods.c
## OPENPILOT CORE:
SRC += ${OPMODULEDIR}/System/systemmod.c
SRC += $(OPSYSTEM)/coptercontrol.c
@ -136,7 +130,6 @@ SRC += $(OPSYSTEM)/taskmonitor.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/eventdispatcher.c
SRC += $(OPUAVOBJ)/uavobjectsinit_linker.c
SRC += $(OPSYSTEM)/pios_usb_hid_desc.c
else
## TESTCODE
@ -148,6 +141,7 @@ endif
## UAVOBJECTS
ifndef TESTAPP
SRC += $(OPUAVSYNTHDIR)/accessorydesired.c
SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
SRC += $(OPUAVSYNTHDIR)/gcstelemetrystats.c
SRC += $(OPUAVSYNTHDIR)/flighttelemetrystats.c
@ -163,20 +157,21 @@ SRC += $(OPUAVSYNTHDIR)/actuatorsettings.c
SRC += $(OPUAVSYNTHDIR)/attituderaw.c
SRC += $(OPUAVSYNTHDIR)/attitudeactual.c
SRC += $(OPUAVSYNTHDIR)/manualcontrolcommand.c
SRC += $(OPUAVSYNTHDIR)/taskinfo.c
SRC += $(OPUAVSYNTHDIR)/i2cstats.c
SRC += $(OPUAVSYNTHDIR)/watchdogstatus.c
SRC += $(OPUAVSYNTHDIR)/telemetrysettings.c
SRC += $(OPUAVSYNTHDIR)/ratedesired.c
SRC += $(OPUAVSYNTHDIR)/manualcontrolsettings.c
SRC += $(OPUAVSYNTHDIR)/mixersettings.c
SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
SRC += $(OPUAVSYNTHDIR)/attitudesettings.c
#${wildcard ${OBJ}/$(shell echo $(VAR) | tr A-Z a-z)/*.c}
#SRC += ${foreach OBJ, ${UAVOBJECTS}, $(UAVOBJECTS)/$(OBJ).c}
# Cant use until i can automatically generate list of UAVObjects
#SRC += ${OUTDIR}/InitObjects.c
SRC += $(OPUAVSYNTHDIR)/camerastabsettings.c
SRC += $(OPUAVSYNTHDIR)/cameradesired.c
SRC += $(OPUAVSYNTHDIR)/hwsettings.c
SRC += $(OPUAVSYNTHDIR)/taskinfo.c
SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
SRC += $(OPUAVSYNTHDIR)/ratedesired.c
endif
## PIOS Hardware (STM32F10x)
@ -192,9 +187,11 @@ SRC += $(PIOSSTM32F10X)/pios_spi.c
SRC += $(PIOSSTM32F10X)/pios_ppm.c
SRC += $(PIOSSTM32F10X)/pios_pwm.c
SRC += $(PIOSSTM32F10X)/pios_spektrum.c
SRC += $(PIOSSTM32F10X)/pios_sbus.c
SRC += $(PIOSSTM32F10X)/pios_debug.c
SRC += $(PIOSSTM32F10X)/pios_gpio.c
SRC += $(PIOSSTM32F10X)/pios_exti.c
SRC += $(PIOSSTM32F10X)/pios_rtc.c
SRC += $(PIOSSTM32F10X)/pios_wdg.c
@ -205,12 +202,15 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_crc.c
SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c
SRC += $(PIOSCOMMON)/pios_flash_w25x.c
SRC += $(PIOSCOMMON)/pios_adxl345.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_i2c_esc.c
SRC += $(PIOSCOMMON)/pios_iap.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/pios_rcvr.c
SRC += $(PIOSCOMMON)/printf-stdarg.c
## Libraries for flight calculations
SRC += $(FLIGHTLIB)/fifo_buffer.c
@ -298,7 +298,7 @@ CPPSRCARM =
# Even though the DOS/Win* filesystem matches both .s and .S the same,
# it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line.
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)_CC.S
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM =
@ -380,19 +380,18 @@ endif
ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
endif
CDEFS += -DUSE_BOOTLOADER
ifeq ($(ERASE_FLASH), YES)
CDEFS += -DERASE_FLASH
endif
ifeq ($(USE_SPEKTRUM), YES)
CDEFS += -DUSE_SPEKTRUM
ifneq ($(USE_GPS), NO)
CDEFS += -DUSE_GPS
endif
ifeq ($(USE_I2C), YES)
CDEFS += -DUSE_I2C
endif
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -419,9 +418,14 @@ CSTANDARD = -std=gnu99
# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
ifeq ($(DEBUG),YES)
CFLAGS = -g$(DEBUGF) -DDEBUG
CFLAGS = -DDEBUG
endif
ifeq ($(DIAGNOSTICS),YES)
CFLAGS = -DDIAGNOSTICS
endif
CFLAGS += -g$(DEBUGF)
CFLAGS += -O$(OPT)
CFLAGS += -mcpu=$(MCU)
CFLAGS += $(CDEFS)
@ -429,7 +433,7 @@ CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
#CFLAGS += -fno-cprop-registers -fno-defer-pop -fno-guess-branch-probability -fno-section-anchors
#CFLAGS += -fno-if-conversion -fno-if-conversion2 -fno-ipa-pure-const -fno-ipa-reference -fno-merge-constants
#CFLAGS += -fno-split-wide-types -fno-tree-ccp -fno-tree-ch -fno-tree-copy-prop -fno-tree-copyrename
#CFLAGS += -fno-split-wide-types -fno-tree-ccp -fno-tree-ch -fno-tree-copy-prop -fno-tree-copyrename
#CFLAGS += -fno-tree-dce -fno-tree-dominator-opts -fno-tree-dse -fno-tree-fre -fno-tree-sink -fno-tree-sra
#CFLAGS += -fno-tree-ter
#CFLAGS += -g$(DEBUGF) -DDEBUG
@ -473,21 +477,9 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08003000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08003000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f
PYTHON = python
###SHELL = sh
###COPY = cp
# List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -503,7 +495,7 @@ LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
# Default target.
all: gencode build
all: build
ifeq ($(LOADFORMAT),ihex)
build: elf hex lss sym
@ -519,32 +511,13 @@ endif
endif
endif
# Generate intermediate code for objects
gencode: ${OUTDIR}/InitMods.c
# Generate code for module initialization
${OUTDIR}/InitMods.c: Makefile
@echo $(MSG_MODINIT) $(call toprel, $@)
@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# Generate code for PyMite
#$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py)
#$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py)
# @echo $(MSG_PYMITEINIT) $(call toprel, $@)
# @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
# @$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
# @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -574,23 +547,37 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.PHONY: elf lss sym hex bin bino
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss
sym: $(OUTDIR)/$(TARGET).sym
hex: $(OUTDIR)/$(TARGET).hex
bin: $(OUTDIR)/$(TARGET).bin
bino: $(OUTDIR)/$(TARGET).bin.o
opfw: $(OUTDIR)/$(TARGET).opfw
# Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).opfw
ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
else
$(error INSTALL_DIR must be specified for $@)
endif
# Target: clean project.
clean: clean_list
@ -630,5 +617,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program gencode
.PHONY : all build clean clean_list install

10
flight/CopterControl/System/alarms.c
View File

@ -41,10 +41,12 @@ static xSemaphoreHandle lock;
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
/**
* Initialize the alarms library
* Initialize the alarms library
*/
int32_t AlarmsInitialize(void)
{
SystemAlarmsInitialize();
lock = xSemaphoreCreateRecursiveMutex();
//do not change the default states of the alarms, let the init code generated by the uavobjectgenerator handle that
//AlarmsClearAll();
@ -56,7 +58,7 @@ int32_t AlarmsInitialize(void)
* Set an alarm
* @param alarm The system alarm to be modified
* @param severity The alarm severity
* @return 0 if success, -1 if an error
* @return 0 if success, -1 if an error
*/
int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
{
@ -151,7 +153,7 @@ void AlarmsClearAll()
/**
* Check if there are any alarms with the given or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasWarnings()
{
@ -208,5 +210,5 @@ static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
/**
* @}
* @}
*/
*/

213
flight/CopterControl/System/coptercontrol.c
View File

@ -1,106 +1,107 @@
/**
******************************************************************************
* @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
*/
/* OpenPilot Includes */
#include "openpilot.h"
#include "uavobjectsinit.h"
#include "systemmod.h"
/* Task Priorities */
#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
/* Global Variables */
/* Prototype of generated InitModules() function */
extern void InitModules(void);
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
/**
* OpenPilot Main function:
*
* Initialize PiOS<BR>
* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
* Start FreeRTOS Scheduler (vTaskStartScheduler)<BR>
* 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();
/* Initialize the system thread */
SystemModInitialize();
/* Start the FreeRTOS scheduler */
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* If we do get here, it will most likely be because we ran out of heap space. */
return 0;
}
/**
* Initialize the hardware, libraries and modules (called by the System thread in systemmod.c)
*/
void OpenPilotInit()
{
/* Architecture dependant Hardware and
* core subsystem initialisation
* (see pios_board.c for your arch)
* */
PIOS_Board_Init();
#ifdef ERASE_FLASH
PIOS_Flash_W25X_EraseChip();
#endif
/* Initialize modules */
InitModules();
}
/**
* @}
* @}
*/
/**
******************************************************************************
* @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
*/
/* OpenPilot Includes */
#include "openpilot.h"
#include "uavobjectsinit.h"
#include "hwsettings.h"
#include "camerastab.h"
#include "systemmod.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();
/* Initialize modules */
MODULE_INITIALISE_ALL
/* Optional module initialization. This code might want to go somewhere else as
* it grows */
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
if(optionalModules[HWSETTINGS_OPTIONALMODULES_CAMERASTABILIZATION] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
CameraStabInitialize();
}
/* swap the stack to use the IRQ stack */
Stack_Change();
/* Start the FreeRTOS scheduler which should never returns.*/
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 */
PIOS_LED_Off(LED1); \
for(;;) { \
PIOS_LED_Toggle(LED1); \
PIOS_DELAY_WaitmS(100); \
};
return 0;
}
/**
* @}
* @}
*/

28
flight/CopterControl/System/inc/FreeRTOSConfig.h
View File

@ -9,7 +9,7 @@
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
@ -29,8 +29,8 @@
#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 ) 128 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 14 * 1024 ) )
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 48 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 54 * 256) )
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_TRACE_FACILITY 0
#define configUSE_16_BIT_TICKS 0
@ -39,7 +39,6 @@
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 0
#define configUSE_ALTERNATIVE_API 0
#define configCHECK_FOR_STACK_OVERFLOW 2
#define configQUEUE_REGISTRY_SIZE 10
/* Co-routine definitions. */
@ -71,6 +70,27 @@ 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 */
#if defined(DIAGNOSTICS)
#define configCHECK_FOR_STACK_OVERFLOW 2
#define configGENERATE_RUN_TIME_STATS 1
#define INCLUDE_uxTaskGetRunTime 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 */
#else
#define configCHECK_FOR_STACK_OVERFLOW 1
#endif
/**
* @}
*/

219
flight/CopterControl/System/inc/pios_config.h
View File

@ -1,106 +1,113 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
*
* @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_ADC
#define PIOS_INCLUDE_DELAY
#if defined(USE_I2C)
#define PIOS_INCLUDE_I2C
#define PIOS_INCLUDE_I2C_ESC
#endif
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_LED
#if defined(USE_SPEKTRUM)
#define PIOS_INCLUDE_SPEKTRUM
#else
#define PIOS_INCLUDE_GPS
//#define PIOS_INCLUDE_PPM
#define PIOS_INCLUDE_PWM
#endif
#define PIOS_INCLUDE_SERVO
#define PIOS_INCLUDE_SPI
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_USART
#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_SETTINGS
#define PIOS_INCLUDE_FREERTOS
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_EXTI
#define PIOS_INCLUDE_WDG
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_ADXL345
#define PIOS_INCLUDE_FLASH
/* A really shitty setting saving implementation */
#define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS
/* Defaults for Logging */
#define LOG_FILENAME "PIOS.LOG"
#define STARTUP_LOG_ENABLED 1
/* COM Module */
#define GPS_BAUDRATE 19200
#define TELEM_BAUDRATE 19200
#define AUXUART_ENABLED 0
#define AUXUART_BAUDRATE 19200
/* Alarm Thresholds */
#define HEAP_LIMIT_WARNING 350
#define HEAP_LIMIT_CRITICAL 250
#define CPULOAD_LIMIT_WARNING 80
#define CPULOAD_LIMIT_CRITICAL 95
/* Task stack sizes */
#define PIOS_ACTUATOR_STACK_SIZE 1020
#define PIOS_MANUAL_STACK_SIZE 724
#define PIOS_SYSTEM_STACK_SIZE 504
#define PIOS_STABILIZATION_STACK_SIZE 524
#define PIOS_TELEM_STACK_SIZE 500
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998
//#define PIOS_QUATERNION_STABILIZATION
#endif /* PIOS_CONFIG_H */
/**
* @}
* @}
*/
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
*
* @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_ADC
#define PIOS_INCLUDE_DELAY
#if defined(USE_I2C)
#define PIOS_INCLUDE_I2C
#define PIOS_INCLUDE_I2C_ESC
#endif
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_RCVR
/* Supported receiver interfaces */
#define PIOS_INCLUDE_SPEKTRUM
#define PIOS_INCLUDE_SBUS
//#define PIOS_INCLUDE_PPM
#define PIOS_INCLUDE_PWM
/* Supported USART-based PIOS modules */
#define PIOS_INCLUDE_TELEMETRY_RF
//#define PIOS_INCLUDE_GPS
#define PIOS_INCLUDE_SERVO
#define PIOS_INCLUDE_SPI
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_USART
#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_SETTINGS
#define PIOS_INCLUDE_FREERTOS
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_EXTI
#define PIOS_INCLUDE_RTC
#define PIOS_INCLUDE_WDG
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_ADXL345
#define PIOS_INCLUDE_FLASH
/* A really shitty setting saving implementation */
#define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS
/* Defaults for Logging */
#define LOG_FILENAME "PIOS.LOG"
#define STARTUP_LOG_ENABLED 1
/* COM Module */
#define GPS_BAUDRATE 19200
#define TELEM_BAUDRATE 19200
#define AUXUART_ENABLED 0
#define AUXUART_BAUDRATE 19200
/* 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 724
#define PIOS_SYSTEM_STACK_SIZE 460
#define PIOS_STABILIZATION_STACK_SIZE 524
#define PIOS_TELEM_STACK_SIZE 500
#define PIOS_EVENTDISPATCHER_STACK_SIZE 130
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998
//#define PIOS_QUATERNION_STABILIZATION
// This can't be too high to stop eventdispatcher thread overflowing
#define PIOS_EVENTDISAPTCHER_QUEUE 10
#endif /* PIOS_CONFIG_H */
/**
* @}
* @}
*/

707
flight/CopterControl/System/pios_board.c
View File

@ -30,10 +30,11 @@
#include <pios.h>
#include <openpilot.h>
#include <uavobjectsinit.h>
#include <hwsettings.h>
#include <manualcontrolsettings.h>
#if defined(PIOS_INCLUDE_SPI)
#include <pios_spi_priv.h>
/* Flash/Accel Interface
@ -44,7 +45,7 @@
void PIOS_SPI_flash_accel_irq_handler(void);
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_flash_accel_irq_handler")));
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_flash_accel_irq_handler")));
const struct pios_spi_cfg pios_spi_flash_accel_cfg = {
static const struct pios_spi_cfg pios_spi_flash_accel_cfg = {
.regs = SPI2,
.init = {
.SPI_Mode = SPI_Mode_Master,
@ -62,7 +63,6 @@ const struct pios_spi_cfg pios_spi_flash_accel_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_flash_accel_irq_handler,
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
.init = {
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
@ -151,11 +151,10 @@ void PIOS_SPI_flash_accel_irq_handler(void)
extern void PIOS_ADC_handler(void);
void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
// Remap the ADC DMA handler to this one
const struct pios_adc_cfg pios_adc_cfg = {
static const struct pios_adc_cfg pios_adc_cfg = {
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_ADC_DMA_Handler,
.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
.init = {
.NVIC_IRQChannel = DMA1_Channel1_IRQn,
@ -200,19 +199,14 @@ void PIOS_ADC_handler() {
#include "pios_usart_priv.h"
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
/*
* Telemetry USART
*/
void PIOS_USART_telem_irq_handler(void);
void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler")));
const struct pios_usart_cfg pios_usart_telem_cfg = {
static const struct pios_usart_cfg pios_usart_telem_main_cfg = {
.regs = USART1,
.init = {
#if defined (PIOS_COM_TELEM_BAUDRATE)
.USART_BaudRate = PIOS_COM_TELEM_BAUDRATE,
#else
.USART_BaudRate = 57600,
#endif
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
@ -220,7 +214,6 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_telem_irq_handler,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -246,20 +239,10 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
},
};
#if defined(PIOS_INCLUDE_GPS)
/*
* GPS USART
*/
void PIOS_USART_gps_irq_handler(void);
void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_gps_irq_handler")));
const struct pios_usart_cfg pios_usart_gps_cfg = {
.regs = USART3,
static const struct pios_usart_cfg pios_usart_telem_flexi_cfg = {
.regs = USART3,
.init = {
#if defined (PIOS_COM_GPS_BAUDRATE)
.USART_BaudRate = PIOS_COM_GPS_BAUDRATE,
#else
.USART_BaudRate = 57600,
#endif
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
@ -267,7 +250,6 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_gps_irq_handler,
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -292,22 +274,143 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
},
},
};
#endif
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
#if defined(PIOS_INCLUDE_GPS)
/*
* GPS USART
*/
static const struct pios_usart_cfg pios_usart_gps_main_cfg = {
.regs = USART1,
.init = {
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
static const struct pios_usart_cfg pios_usart_gps_flexi_cfg = {
.regs = USART3,
.init = {
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
#endif /* PIOS_INCLUDE_GPS */
#if defined(PIOS_INCLUDE_SPEKTRUM)
/*
* SPEKTRUM USART
*/
void PIOS_USART_spektrum_irq_handler(void);
void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_spektrum_irq_handler")));
const struct pios_usart_cfg pios_usart_spektrum_cfg = {
.regs = USART3,
#include <pios_spektrum_priv.h>
static const struct pios_usart_cfg pios_usart_spektrum_main_cfg = {
.regs = USART1,
.init = {
#if defined (PIOS_COM_SPEKTRUM_BAUDRATE)
.USART_BaudRate = PIOS_COM_SPEKTRUM_BAUDRATE,
#else
.USART_BaudRate = 115200,
#endif
.USART_BaudRate = 115200,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
};
static const struct pios_spektrum_cfg pios_spektrum_main_cfg = {
.bind = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
.remap = 0,
};
static const struct pios_usart_cfg pios_usart_spektrum_flexi_cfg = {
.regs = USART3,
.init = {
.USART_BaudRate = 115200,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
@ -315,7 +418,6 @@ const struct pios_usart_cfg pios_usart_spektrum_cfg = {
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.handler = PIOS_USART_spektrum_irq_handler,
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@ -341,76 +443,128 @@ const struct pios_usart_cfg pios_usart_spektrum_cfg = {
},
};
static uint32_t pios_usart_spektrum_id;
void PIOS_USART_spektrum_irq_handler(void)
{
SPEKTRUM_IRQHandler(pios_usart_spektrum_id);
}
#include <pios_spektrum_priv.h>
void TIM2_IRQHandler();
void TIM2_IRQHandler() __attribute__ ((alias ("PIOS_TIM2_irq_handler")));
const struct pios_spektrum_cfg pios_spektrum_cfg = {
.pios_usart_spektrum_cfg = &pios_usart_spektrum_cfg,
.tim_base_init = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = ((1000000 / 120) - 1), //11ms-10*16b/115200bps atleast one interrupt between frames
.TIM_RepetitionCounter = 0x0000,
},
.gpio_init = { //used for bind feature
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
.remap = 0,
.irq = {
.handler = TIM2_IRQHandler,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
static const struct pios_spektrum_cfg pios_spektrum_flexi_cfg = {
.bind = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
.timer = TIM2,
.port = GPIOB,
.ccr = TIM_IT_Update,
.pin = GPIO_Pin_11,
.remap = 0,
};
void PIOS_TIM2_irq_handler()
{
PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id);
}
#endif /* PIOS_INCLUDE_SPEKTRUM */
static uint32_t pios_usart_telem_rf_id;
void PIOS_USART_telem_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_telem_rf_id);
}
#if defined(PIOS_INCLUDE_SBUS)
/*
* SBUS USART
*/
#include <pios_sbus_priv.h>
#if defined(PIOS_INCLUDE_GPS)
static uint32_t pios_usart_gps_id;
void PIOS_USART_gps_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_gps_id);
}
#endif /* PIOS_INCLUDE_GPS */
static const struct pios_usart_cfg pios_usart_sbus_main_cfg = {
.regs = USART1,
.init = {
.USART_BaudRate = 100000,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_Even,
.USART_StopBits = USART_StopBits_2,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
};
#endif /* PIOS_INCLUDE_USART */
static const struct pios_sbus_cfg pios_sbus_cfg = {
/* Inverter configuration */
.inv = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_2,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
.gpio_clk_func = RCC_APB2PeriphClockCmd,
.gpio_clk_periph = RCC_APB2Periph_GPIOB,
.gpio_inv_enable = Bit_SET,
};
#endif /* PIOS_INCLUDE_SBUS */
#endif /* PIOS_INCLUDE_USART */
#if defined(PIOS_INCLUDE_COM)
#include "pios_com_priv.h"
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
#define PIOS_COM_GPS_RX_BUF_LEN 96
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
#endif /* PIOS_INCLUDE_COM */
#if defined(PIOS_INCLUDE_RTC)
/*
* Realtime Clock (RTC)
*/
#include <pios_rtc_priv.h>
void PIOS_RTC_IRQ_Handler (void);
void RTC_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
static const struct pios_rtc_cfg pios_rtc_main_cfg = {
.clksrc = RCC_RTCCLKSource_HSE_Div128,
.prescaler = 100,
.irq = {
.init = {
.NVIC_IRQChannel = RTC_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
void PIOS_RTC_IRQ_Handler (void)
{
PIOS_RTC_irq_handler ();
}
#endif
/*
* Servo outputs
*/
#include <pios_servo_priv.h>
const struct pios_servo_channel pios_servo_channels[] = {
static const struct pios_servo_channel pios_servo_channels[] = {
{
.timer = TIM4,
.port = GPIOB,
@ -441,14 +595,12 @@ const struct pios_servo_channel pios_servo_channels[] = {
.channel = TIM_Channel_1,
.pin = GPIO_Pin_4,
},
#ifndef PIOS_INCLUDE_SPEKTRUM
{
.timer = TIM2,
.port = GPIOA,
.channel = TIM_Channel_3,
.pin = GPIO_Pin_2,
},
#endif
};
const struct pios_servo_cfg pios_servo_cfg = {
@ -478,13 +630,64 @@ const struct pios_servo_cfg pios_servo_cfg = {
.num_channels = NELEMENTS(pios_servo_channels),
};
#if defined(PIOS_INCLUDE_PWM) && defined(PIOS_INCLUDE_PPM)
#error Cannot define both PIOS_INCLUDE_PWM and PIOS_INCLUDE_PPM at the same time (yet)
#endif
/*
* PPM Inputs
*/
#if defined(PIOS_INCLUDE_PPM)
#include <pios_ppm_priv.h>
void TIM4_IRQHandler();
void TIM4_IRQHandler() __attribute__ ((alias ("PIOS_TIM4_irq_handler")));
const struct pios_ppm_cfg pios_ppm_cfg = {
.tim_base_init = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = 0xFFFF, /* shared timer, make sure init correctly in outputs */
.TIM_RepetitionCounter = 0x0000,
},
.tim_ic_init = {
.TIM_Channel = TIM_Channel_1,
.TIM_ICPolarity = TIM_ICPolarity_Rising,
.TIM_ICSelection = TIM_ICSelection_DirectTI,
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
.TIM_ICFilter = 0x0,
},
.gpio_init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Mode = GPIO_Mode_IPD,
.GPIO_Speed = GPIO_Speed_2MHz,
},
.remap = 0,
.irq = {
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.timer = TIM4,
.port = GPIOB,
.ccr = TIM_IT_CC1,
};
void PIOS_TIM4_irq_handler()
{
PIOS_PPM_irq_handler();
}
#endif /* PIOS_INCLUDE_PPM */
/*
* PWM Inputs
*/
#if defined(PIOS_INCLUDE_PWM)
#include <pios_pwm_priv.h>
const struct pios_pwm_channel pios_pwm_channels[] = {
static const struct pios_pwm_channel pios_pwm_channels[] = {
{
.timer = TIM4,
.port = GPIOB,
@ -555,7 +758,6 @@ const struct pios_pwm_cfg pios_pwm_cfg = {
},
.remap = 0,
.irq = {
.handler = TIM2_IRQHandler,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
@ -592,7 +794,7 @@ void PIOS_I2C_main_adapter_er_irq_handler(void);
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_er_irq_handler")));
const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
.regs = I2C2,
.init = {
.I2C_Mode = I2C_Mode_I2C,
@ -620,7 +822,6 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.event = {
.handler = PIOS_I2C_main_adapter_ev_irq_handler,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_EV_IRQn,
@ -630,7 +831,6 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.error = {
.handler = PIOS_I2C_main_adapter_er_irq_handler,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_ER_IRQn,
@ -656,12 +856,33 @@ void PIOS_I2C_main_adapter_er_irq_handler(void)
#endif /* PIOS_INCLUDE_I2C */
#if defined(PIOS_INCLUDE_RCVR)
#include "pios_rcvr_priv.h"
struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
uint32_t pios_rcvr_max_channel;
#endif /* PIOS_INCLUDE_RCVR */
#if defined(PIOS_INCLUDE_USB_HID)
#include "pios_usb_hid_priv.h"
static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
.irq = {
.init = {
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
#endif /* PIOS_INCLUDE_USB_HID */
extern const struct pios_com_driver pios_usb_com_driver;
uint32_t pios_com_telem_rf_id;
uint32_t pios_com_telem_usb_id;
uint32_t pios_com_gps_id;
uint32_t pios_com_spektrum_id;
/**
* PIOS_Board_Init()
@ -671,31 +892,29 @@ uint32_t pios_com_spektrum_id;
void PIOS_Board_Init(void) {
/* Delay system */
PIOS_DELAY_Init();
PIOS_DELAY_Init();
/* Set up the SPI interface to the serial flash */
if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg)) {
PIOS_DEBUG_Assert(0);
PIOS_Assert(0);
}
PIOS_Flash_W25X_Init(pios_spi_flash_accel_id);
PIOS_Flash_W25X_Init(pios_spi_flash_accel_id);
PIOS_ADXL345_Attach(pios_spi_flash_accel_id);
#if defined(PIOS_INCLUDE_SPEKTRUM)
/* SPEKTRUM init must come before comms */
PIOS_SPEKTRUM_Init();
PIOS_FLASHFS_Init();
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_spektrum_id, &pios_usart_com_driver, pios_usart_spektrum_id)) {
PIOS_DEBUG_Assert(0);
}
#endif
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
UAVObjectsInitializeAll();
HwSettingsInitialize();
ManualControlSettingsInitialize();
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
/* Initialize the alarms library */
AlarmsInitialize();
@ -703,23 +922,229 @@ void PIOS_Board_Init(void) {
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Initialize the PiOS library */
#if defined(PIOS_INCLUDE_COM)
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) {
PIOS_DEBUG_Assert(0);
}
/* Configure the main IO port */
uint8_t hwsettings_cc_mainport;
HwSettingsCC_MainPortGet(&hwsettings_cc_mainport);
switch (hwsettings_cc_mainport) {
case HWSETTINGS_CC_MAINPORT_DISABLED:
break;
case HWSETTINGS_CC_MAINPORT_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
{
uint32_t pios_usart_telem_rf_id;
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_main_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id,
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
break;
case HWSETTINGS_CC_MAINPORT_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
{
uint32_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_sbus_id;
if (PIOS_SBUS_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_SBUS */
break;
case HWSETTINGS_CC_MAINPORT_GPS:
#if defined(PIOS_INCLUDE_GPS)
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) {
PIOS_DEBUG_Assert(0);
}
{
uint32_t pios_usart_gps_id;
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_main_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
NULL, 0)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_GPS */
#endif /* PIOS_INCLUDE_COM */
break;
case HWSETTINGS_CC_MAINPORT_SPEKTRUM:
#if defined(PIOS_INCLUDE_SPEKTRUM)
{
uint32_t pios_usart_spektrum_id;
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_main_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_spektrum_id;
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_SPEKTRUM */
break;
case HWSETTINGS_CC_MAINPORT_COMAUX:
break;
}
/* Configure the flexi port */
uint8_t hwsettings_cc_flexiport;
HwSettingsCC_FlexiPortGet(&hwsettings_cc_flexiport);
switch (hwsettings_cc_flexiport) {
case HWSETTINGS_CC_FLEXIPORT_DISABLED:
break;
case HWSETTINGS_CC_FLEXIPORT_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
{
uint32_t pios_usart_telem_rf_id;
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_flexi_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id,
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
break;
case HWSETTINGS_CC_FLEXIPORT_GPS:
#if defined(PIOS_INCLUDE_GPS)
{
uint32_t pios_usart_gps_id;
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_flexi_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
NULL, 0)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_GPS */
break;
case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM:
#if defined(PIOS_INCLUDE_SPEKTRUM)
{
uint32_t pios_usart_spektrum_id;
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_flexi_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_spektrum_id;
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_SPEKTRUM */
break;
case HWSETTINGS_CC_FLEXIPORT_COMAUX:
break;
case HWSETTINGS_CC_FLEXIPORT_I2C:
#if defined(PIOS_INCLUDE_I2C)
{
if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_I2C */
break;
}
/* Configure the selected receiver */
uint8_t manualcontrolsettings_inputmode;
ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode);
switch (manualcontrolsettings_inputmode) {
case MANUALCONTROLSETTINGS_INPUTMODE_PWM:
#if defined(PIOS_INCLUDE_PWM)
PIOS_PWM_Init();
uint32_t pios_pwm_rcvr_id;
if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) {
PIOS_Assert(0);
}
for (uint8_t i = 0;
i < PIOS_PWM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
i++) {
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_pwm_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
#endif /* PIOS_INCLUDE_PWM */
break;
case MANUALCONTROLSETTINGS_INPUTMODE_PPM:
#if defined(PIOS_INCLUDE_PPM)
PIOS_PPM_Init();
uint32_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) {
PIOS_Assert(0);
}
for (uint8_t i = 0;
i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
i++) {
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_ppm_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
#endif /* PIOS_INCLUDE_PPM */
break;
case MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM:
#if defined(PIOS_INCLUDE_SPEKTRUM)
if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM ||
hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM) {
uint32_t pios_spektrum_rcvr_id;
if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) {
PIOS_Assert(0);
}
for (uint8_t i = 0;
i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
i++) {
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
}
#endif /* PIOS_INCLUDE_SPEKTRUM */
break;
case MANUALCONTROLSETTINGS_INPUTMODE_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SBUS) {
uint32_t pios_sbus_rcvr_id;
if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, 0)) {
PIOS_Assert(0);
}
for (uint8_t i = 0;
i < SBUS_NUMBER_OF_CHANNELS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
i++) {
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_sbus_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
}
#endif /* PIOS_INCLUDE_SBUS */
break;
}
/* Remap AFIO pin */
GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);
@ -728,26 +1153,22 @@ void PIOS_Board_Init(void) {
PIOS_ADC_Init();
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_PWM)
PIOS_PWM_Init();
#endif
#if defined(PIOS_INCLUDE_PPM)
PIOS_PPM_Init();
#endif
#if defined(PIOS_INCLUDE_USB_HID)
PIOS_USB_HID_Init(0);
uint32_t pios_usb_hid_id;
PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg);
#if defined(PIOS_INCLUDE_COM)
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) {
PIOS_DEBUG_Assert(0);
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */
#endif
#endif /* PIOS_INCLUDE_USB_HID */
#if defined(PIOS_INCLUDE_I2C)
if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
#endif /* PIOS_INCLUDE_I2C */
PIOS_IAP_Init();
PIOS_WDG_Init();
}

1
flight/CopterControl/System/pios_board_posix.c
View File

@ -42,7 +42,6 @@ void PIOS_Board_Init(void) {
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
UAVObjectsInitializeAll();
/* Initialize the alarms library */
AlarmsInitialize();

41
flight/CopterControl/System/taskmonitor.c
View File

@ -35,21 +35,26 @@
// Private variables
static xSemaphoreHandle lock;
static xTaskHandle handles[TASKINFO_RUNNING_NUMELEM];
static uint32_t lastMonitorTime;
// Private functions
/**
* Initialize library
* Initialize library
*/
int32_t TaskMonitorInitialize(void)
{
lock = xSemaphoreCreateRecursiveMutex();
memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM);
lastMonitorTime = 0;
#if defined(DIAGNOSTICS)
lastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
#endif
return 0;
}
/**
* Register a task handle with the library
* Register a task handle with the library
*/
int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle)
{
@ -67,16 +72,31 @@ int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle)
}
/**
* Update the status of all tasks
* Update the status of all tasks
*/
void TaskMonitorUpdateAll(void)
{
#if defined(DIAGNOSTICS)
TaskInfoData data;
int n;
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
#if ( configGENERATE_RUN_TIME_STATS == 1 )
uint32_t currentTime;
uint32_t deltaTime;
/*
* Calculate the amount of elapsed run time between the last time we
* measured and now. Scale so that we can convert task run times
* directly to percentages.
*/
currentTime = portGET_RUN_TIME_COUNTER_VALUE();
deltaTime = ((currentTime - lastMonitorTime) / 100) ? : 1; /* avoid divide-by-zero if the interval is too small */
lastMonitorTime = currentTime;
#endif
// Update all task information
for (n = 0; n < TASKINFO_RUNNING_NUMELEM; ++n)
{
@ -87,18 +107,25 @@ void TaskMonitorUpdateAll(void)
data.StackRemaining[n] = 10000;
#else
data.StackRemaining[n] = uxTaskGetStackHighWaterMark(handles[n]) * 4;
#if ( configGENERATE_RUN_TIME_STATS == 1 )
/* Generate run time stats */
data.RunningTime[n] = uxTaskGetRunTime(handles[n]) / deltaTime;
#endif
#endif
}
else
{
data.Running[n] = TASKINFO_RUNNING_FALSE;
data.StackRemaining[n] = 0;
data.RunningTime[n] = 0;
}
}
// Update object
TaskInfoSet(&data);
// Done
xSemaphoreGiveRecursive(lock);
#endif
}

90
flight/INS/Makefile
View File

@ -25,11 +25,17 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../)
include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := fw_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options
# Set to YES for debugging
DEBUG ?= YES
USE_BOOTLOADER ?= NO
# Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= YES
@ -42,26 +48,6 @@ endif
FLASH_TOOL = OPENOCD
# MCU name, submodel and board
# - MCU used for compiler-option (-mcpu)
# - MODEL used for linker-script name (-T) and passed as define
# - BOARD just passed as define (optional)
MCU = cortex-m3
CHIP = STM32F103RET
BOARD = STM3210E_INS
MODEL = HD
ifeq ($(USE_BOOTLOADER), YES)
BOOT_MODEL = $(MODEL)_BL
else
BOOT_MODEL = $(MODEL)_NB
endif
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/ins
# Target file name (without extension).
TARGET = INS
# Paths
INS = ./
INSINC = $(INS)/inc
@ -168,7 +154,7 @@ CPPSRCARM =
# Even though the DOS/Win* filesystem matches both .s and .S the same,
# it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line.
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM =
@ -231,9 +217,7 @@ CDEFS = -DSTM32F10X_$(MODEL)
CDEFS += -DUSE_STDPERIPH_DRIVER
CDEFS += -DUSE_$(BOARD)
CDEFS += -DIN_INS
ifeq ($(USE_BOOTLOADER), YES)
CDEFS += -DUSE_BOOTLOADER
endif
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -311,22 +295,11 @@ LDFLAGS += $(MATH_LIB)
LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
# Program
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
# reset target
OOCD_CL+=-c "reset run"
# # terminate OOCD after programming
OOCD_CL+=-c shutdown
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f
###SHELL = sh
###COPY = cp
# List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -358,21 +331,6 @@ endif
endif
endif
# Program the device.
ifeq ($(USE_BOOTLOADER), YES)
# Program the device with OP Upload Tool".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OP Upload Tool${quote}
../../ground/src/experimental/upload-build-desktop/debug/OPUploadTool -d 1 -p $(OUTDIR)/$(TARGET).bin
else
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).elf
@echo ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -400,22 +358,39 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
# Compile: create assembler files from C source files. ARM only
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
.PHONY: elf lss sym hex bin
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss
sym: $(OUTDIR)/$(TARGET).sym
hex: $(OUTDIR)/$(TARGET).hex
bin: $(OUTDIR)/$(TARGET).bin
bino: $(OUTDIR)/$(TARGET).bin.o
opfw: $(OUTDIR)/$(TARGET).opfw
# Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).opfw
ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
else
$(error INSTALL_DIR must be specified for $@)
endif
# Target: clean project.
clean: clean_list
@ -450,6 +425,5 @@ else
-include $(shell mkdir $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program
.PHONY : all build clean clean_list install

62
flight/INS/pios_board.c
View File

@ -61,7 +61,6 @@ static const struct pios_spi_cfg pios_spi_op_mag_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_op_mag_irq_handler,
.flags =
(DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 |
DMA1_FLAG_GL4),
@ -175,7 +174,6 @@ static const struct pios_spi_cfg pios_spi_accel_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_accel_irq_handler,
.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
.init = {
.NVIC_IRQChannel = DMA1_Channel2_IRQn,
@ -265,17 +263,10 @@ void PIOS_SPI_accel_irq_handler(void)
/*
* GPS USART
*/
void PIOS_USART_gps_irq_handler(void);
void USART1_IRQHandler()
__attribute__ ((alias("PIOS_USART_gps_irq_handler")));
const struct pios_usart_cfg pios_usart_gps_cfg = {
static const struct pios_usart_cfg pios_usart_gps_cfg = {
.regs = USART1,
.init = {
#if defined (PIOS_USART_BAUDRATE)
.USART_BaudRate = PIOS_USART_BAUDRATE,
#else
.USART_BaudRate = 57600,
#endif
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
@ -284,7 +275,6 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_gps_irq_handler,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -310,29 +300,16 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
},
};
static uint32_t pios_usart_gps_id;
void PIOS_USART_gps_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_gps_id);
}
#endif /* PIOS_INCLUDE_GPS */
#ifdef PIOS_COM_AUX
/*
* AUX USART
*/
void PIOS_USART_aux_irq_handler(void);
void USART4_IRQHandler()
__attribute__ ((alias("PIOS_USART_aux_irq_handler")));
const struct pios_usart_cfg pios_usart_aux_cfg = {
static const struct pios_usart_cfg pios_usart_aux_cfg = {
.regs = USART4,
.init = {
#if defined (PIOS_USART_BAUDRATE)
.USART_BaudRate = PIOS_USART_BAUDRATE,
#else
.USART_BaudRate = 57600,
#endif
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
@ -341,7 +318,6 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_aux_irq_handler,
.init = {
.NVIC_IRQChannel = USART4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@ -367,15 +343,24 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
},
};
static uint32_t pios_usart_aux_id;
void PIOS_USART_aux_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_aux_id);
}
#endif /* PIOS_COM_AUX */
#if defined(PIOS_INCLUDE_COM)
#include <pios_com_priv.h>
#if 0
#define PIOS_COM_AUX_TX_BUF_LEN 192
static uint8_t pios_com_aux_tx_buffer[PIOS_COM_AUX_TX_BUF_LEN];
#endif
#define PIOS_COM_GPS_RX_BUF_LEN 96
static uint8_t pios_com_gps_rx_buffer[PIOS_COM_GPS_RX_BUF_LEN];
#endif /* PIOS_INCLUDE_COM */
#if defined(PIOS_INCLUDE_I2C)
#include <pios_i2c_priv.h>
@ -391,7 +376,7 @@ void I2C1_EV_IRQHandler()
void I2C1_ER_IRQHandler()
__attribute__ ((alias("PIOS_I2C_pres_mag_adapter_er_irq_handler")));
const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
static const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
.regs = I2C1,
.init = {
.I2C_Mode = I2C_Mode_I2C,
@ -419,7 +404,6 @@ const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
},
},
.event = {
.handler = PIOS_I2C_pres_mag_adapter_ev_irq_handler,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_EV_IRQn,
@ -429,7 +413,6 @@ const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
},
},
.error = {
.handler = PIOS_I2C_pres_mag_adapter_er_irq_handler,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_ER_IRQn,
@ -459,7 +442,7 @@ void PIOS_I2C_gyro_adapter_er_irq_handler(void);
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_gyro_adapter_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_gyro_adapter_er_irq_handler")));
const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
static const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
.regs = I2C2,
.init = {
.I2C_Mode = I2C_Mode_I2C,
@ -487,7 +470,6 @@ const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
},
},
.event = {
.handler = PIOS_I2C_gyro_adapter_ev_irq_handler,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_EV_IRQn,
@ -497,7 +479,6 @@ const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
},
},
.error = {
.handler = PIOS_I2C_gyro_adapter_er_irq_handler,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_ER_IRQn,
@ -547,10 +528,13 @@ void PIOS_Board_Init(void) {
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_GPS)
uint32_t pios_usart_gps_id;
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) {
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
pios_com_gps_rx_buffer, sizeof(pios_com_gps_rx_buffer),
NULL, 0)) {
PIOS_DEBUG_Assert(0);
}
#endif /* PIOS_INCLUDE_GPS */

1
flight/Libraries/ahrs_comm_objects.c
View File

@ -79,6 +79,7 @@ CREATEHANDLE(10, FirmwareIAPObj);
static void ObjectUpdatedCb(UAVObjEvent * ev);
#define ADDHANDLE(idx,obj) {\
obj##Initialize();\
int n = idx;\
objectHandles[n].data = &obj;\
objectHandles[n].uavHandle = obj##Handle();\

2
flight/Libraries/inc/fifo_buffer.h
View File

@ -26,7 +26,7 @@
#ifndef _FIFO_BUFFER_H_
#define _FIFO_BUFFER_H_
#include "stm32f10x.h"
#include <stdint.h>
// *********************

22
flight/Modules/AHRSComms/ahrs_comms.c
View File

@ -52,6 +52,8 @@
#include "ahrs_comms.h"
#include "ahrs_spi_comm.h"
#include "ahrsstatus.h"
#include "ahrscalibration.h"
// Private constants
#define STACK_SIZE configMINIMAL_STACK_SIZE-128
@ -69,9 +71,9 @@ static void ahrscommsTask(void *parameters);
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AHRSCommsInitialize(void)
int32_t AHRSCommsStart(void)
{
// Start main task
// Start main task
xTaskCreate(ahrscommsTask, (signed char *)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_AHRSCOMMS, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_AHRS);
@ -79,6 +81,22 @@ int32_t AHRSCommsInitialize(void)
return 0;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AHRSCommsInitialize(void)
{
AhrsStatusInitialize();
AHRSCalibrationInitialize();
AttitudeRawInitialize();
VelocityActualInitialize();
PositionActualInitialize();
return 0;
}
MODULE_INITCALL(AHRSCommsInitialize, AHRSCommsStart)
/**
* Module thread, should not return.
*/

219
flight/Modules/Actuator/actuator.c
View File

@ -32,6 +32,7 @@
#include "openpilot.h"
#include "accessorydesired.h"
#include "actuator.h"
#include "actuatorsettings.h"
#include "systemsettings.h"
@ -40,6 +41,7 @@
#include "flightstatus.h"
#include "mixersettings.h"
#include "mixerstatus.h"
#include "cameradesired.h"
// Private constants
@ -74,7 +76,6 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
static void setFailsafe();
static float MixerCurve(const float throttle, const float* curve);
static bool set_channel(uint8_t mixer_channel, uint16_t value);
float ProcessMixer(const int index, const float curve1, const float curve2,
MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
const float period);
@ -85,6 +86,19 @@ typedef struct {
int8_t matrix[5];
} __attribute__((packed)) Mixer_t;
/**
* @brief Module initialization
* @return 0
*/
int32_t ActuatorStart()
{
// Start main task
xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ACTUATOR, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_ACTUATOR);
return 0;
}
/**
* @brief Module initialization
@ -95,19 +109,23 @@ int32_t ActuatorInitialize()
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
ActuatorSettingsInitialize();
ActuatorDesiredInitialize();
MixerSettingsInitialize();
ActuatorCommandInitialize();
#if defined(DIAGNOSTICS)
MixerStatusInitialize();
#endif
// Listen for ExampleObject1 updates
ActuatorDesiredConnectQueue(queue);
// If settings change, update the output rate
ActuatorSettingsConnectCallback(actuator_update_rate);
// Start main task
xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ACTUATOR, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_ACTUATOR);
return 0;
}
MODULE_INITCALL(ActuatorInitialize, ActuatorStart)
/**
* @brief Main Actuator module task
@ -128,17 +146,20 @@ static void actuatorTask(void* parameters)
portTickType lastSysTime;
portTickType thisSysTime;
float dT = 0.0f;
ActuatorCommandData command;
ActuatorSettingsData settings;
SystemSettingsData sysSettings;
ActuatorCommandData command;
MixerSettingsData mixerSettings;
ActuatorDesiredData desired;
MixerStatusData mixerStatus;
FlightStatusData flightStatus;
ActuatorSettingsGet(&settings);
PIOS_Servo_SetHz(&settings.ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
uint8_t MotorsSpinWhileArmed;
int16_t ChannelMax[ACTUATORCOMMAND_CHANNEL_NUMELEM];
int16_t ChannelMin[ACTUATORCOMMAND_CHANNEL_NUMELEM];
int16_t ChannelNeutral[ACTUATORCOMMAND_CHANNEL_NUMELEM];
uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
PIOS_Servo_SetHz(&ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
float * status = (float *)&mixerStatus; //access status objects as an array of floats
@ -148,7 +169,7 @@ static void actuatorTask(void* parameters)
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1)
{
{
PIOS_WDG_UpdateFlag(PIOS_WDG_ACTUATOR);
// Wait until the ActuatorDesired object is updated, if a timeout then go to failsafe
@ -164,14 +185,18 @@ static void actuatorTask(void* parameters)
dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
lastSysTime = thisSysTime;
FlightStatusGet(&flightStatus);
SystemSettingsGet(&sysSettings);
MixerStatusGet(&mixerStatus);
MixerSettingsGet (&mixerSettings);
ActuatorDesiredGet(&desired);
ActuatorCommandGet(&command);
ActuatorSettingsGet(&settings);
#if defined(DIAGNOSTICS)
MixerStatusGet(&mixerStatus);
#endif
ActuatorSettingsMotorsSpinWhileArmedGet(&MotorsSpinWhileArmed);
ActuatorSettingsChannelMaxGet(ChannelMax);
ActuatorSettingsChannelMinGet(ChannelMin);
ActuatorSettingsChannelNeutralGet(ChannelNeutral);
int nMixers = 0;
Mixer_t * mixers = (Mixer_t *)&mixerSettings.Mixer1Type;
@ -182,7 +207,7 @@ static void actuatorTask(void* parameters)
nMixers ++;
}
}
if((nMixers < 2) && !ActuatorCommandReadOnly(dummy)) //Nothing can fly with less than two mixers.
if((nMixers < 2) && !ActuatorCommandReadOnly(dummy)) //Nothing can fly with less than two mixers.
{
setFailsafe(); // So that channels like PWM buzzer keep working
continue;
@ -192,10 +217,38 @@ static void actuatorTask(void* parameters)
bool armed = flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED;
bool positiveThrottle = desired.Throttle >= 0.00;
bool spinWhileArmed = settings.MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE;
bool spinWhileArmed = MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE;
float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1);
float curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2);
//The source for the secondary curve is selectable
float curve2 = 0;
AccessoryDesiredData accessory;
switch(mixerSettings.Curve2Source) {
case MIXERSETTINGS_CURVE2SOURCE_THROTTLE:
curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2);
break;
case MIXERSETTINGS_CURVE2SOURCE_ROLL:
curve2 = MixerCurve(desired.Roll,mixerSettings.ThrottleCurve2);
break;
case MIXERSETTINGS_CURVE2SOURCE_PITCH:
curve2 = MixerCurve(desired.Pitch,mixerSettings.ThrottleCurve2);
break;
case MIXERSETTINGS_CURVE2SOURCE_YAW:
curve2 = MixerCurve(desired.Yaw,mixerSettings.ThrottleCurve2);
break;
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY0:
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY1:
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY2:
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY3:
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY4:
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY5:
if(AccessoryDesiredInstGet(mixerSettings.Curve2Source - MIXERSETTINGS_CURVE2SOURCE_ACCESSORY0,&accessory) == 0)
curve2 = MixerCurve(accessory.AccessoryVal,mixerSettings.ThrottleCurve2);
else
curve2 = 0;
break;
}
for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
{
if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_DISABLED) {
@ -204,38 +257,82 @@ static void actuatorTask(void* parameters)
command.Channel[ct] = 0;
continue;
}
status[ct] = ProcessMixer(ct, curve1, curve2, &mixerSettings, &desired, dT);
if((mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) || (mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_SERVO))
status[ct] = ProcessMixer(ct, curve1, curve2, &mixerSettings, &desired, dT);
else
status[ct] = -1;
// Motors have additional protection for when to be on
if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) {
if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) {
// If not armed or motors aren't meant to spin all the time
if( !armed ||
(!spinWhileArmed && !positiveThrottle))
{
filterAccumulator[ct] = 0;
lastResult[ct] = 0;
lastResult[ct] = 0;
status[ct] = -1; //force min throttle
}
// If armed meant to keep spinning,
}
// If armed meant to keep spinning,
else if ((spinWhileArmed && !positiveThrottle) ||
(status[ct] < 0) )
status[ct] = 0;
status[ct] = 0;
}
// If an accessory channel is selected for direct bypass mode
// In this configuration the accessory channel is scaled and mapped
// directly to output. Note: THERE IS NO SAFETY CHECK HERE FOR ARMING
// these also will not be updated in failsafe mode. I'm not sure what
// the correct behavior is since it seems domain specific. I don't love
// this code
if( (mixers[ct].type >= MIXERSETTINGS_MIXER1TYPE_ACCESSORY0) &&
(mixers[ct].type <= MIXERSETTINGS_MIXER1TYPE_ACCESSORY5))
{
if(AccessoryDesiredInstGet(mixers[ct].type - MIXERSETTINGS_MIXER1TYPE_ACCESSORY0,&accessory) == 0)
status[ct] = accessory.AccessoryVal;
else
status[ct] = -1;
}
if( (mixers[ct].type >= MIXERSETTINGS_MIXER1TYPE_CAMERAROLL) &&
(mixers[ct].type <= MIXERSETTINGS_MIXER1TYPE_CAMERAYAW))
{
CameraDesiredData cameraDesired;
if( CameraDesiredGet(&cameraDesired) == 0 ) {
switch(mixers[ct].type) {
case MIXERSETTINGS_MIXER1TYPE_CAMERAROLL:
status[ct] = cameraDesired.Roll;
break;
case MIXERSETTINGS_MIXER1TYPE_CAMERAPITCH:
status[ct] = cameraDesired.Pitch;
break;
case MIXERSETTINGS_MIXER1TYPE_CAMERAYAW:
status[ct] = cameraDesired.Yaw;
break;
default:
break;
}
}
else
status[ct] = -1;
}
command.Channel[ct] = scaleChannel(status[ct],
settings.ChannelMax[ct],
settings.ChannelMin[ct],
settings.ChannelNeutral[ct]);
ChannelMax[ct],
ChannelMin[ct],
ChannelNeutral[ct]);
}
#if defined(DIAGNOSTICS)
MixerStatusSet(&mixerStatus);
#endif
// Store update time
command.UpdateTime = 1000*dT;
if(1000*dT > command.MaxUpdateTime)
command.MaxUpdateTime = 1000*dT;
// Update output object
ActuatorCommandSet(&command);
// Update in case read only (eg. during servo configuration)
@ -243,7 +340,7 @@ static void actuatorTask(void* parameters)
// Update servo outputs
bool success = true;
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
{
success &= set_channel(n, command.Channel[n]);
@ -252,7 +349,7 @@ static void actuatorTask(void* parameters)
if(!success) {
command.NumFailedUpdates++;
ActuatorCommandSet(&command);
AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
}
}
@ -391,11 +488,13 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
*/
static void setFailsafe()
{
ActuatorCommandData command;
ActuatorSettingsData settings;
ActuatorCommandGet(&command);
ActuatorSettingsGet(&settings);
/* grab only the modules parts that we are going to use */
int16_t ChannelMin[ACTUATORCOMMAND_CHANNEL_NUMELEM];
ActuatorSettingsChannelMinGet(ChannelMin);
int16_t ChannelNeutral[ACTUATORCOMMAND_CHANNEL_NUMELEM];
ActuatorSettingsChannelNeutralGet(ChannelNeutral);
int16_t Channel[ACTUATORCOMMAND_CHANNEL_NUMELEM];
ActuatorCommandChannelGet(Channel);
MixerSettingsData mixerSettings;
MixerSettingsGet (&mixerSettings);
@ -404,18 +503,18 @@ static void setFailsafe()
// Reset ActuatorCommand to safe values
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
{
if(mixers[n].type == MIXERSETTINGS_MIXER1TYPE_MOTOR)
{
command.Channel[n] = settings.ChannelMin[n];
Channel[n] = ChannelMin[n];
}
else if(mixers[n].type == MIXERSETTINGS_MIXER1TYPE_SERVO)
{
command.Channel[n] = settings.ChannelNeutral[n];
Channel[n] = ChannelNeutral[n];
}
else
{
command.Channel[n] = 0;
Channel[n] = 0;
}
}
@ -425,11 +524,11 @@ static void setFailsafe()
// Update servo outputs
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
{
set_channel(n, command.Channel[n]);
set_channel(n, Channel[n]);
}
// Update output object
ActuatorCommandSet(&command);
// Update output object's parts that we changed
ActuatorCommandChannelGet(Channel);
}
@ -438,25 +537,23 @@ static void setFailsafe()
*/
static void actuator_update_rate(UAVObjEvent * ev)
{
ActuatorSettingsData settings;
uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
if ( ev->obj == ActuatorSettingsHandle() ) {
ActuatorSettingsGet(&settings);
PIOS_Servo_SetHz(&settings.ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
PIOS_Servo_SetHz(&ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
}
}
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
static bool set_channel(uint8_t mixer_channel, uint16_t value) {
return true;
}
#else
static bool set_channel(uint8_t mixer_channel, uint16_t value) {
ActuatorSettingsData settings;
ActuatorSettingsGet(&settings);
switch(settings.ChannelType[mixer_channel]) {
case ACTUATORSETTINGS_CHANNELTYPE_PWMALARMBUZZER: {
// This is for buzzers that take a PWM input
@ -508,7 +605,7 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value) {
PIOS_Servo_Set(settings.ChannelAddr[mixer_channel], value);
return true;
#if defined(PIOS_INCLUDE_I2C_ESC)
case ACTUATORSETTINGS_CHANNELTYPE_MK:
case ACTUATORSETTINGS_CHANNELTYPE_MK:
return PIOS_SetMKSpeed(settings.ChannelAddr[mixer_channel],value);
case ACTUATORSETTINGS_CHANNELTYPE_ASTEC4:
return PIOS_SetAstec4Speed(settings.ChannelAddr[mixer_channel],value);
@ -516,10 +613,10 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value) {
#endif
default:
return false;
}
}
return false;
}
#endif

21
flight/Modules/Altitude/altitude.c
View File

@ -37,6 +37,7 @@
*/
#include "openpilot.h"
#include "altitude.h"
#include "baroaltitude.h" // object that will be updated by the module
#if defined(PIOS_INCLUDE_HCSR04)
#include "sonaraltitude.h" // object that will be updated by the module
@ -66,12 +67,28 @@ static void altitudeTask(void *parameters);
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AltitudeInitialize()
int32_t AltitudeStart()
{
BaroAltitudeInitialize();
#if defined(PIOS_INCLUDE_HCSR04)
SonarAltitudeInitialze();
#endif
// Start main task
xTaskCreate(altitudeTask, (signed char *)"Altitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ALTITUDE, taskHandle);
return 0;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AltitudeInitialize()
{
// init down-sampling data
alt_ds_temp = 0;
alt_ds_pres = 0;
@ -79,7 +96,7 @@ int32_t AltitudeInitialize()
return 0;
}
MODULE_INITCALL(AltitudeInitialize, AltitudeStart)
/**
* Module thread, should not return.
*/

246
flight/Modules/Attitude/attitude.c
View File

@ -3,7 +3,7 @@
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup Attitude Copter Control Attitude Estimation
* @brief Acquires sensor data and computes attitude estimate
* @brief Acquires sensor data and computes attitude estimate
* Specifically updates the the @ref AttitudeActual "AttitudeActual" and @ref AttitudeRaw "AttitudeRaw" settings objects
* @{
*
@ -76,7 +76,7 @@ static void AttitudeTask(void *parameters);
static float gyro_correct_int[3] = {0,0,0};
static xQueueHandle gyro_queue;
static void updateSensors(AttitudeRawData *);
static int8_t updateSensors(AttitudeRawData *);
static void updateAttitude(AttitudeRawData *);
static void settingsUpdatedCb(UAVObjEvent * objEv);
@ -89,6 +89,22 @@ static float q[4] = {1,0,0,0};
static float R[3][3];
static int8_t rotate = 0;
static bool zero_during_arming = false;
static bool bias_correct_gyro = true;
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AttitudeStart(void)
{
// Start main task
xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
return 0;
}
/**
* Initialise the module, called on startup
@ -96,6 +112,10 @@ static bool zero_during_arming = false;
*/
int32_t AttitudeInitialize(void)
{
AttitudeActualInitialize();
AttitudeRawInitialize();
AttitudeSettingsInitialize();
// Initialize quaternion
AttitudeActualData attitude;
AttitudeActualGet(&attitude);
@ -104,89 +124,125 @@ int32_t AttitudeInitialize(void)
attitude.q3 = 0;
attitude.q4 = 0;
AttitudeActualSet(&attitude);
// Cannot trust the values to init right above if BL runs
gyro_correct_int[0] = 0;
gyro_correct_int[1] = 0;
gyro_correct_int[2] = 0;
q[0] = 1;
q[1] = 0;
q[2] = 0;
q[3] = 0;
for(uint8_t i = 0; i < 3; i++)
for(uint8_t j = 0; j < 3; j++)
R[i][j] = 0;
// Create queue for passing gyro data, allow 2 back samples in case
gyro_queue = xQueueCreate(1, sizeof(float) * 4);
if(gyro_queue == NULL)
if(gyro_queue == NULL)
return -1;
PIOS_ADC_SetQueue(gyro_queue);
AttitudeSettingsConnectCallback(&settingsUpdatedCb);
// Start main task
xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
return 0;
}
MODULE_INITCALL(AttitudeInitialize, AttitudeStart)
/**
* Module thread, should not return.
*/
static void AttitudeTask(void *parameters)
{
uint8_t init = 0;
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
PIOS_ADC_Config((PIOS_ADC_RATE / 1000.0f) * UPDATE_RATE);
// Keep flash CS pin high while talking accel
PIOS_FLASH_DISABLE;
PIOS_FLASH_DISABLE;
PIOS_ADXL345_Init();
zero_during_arming = false;
// Set critical error and wait until the accel is producing data
while(PIOS_ADXL345_FifoElements() == 0) {
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_CRITICAL);
PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
}
// Force settings update to make sure rotation loaded
settingsUpdatedCb(AttitudeSettingsHandle());
// Main task loop
while (1) {
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if(xTaskGetTickCount() < 10000) {
// For first 5 seconds use accels to get gyro bias
if((xTaskGetTickCount() < 7000) && (xTaskGetTickCount() > 1000)) {
// For first 7 seconds use accels to get gyro bias
accelKp = 1;
// Decrease the rate of gyro learning during init
accelKi = .5 / (1 + xTaskGetTickCount() / 5000);
yawBiasRate = 0.01 / (1 + xTaskGetTickCount() / 5000);
accelKi = 0.9;
yawBiasRate = 0.23;
init = 0;
}
}
else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
accelKi = .01;
yawBiasRate = 0.1;
init = 0;
accelKp = 1;
accelKi = 0.9;
yawBiasRate = 0.23;
init = 0;
} else if (init == 0) {
settingsUpdatedCb(AttitudeSettingsHandle());
// Reload settings (all the rates)
AttitudeSettingsAccelKiGet(&accelKi);
AttitudeSettingsAccelKpGet(&accelKp);
AttitudeSettingsYawBiasRateGet(&yawBiasRate);
init = 1;
}
}
PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
AttitudeRawData attitudeRaw;
AttitudeRawGet(&attitudeRaw);
updateSensors(&attitudeRaw);
updateAttitude(&attitudeRaw);
AttitudeRawSet(&attitudeRaw);
AttitudeRawGet(&attitudeRaw);
if(updateSensors(&attitudeRaw) != 0)
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
else {
// Only update attitude when sensor data is good
updateAttitude(&attitudeRaw);
AttitudeRawSet(&attitudeRaw);
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
}
}
}
static void updateSensors(AttitudeRawData * attitudeRaw)
{
/**
* Get an update from the sensors
* @param[in] attitudeRaw Populate the UAVO instead of saving right here
* @return 0 if successfull, -1 if not
*/
static int8_t updateSensors(AttitudeRawData * attitudeRaw)
{
struct pios_adxl345_data accel_data;
float gyro[4];
// Only wait the time for two nominal updates before setting an alarm
if(xQueueReceive(gyro_queue, (void * const) gyro, UPDATE_RATE * 2) == errQUEUE_EMPTY) {
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
return;
return -1;
}
// No accel data available
if(PIOS_ADXL345_FifoElements() == 0)
return -1;
// First sample is temperature
attitudeRaw->gyros[ATTITUDERAW_GYROS_X] = -(gyro[1] - GYRO_NEUTRAL) * gyroGain;
attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] = (gyro[2] - GYRO_NEUTRAL) * gyroGain;
attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] = -(gyro[3] - GYRO_NEUTRAL) * gyroGain;
int32_t x = 0;
int32_t y = 0;
int32_t z = 0;
@ -201,9 +257,9 @@ static void updateSensors(AttitudeRawData * attitudeRaw)
} while ( (i < 32) && (samples_remaining > 0) );
attitudeRaw->gyrotemp[0] = samples_remaining;
attitudeRaw->gyrotemp[1] = i;
float accel[3] = {(float) x / i, (float) y / i, (float) z / i};
if(rotate) {
// TODO: rotate sensors too so stabilization is well behaved
float vec_out[3];
@ -219,68 +275,71 @@ static void updateSensors(AttitudeRawData * attitudeRaw)
attitudeRaw->accels[0] = accel[0];
attitudeRaw->accels[1] = accel[1];
attitudeRaw->accels[2] = accel[2];
}
}
// Scale accels and correct bias
attitudeRaw->accels[ATTITUDERAW_ACCELS_X] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_X] - accelbias[0]) * 0.004f * 9.81f;
attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] - accelbias[1]) * 0.004f * 9.81f;
attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] - accelbias[2]) * 0.004f * 9.81f;
if(bias_correct_gyro) {
// Applying integral component here so it can be seen on the gyros and correct bias
attitudeRaw->gyros[ATTITUDERAW_GYROS_X] += gyro_correct_int[0];
attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] += gyro_correct_int[1];
attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] += gyro_correct_int[2];
}
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
// and make it average zero (weakly)
gyro_correct_int[2] += - attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] * yawBiasRate;
// Applying integral component here so it can be seen on the gyros and correct bias
attitudeRaw->gyros[ATTITUDERAW_GYROS_X] += gyro_correct_int[0];
attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] += gyro_correct_int[1];
// Because most crafts wont get enough information from gravity to zero yaw gyro
attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] += gyro_correct_int[2];
gyro_correct_int[2] += - attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] * yawBiasRate;
return 0;
}
static void updateAttitude(AttitudeRawData * attitudeRaw)
{
float dT;
portTickType thisSysTime = xTaskGetTickCount();
static portTickType lastSysTime = 0;
static portTickType thisSysTime;
static float dT = 0;
thisSysTime = xTaskGetTickCount();
if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
dT = (thisSysTime == lastSysTime) ? 0.001 : (portMAX_DELAY & (thisSysTime - lastSysTime)) / portTICK_RATE_MS / 1000.0f;
lastSysTime = thisSysTime;
// Bad practice to assume structure order, but saves memory
float gyro[3];
gyro[0] = attitudeRaw->gyros[0];
gyro[1] = attitudeRaw->gyros[1];
gyro[2] = attitudeRaw->gyros[2];
{
float * accels = attitudeRaw->accels;
float grot[3];
float accel_err[3];
// Rotate gravity to body frame and cross with accels
grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2]));
grot[1] = -(2 * (q[2] * q[3] + q[0] * q[1]));
grot[2] = -(q[0] * q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]);
CrossProduct((const float *) accels, (const float *) grot, accel_err);
// Account for accel magnitude
// Account for accel magnitude
float accel_mag = sqrt(accels[0]*accels[0] + accels[1]*accels[1] + accels[2]*accels[2]);
accel_err[0] /= accel_mag;
accel_err[1] /= accel_mag;
accel_err[2] /= accel_mag;
// Accumulate integral of error. Scale here so that units are (rad/s) but Ki has units of s
// Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s
gyro_correct_int[0] += accel_err[0] * accelKi;
gyro_correct_int[1] += accel_err[1] * accelKi;
//gyro_correct_int[2] += accel_err[2] * settings.AccelKI * dT;
// Correct rates based on error, integral component dealt with in updateSensors
gyro[0] += accel_err[0] * accelKp / dT;
gyro[1] += accel_err[1] * accelKp / dT;
gyro[2] += accel_err[2] * accelKp / dT;
}
{ // scoping variables to save memory
// Work out time derivative from INSAlgo writeup
// Also accounts for the fact that gyros are in deg/s
@ -289,28 +348,44 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
qdot[1] = (q[0] * gyro[0] - q[3] * gyro[1] + q[2] * gyro[2]) * dT * M_PI / 180 / 2;
qdot[2] = (q[3] * gyro[0] + q[0] * gyro[1] - q[1] * gyro[2]) * dT * M_PI / 180 / 2;
qdot[3] = (-q[2] * gyro[0] + q[1] * gyro[1] + q[0] * gyro[2]) * dT * M_PI / 180 / 2;
// Take a time step
q[0] = q[0] + qdot[0];
q[1] = q[1] + qdot[1];
q[2] = q[2] + qdot[2];
q[3] = q[3] + qdot[3];
if(q[0] < 0) {
q[0] = -q[0];
q[1] = -q[1];
q[2] = -q[2];
q[3] = -q[3];
}
}
// Renomalize
float qmag = sqrt(q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]);
q[0] = q[0] / qmag;
q[1] = q[1] / qmag;
q[2] = q[2] / qmag;
q[3] = q[3] / qmag;
// If quaternion has become inappropriately short or is nan reinit.
// THIS SHOULD NEVER ACTUALLY HAPPEN
if((fabs(qmag) < 1e-3) || (qmag != qmag)) {
q[0] = 1;
q[1] = 0;
q[2] = 0;
q[3] = 0;
}
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
quat_copy(q, &attitudeActual.q1);
// Convert into eueler degrees (makes assumptions about RPY order)
Quaternion2RPY(&attitudeActual.q1,&attitudeActual.Roll);
Quaternion2RPY(&attitudeActual.q1,&attitudeActual.Roll);
AttitudeActualSet(&attitudeActual);
}
@ -318,36 +393,41 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
static void settingsUpdatedCb(UAVObjEvent * objEv) {
AttitudeSettingsData attitudeSettings;
AttitudeSettingsGet(&attitudeSettings);
accelKp = attitudeSettings.AccelKp;
accelKi = attitudeSettings.AccelKi;
accelKi = attitudeSettings.AccelKi;
yawBiasRate = attitudeSettings.YawBiasRate;
gyroGain = attitudeSettings.GyroGain;
zero_during_arming = attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE;
bias_correct_gyro = attitudeSettings.BiasCorrectGyro == ATTITUDESETTINGS_BIASCORRECTGYRO_TRUE;
accelbias[0] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_X];
accelbias[1] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Y];
accelbias[2] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Z];
gyro_correct_int[0] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_X] / 100.0f;
gyro_correct_int[1] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Y] / 100.0f;
gyro_correct_int[2] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Z] / 100.0f;
// Indicates not to expend cycles on rotation
if(attitudeSettings.BoardRotation[0] == 0 && attitudeSettings.BoardRotation[1] == 0 &&
attitudeSettings.BoardRotation[2] == 0) {
rotate = 0;
// Shouldn't be used but to be safe
float rotationQuat[4] = {1,0,0,0};
Quaternion2R(rotationQuat, R);
} else {
float rotationQuat[4];
const float rpy[3] = {attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_ROLL],
attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_PITCH],
const float rpy[3] = {attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_ROLL],
attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_PITCH],
attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_YAW]};
RPY2Quaternion(rpy, rotationQuat);
Quaternion2R(rotationQuat, R);
rotate = 1;
}
}
}
/**
* @}

5
flight/Modules/Battery/battery.c
View File

@ -75,8 +75,13 @@ static void onTimer(UAVObjEvent* ev);
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
MODULE_INITCALL(BatteryInitialize, 0)
int32_t BatteryInitialize(void)
{
BatteryStateInitialze();
BatterySettingsInitialize();
static UAVObjEvent ev;
memset(&ev,0,sizeof(UAVObjEvent));

141
flight/Modules/CameraStab/camerastab.c Normal file
View File

@ -0,0 +1,141 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup CameraStab Camera Stabilization Module
* @brief Camera stabilization module
* Updates accessory outputs with values appropriate for camera stabilization
* @{
*
* @file camerastab.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Stabilize camera against the roll pitch and yaw of aircraft
*
* @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
*/
/**
* Output object: Accessory
*
* This module will periodically calculate the output values for stabilizing the camera
*
* UAVObjects are automatically generated by the UAVObjectGenerator from
* the object definition XML file.
*
* Modules have no API, all communication to other modules is done through UAVObjects.
* However modules may use the API exposed by shared libraries.
* See the OpenPilot wiki for more details.
* http://www.openpilot.org/OpenPilot_Application_Architecture
*
*/
#include "openpilot.h"
#include "accessorydesired.h"
#include "attitudeactual.h"
#include "camerastabsettings.h"
#include "cameradesired.h"
//
// Configuration
//
#define SAMPLE_PERIOD_MS 10
// Private types
// Private variables
// Private functions
static void attitudeUpdated(UAVObjEvent* ev);
static float bound(float val);
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t CameraStabInitialize(void)
{
static UAVObjEvent ev;
ev.obj = AttitudeActualHandle();
ev.instId = 0;
ev.event = 0;
CameraStabSettingsInitialize();
CameraDesiredInitialize();
EventPeriodicCallbackCreate(&ev, attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
return 0;
}
static void attitudeUpdated(UAVObjEvent* ev)
{
if (ev->obj != AttitudeActualHandle())
return;
float attitude;
float output;
AccessoryDesiredData accessory;
CameraStabSettingsData cameraStab;
CameraStabSettingsGet(&cameraStab);
// Read any input channels
float inputs[3] = {0,0,0};
if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_ROLL] != CAMERASTABSETTINGS_INPUTS_NONE) {
if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_ROLL] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0)
inputs[0] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_ROLL];
}
if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_PITCH] != CAMERASTABSETTINGS_INPUTS_NONE) {
if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_PITCH] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0)
inputs[1] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_PITCH];
}
if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_YAW] != CAMERASTABSETTINGS_INPUTS_NONE) {
if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_YAW] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0)
inputs[2] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_YAW];
}
// Set output channels
AttitudeActualRollGet(&attitude);
output = bound((attitude + inputs[0]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL]);
CameraDesiredRollSet(&output);
AttitudeActualPitchGet(&attitude);
output = bound((attitude + inputs[1]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH]);
CameraDesiredPitchSet(&output);
AttitudeActualYawGet(&attitude);
output = bound((attitude + inputs[2]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW]);
CameraDesiredYawSet(&output);
}
float bound(float val)
{
return (val > 1) ? 1 :
(val < -1) ? -1 :
val;
}
/**
* @}
*/
/**
* @}
*/

87
flight/UAVObjects/uavobjectsinit_linker.c → flight/Modules/CameraStab/inc/camerastab.h
View File

@ -1,45 +1,42 @@
/**
******************************************************************************
*
* @file uavobjectsinit.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Initialize all objects.
* Automatically generated by the UAVObjectGenerator.
*
* @note This is an automatically generated file.
* DO NOT modify manually.
* @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 "openpilot.h"
/**
* Function used to initialize the first instance of each object.
* This file is automatically updated by the UAVObjectGenerator.
*/
extern initcall_t __uavobj_initcall_start[], __uavobj_initcall_end[];
void UAVObjectsInitializeAll()
{
initcall_t *fn;
int32_t ret;
for (fn = __uavobj_initcall_start; fn < __uavobj_initcall_end; fn++)
ret = (*fn)();
}
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup BatteryModule Battery Module
* @{
*
* @file battery.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Module to read the battery Voltage and Current periodically and set alarms appropriately.
*
* @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 BATTERY_H
#define BATTERY_H
#include "openpilot.h"
int32_t CameraStabInitialize(void);
#endif // BATTERY_H
/**
* @}
* @}
*/

9
flight/Modules/Example/example.c
View File

@ -49,9 +49,14 @@
#include "examplemodperiodic.h"
#include "examplemodthread.h"
void ExampleInitialize(void)
void ExampleStart(void)
{
ExampleModEventInitialize();
ExampleModPeriodicInitialize();
ExampleModThreadInitialize();
}
void ExampleInitialize(void)
{
ExampleModEventInitialize();
}
MODULE_INITCALL(ExampleInitialize, ExampleStart)

30
flight/Modules/FirmwareIAP/firmwareiap.c
View File

@ -27,9 +27,11 @@
#include <stdint.h>
#include "pios.h"
#include <pios_board_info.h>
#include "openpilot.h"
#include "firmwareiap.h"
#include "firmwareiapobj.h"
#include "flightstatus.h"
// Private constants
#define IAP_CMD_STEP_1 1122
@ -86,17 +88,22 @@ static void resetTask(UAVObjEvent *);
* \note
*
*/
MODULE_INITCALL(FirmwareIAPInitialize, 0)
int32_t FirmwareIAPInitialize()
{
data.BoardType= BOARD_TYPE;
FirmwareIAPObjInitialize();
const struct pios_board_info * bdinfo = &pios_board_info_blob;
data.BoardType= bdinfo->board_type;
PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
data.BoardRevision= BOARD_REVISION;
data.BoardRevision= bdinfo->board_rev;
data.ArmReset=0;
data.crc = 0;
FirmwareIAPObjSet( &data );
FirmwareIAPObjConnectCallback( &FirmwareIAPCallback );
if(bdinfo->magic==PIOS_BOARD_INFO_BLOB_MAGIC) FirmwareIAPObjConnectCallback( &FirmwareIAPCallback );
return 0;
}
@ -111,6 +118,7 @@ int32_t FirmwareIAPInitialize()
static uint8_t iap_state = IAP_STATE_READY;
static void FirmwareIAPCallback(UAVObjEvent* ev)
{
const struct pios_board_info * bdinfo = &pios_board_info_blob;
static uint32_t last_time = 0;
uint32_t this_time;
uint32_t delta;
@ -124,11 +132,11 @@ static void FirmwareIAPCallback(UAVObjEvent* ev)
this_time = get_time();
delta = this_time - last_time;
last_time = this_time;
if((data.BoardType==BOARD_TYPE)&&(data.crc != PIOS_BL_HELPER_CRC_Memory_Calc()))
if((data.BoardType==bdinfo->board_type)&&(data.crc != PIOS_BL_HELPER_CRC_Memory_Calc()))
{
PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
data.BoardRevision=BOARD_REVISION;
data.BoardRevision=bdinfo->board_rev;
data.crc = PIOS_BL_HELPER_CRC_Memory_Calc();
FirmwareIAPObjSet( &data );
}
@ -156,6 +164,16 @@ static void FirmwareIAPCallback(UAVObjEvent* ev)
case IAP_STATE_STEP_2:
if( data.Command == IAP_CMD_STEP_3 ) {
if( delta > iap_time_3_low_end && delta < iap_time_3_high_end ) {
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if(flightStatus.Armed != FLIGHTSTATUS_ARMED_DISARMED) {
// Abort any attempts if not disarmed
iap_state = IAP_STATE_READY;
break;
}
// we've met the three sequence of command numbers
// we've met the time requirements.
PIOS_IAP_SetRequest1();

27
flight/Modules/FlightPlan/flightplan.c
View File

@ -31,6 +31,7 @@
#include "openpilot.h"
#include "pm.h"
#include "flightplan.h"
#include "flightplanstatus.h"
#include "flightplancontrol.h"
#include "flightplansettings.h"
@ -56,10 +57,28 @@ extern unsigned char usrlib_img[];
/**
* Module initialization
*/
int32_t FlightPlanInitialize()
int32_t FlightPlanStart()
{
taskHandle = NULL;
// Start VM thread
xTaskCreate(flightPlanTask, (signed char *)"FlightPlan", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_FLIGHTPLAN, taskHandle);
return 0;
}
/**
* Module initialization
*/
int32_t FlightPlanInitialize()
{
taskHandle = NULL;
FlightPlanStatusInitialize();
FlightPlanControlInitialize();
FlightPlanSettingsInitialize();
// Listen for object updates
FlightPlanControlConnectCallback(&objectUpdatedCb);
@ -69,13 +88,9 @@ int32_t FlightPlanInitialize()
// Listen for FlightPlanControl updates
FlightPlanControlConnectQueue(queue);
// Start VM thread
xTaskCreate(flightPlanTask, (signed char *)"FlightPlan", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_FLIGHTPLAN, taskHandle);
return 0;
}
MODULE_INITCALL(FlightPlanInitialize, FlightPlanStart)
/**
* Module task
*/

2
flight/Modules/FlightPlan/lib/uavobject.py
View File

@ -288,7 +288,7 @@ class UAVObject:
uint32_t type;
uint32_t numElements;
uint8_t const *tmpStr;
int8_t tmpInt8;
int8_t tmpInt8 = 0;
int16_t tmpInt16;
int32_t tmpInt32;
float tmpFloat;

39
flight/Modules/GPS/GPS.c
View File

@ -63,7 +63,7 @@ static float GravityAccel(float latitude, float longitude, float altitude);
// Private constants
//#define FULL_COLD_RESTART // uncomment this to tell the GPS to do a FULL COLD restart
//#define DISABLE_GPS_TRESHOLD //
//#define DISABLE_GPS_THRESHOLD //
#define GPS_TIMEOUT_MS 500
#define GPS_COMMAND_RESEND_TIMEOUT_MS 2000
@ -109,19 +109,31 @@ static uint32_t numParsingErrors;
* \return 0 on success
*/
int32_t GPSInitialize(void)
int32_t GPSStart(void)
{
signed portBASE_TYPE xReturn;
// TODO: Get gps settings object
gpsPort = PIOS_COM_GPS;
// Start gps task
xReturn = xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle);
xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_GPS, gpsTaskHandle);
return 0;
}
/**
* Initialise the gps module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t GPSInitialize(void)
{
GPSPositionInitialize();
GPSTimeInitialize();
HomeLocationInitialize();
// TODO: Get gps settings object
gpsPort = PIOS_COM_GPS;
return 0;
}
MODULE_INITCALL(GPSInitialize, GPSStart)
// ****************
/**
@ -154,7 +166,7 @@ static void gpsTask(void *parameters)
}
#endif
#ifdef DISABLE_GPS_TRESHOLD
#ifdef DISABLE_GPS_THRESHOLD
PIOS_COM_SendStringNonBlocking(gpsPort, "$PMTK397,0*23\r\n");
#endif
@ -188,8 +200,10 @@ static void gpsTask(void *parameters)
while (PIOS_COM_ReceiveBufferUsed(gpsPort) > 0)
{
int res = GTOP_BIN_update_position(PIOS_COM_ReceiveBuffer(gpsPort), &numChecksumErrors, &numParsingErrors);
if (res >= 0)
uint8_t c;
PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, 0);
if (GTOP_BIN_update_position(c, &numChecksumErrors, &numParsingErrors) >= 0)
{
numUpdates++;
@ -205,7 +219,8 @@ static void gpsTask(void *parameters)
// This blocks the task until there is something on the buffer
while (PIOS_COM_ReceiveBufferUsed(gpsPort) > 0)
{
char c = PIOS_COM_ReceiveBuffer(gpsPort);
uint8_t c;
PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, 0);
// detect start while acquiring stream
if (!start_flag && (c == '$'))

34
flight/Modules/Guidance/guidance.c
View File

@ -82,14 +82,8 @@ static void updateVtolDesiredAttitude();
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t GuidanceInitialize()
int32_t GuidanceStart()
{
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// Listen for updates.
AttitudeRawConnectQueue(queue);
// Start main task
xTaskCreate(guidanceTask, (signed char *)"Guidance", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &guidanceTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_GUIDANCE, guidanceTaskHandle);
@ -97,6 +91,28 @@ int32_t GuidanceInitialize()
return 0;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t GuidanceInitialize()
{
GuidanceSettingsInitialize();
PositionDesiredInitialize();
NedAccelInitialize();
VelocityDesiredInitialize();
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// Listen for updates.
AttitudeRawConnectQueue(queue);
return 0;
}
MODULE_INITCALL(GuidanceInitialize, GuidanceStart)
static float northVelIntegral = 0;
static float eastVelIntegral = 0;
static float downVelIntegral = 0;
@ -236,7 +252,7 @@ void updateVtolDesiredVelocity()
{
static portTickType lastSysTime;
portTickType thisSysTime = xTaskGetTickCount();;
float dT;
float dT = 0;
GuidanceSettingsData guidanceSettings;
PositionActualData positionActual;
@ -304,7 +320,7 @@ static void updateVtolDesiredAttitude()
{
static portTickType lastSysTime;
portTickType thisSysTime = xTaskGetTickCount();;
float dT;
float dT = 0;
VelocityDesiredData velocityDesired;
VelocityActualData velocityActual;

2
flight/Modules/Guidance/inc/guidance.h
View File

@ -27,5 +27,5 @@
#define EXAMPLEMODPERIODIC_H
int32_t ExampleModPeriodicInitialize();
int32_t GuidanceInitialize(void);
#endif // EXAMPLEMODPERIODIC_H

62
flight/Modules/ManualControl/inc/manualcontrol.h
View File

@ -1,7 +1,7 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @{
* @addtogroup ManualControlModule Manual Control Module
* @{
*
@ -45,4 +45,64 @@ typedef enum {FLIGHTMODE_UNDEFINED = 0, FLIGHTMODE_MANUAL = 1, FLIGHTMODE_STABIL
int32_t ManualControlInitialize();
/*
* These are assumptions we make in the flight code about the order of settings and their consistency between
* objects. Please keep this synchronized to the UAVObjects
*/
#define assumptions1 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define assumptions3 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define assumptions5 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define ARMING_CHANNEL_ROLL 0
#define ARMING_CHANNEL_PITCH 1
#define ARMING_CHANNEL_YAW 2
#define assumptions7 ( \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) \
)
#define assumptions8 ( \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) \
)
#define assumptions_flightmode ( \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int) FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int) FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) \
)
#endif // MANUALCONTROL_H

1201
flight/Modules/ManualControl/manualcontrol.c
View File

@ -1,606 +1,595 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup ManualControlModule Manual Control Module
* @brief Provide manual control or allow it alter flight mode.
* @{
*
* Reads in the ManualControlCommand FlightMode setting from receiver then either
* pass the settings straght to ActuatorDesired object (manual mode) or to
* AttitudeDesired object (stabilized mode)
*
* @file manualcontrol.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief ManualControl module. Handles safety R/C link and flight mode.
*
* @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 "openpilot.h"
#include "manualcontrol.h"
#include "manualcontrolsettings.h"
#include "stabilizationsettings.h"
#include "manualcontrolcommand.h"
#include "actuatordesired.h"
#include "stabilizationdesired.h"
#include "flighttelemetrystats.h"
#include "flightstatus.h"
// Private constants
#if defined(PIOS_MANUAL_STACK_SIZE)
#define STACK_SIZE_BYTES PIOS_MANUAL_STACK_SIZE
#else
#define STACK_SIZE_BYTES 824
#endif
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
#define UPDATE_PERIOD_MS 20
#define THROTTLE_FAILSAFE -0.1
#define FLIGHT_MODE_LIMIT 1.0/3.0
#define ARMED_TIME_MS 1000
#define ARMED_THRESHOLD 0.50
//safe band to allow a bit of calibration error or trim offset (in microseconds)
#define CONNECTION_OFFSET 150
// Private types
typedef enum
{
ARM_STATE_DISARMED,
ARM_STATE_ARMING_MANUAL,
ARM_STATE_ARMED,
ARM_STATE_DISARMING_MANUAL,
ARM_STATE_DISARMING_TIMEOUT
} ArmState_t;
// Private variables
static xTaskHandle taskHandle;
static ArmState_t armState;
static portTickType lastSysTime;
// Private functions
static void updateActuatorDesired(ManualControlCommandData * cmd);
static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
static void processFlightMode(ManualControlSettingsData * settings, float flightMode);
static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
static void manualControlTask(void *parameters);
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral);
static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time);
static bool okToArm(void);
static bool validInputRange(int16_t min, int16_t max, uint16_t value);
#define assumptions1 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define assumptions3 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define assumptions5 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define ARMING_CHANNEL_ROLL 0
#define ARMING_CHANNEL_PITCH 1
#define ARMING_CHANNEL_YAW 2
#define assumptions7 ( \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) \
)
#define assumptions8 ( \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) \
)
#define assumptions_flightmode ( \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int) FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int) FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) \
)
#define assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode)
/**
* Module initialization
*/
int32_t ManualControlInitialize()
{
/* Check the assumptions about uavobject enum's are correct */
if(!assumptions)
return -1;
// Start main task
xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_MANUAL);
return 0;
}
/**
* Module task
*/
static void manualControlTask(void *parameters)
{
ManualControlSettingsData settings;
ManualControlCommandData cmd;
FlightStatusData flightStatus;
float flightMode = 0;
uint8_t disconnected_count = 0;
uint8_t connected_count = 0;
// Make sure unarmed on power up
ManualControlCommandGet(&cmd);
FlightStatusGet(&flightStatus);
flightStatus.Armed = FLIGHTSTATUS_ARMED_DISARMED;
armState = ARM_STATE_DISARMED;
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1) {
float scaledChannel[MANUALCONTROLCOMMAND_CHANNEL_NUMELEM];
// Wait until next update
vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS);
PIOS_WDG_UpdateFlag(PIOS_WDG_MANUAL);
// Read settings
ManualControlSettingsGet(&settings);
if (ManualControlCommandReadOnly(&cmd)) {
FlightTelemetryStatsData flightTelemStats;
FlightTelemetryStatsGet(&flightTelemStats);
if(flightTelemStats.Status != FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) {
/* trying to fly via GCS and lost connection. fall back to transmitter */
UAVObjMetadata metadata;
UAVObjGetMetadata(&cmd, &metadata);
metadata.access = ACCESS_READWRITE;
UAVObjSetMetadata(&cmd, &metadata);
}
}
if (!ManualControlCommandReadOnly(&cmd)) {
// Read channel values in us
// TODO: settings.InputMode is currently ignored because PIOS will not allow runtime
// selection of PWM and PPM. The configuration is currently done at compile time in
// the pios_config.h file.
for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) {
#if defined(PIOS_INCLUDE_PWM)
cmd.Channel[n] = PIOS_PWM_Get(n);
#elif defined(PIOS_INCLUDE_PPM)
cmd.Channel[n] = PIOS_PPM_Get(n);
#elif defined(PIOS_INCLUDE_SPEKTRUM)
cmd.Channel[n] = PIOS_SPEKTRUM_Get(n);
#endif
scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]);
}
// Check settings, if error raise alarm
if (settings.Roll >= MANUALCONTROLSETTINGS_ROLL_NONE ||
settings.Pitch >= MANUALCONTROLSETTINGS_PITCH_NONE ||
settings.Yaw >= MANUALCONTROLSETTINGS_YAW_NONE ||
settings.Throttle >= MANUALCONTROLSETTINGS_THROTTLE_NONE ||
settings.FlightMode >= MANUALCONTROLSETTINGS_FLIGHTMODE_NONE) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
ManualControlCommandSet(&cmd);
continue;
}
// decide if we have valid manual input or not
bool valid_input_detected = validInputRange(settings.ChannelMin[settings.Throttle], settings.ChannelMax[settings.Throttle], cmd.Channel[settings.Throttle]) &&
validInputRange(settings.ChannelMin[settings.Roll], settings.ChannelMax[settings.Roll], cmd.Channel[settings.Roll]) &&
validInputRange(settings.ChannelMin[settings.Yaw], settings.ChannelMax[settings.Yaw], cmd.Channel[settings.Yaw]) &&
validInputRange(settings.ChannelMin[settings.Pitch], settings.ChannelMax[settings.Pitch], cmd.Channel[settings.Pitch]);
// Implement hysteresis loop on connection status
if (valid_input_detected && (++connected_count > 10)) {
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_TRUE;
connected_count = 0;
disconnected_count = 0;
} else if (!valid_input_detected && (++disconnected_count > 10)) {
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
connected_count = 0;
disconnected_count = 0;
}
if (cmd.Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE) {
cmd.Throttle = -1; // Shut down engine with no control
cmd.Roll = 0;
cmd.Yaw = 0;
cmd.Pitch = 0;
//cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO; // don't do until AUTO implemented and functioning
// Important: Throttle < 0 will reset Stabilization coefficients among other things. Either change this,
// or leave throttle at IDLE speed or above when going into AUTO-failsafe.
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
ManualControlCommandSet(&cmd);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
// Scale channels to -1 -> +1 range
cmd.Roll = scaledChannel[settings.Roll];
cmd.Pitch = scaledChannel[settings.Pitch];
cmd.Yaw = scaledChannel[settings.Yaw];
cmd.Throttle = scaledChannel[settings.Throttle];
flightMode = scaledChannel[settings.FlightMode];
// Set accessory channels
cmd.Accessory1 = (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE) ? scaledChannel[settings.Accessory1] : 0;
cmd.Accessory2 = (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) ? scaledChannel[settings.Accessory2] : 0;
cmd.Accessory3 = (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY3_NONE) ? scaledChannel[settings.Accessory3] : 0;
processFlightMode(&settings, flightMode);
processArm(&cmd, &settings);
// Update cmd object
ManualControlCommandSet(&cmd);
}
} else {
ManualControlCommandGet(&cmd); /* Under GCS control */
}
FlightStatusGet(&flightStatus);
// Depending on the mode update the Stabilization or Actuator objects
switch(PARSE_FLIGHT_MODE(flightStatus.FlightMode)) {
case FLIGHTMODE_UNDEFINED:
// This reflects a bug in the code architecture!
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
break;
case FLIGHTMODE_MANUAL:
updateActuatorDesired(&cmd);
break;
case FLIGHTMODE_STABILIZED:
updateStabilizationDesired(&cmd, &settings);
break;
case FLIGHTMODE_GUIDANCE:
// TODO: Implement
break;
}
}
}
static void updateActuatorDesired(ManualControlCommandData * cmd)
{
ActuatorDesiredData actuator;
ActuatorDesiredGet(&actuator);
actuator.Roll = cmd->Roll;
actuator.Pitch = cmd->Pitch;
actuator.Yaw = cmd->Yaw;
actuator.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
ActuatorDesiredSet(&actuator);
}
static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings)
{
StabilizationDesiredData stabilization;
StabilizationDesiredGet(&stabilization);
StabilizationSettingsData stabSettings;
StabilizationSettingsGet(&stabSettings);
uint8_t * stab_settings;
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
switch(flightStatus.FlightMode) {
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
stab_settings = settings->Stabilization1Settings;
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
stab_settings = settings->Stabilization2Settings;
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
stab_settings = settings->Stabilization3Settings;
break;
default:
// Major error, this should not occur because only enter this block when one of these is true
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
return;
}
// TOOD: Add assumption about order of stabilization desired and manual control stabilization mode fields having same order
stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = stab_settings[0];
stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = stab_settings[1];
stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = stab_settings[2];
stabilization.Roll = (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
0; // this is an invalid mode
;
stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
0; // this is an invalid mode
stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? fmod(cmd->Yaw * 180.0, 360) :
0; // this is an invalid mode
stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
StabilizationDesiredSet(&stabilization);
}
/**
* Convert channel from servo pulse duration (microseconds) to scaled -1/+1 range.
*/
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral)
{
float valueScaled;
// Scale
if ((max > min && value >= neutral) || (min > max && value <= neutral))
{
if (max != neutral)
valueScaled = (float)(value - neutral) / (float)(max - neutral);
else
valueScaled = 0;
}
else
{
if (min != neutral)
valueScaled = (float)(value - neutral) / (float)(neutral - min);
else
valueScaled = 0;
}
// Bound
if (valueScaled > 1.0) valueScaled = 1.0;
else
if (valueScaled < -1.0) valueScaled = -1.0;
return valueScaled;
}
static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time) {
if(end_time > start_time)
return (end_time - start_time) * portTICK_RATE_MS;
return ((((portTICK_RATE_MS) -1) - start_time) + end_time) * portTICK_RATE_MS;
}
/**
* @brief Determine if the aircraft is safe to arm
* @returns True if safe to arm, false otherwise
*/
static bool okToArm(void)
{
// read alarms
SystemAlarmsData alarms;
SystemAlarmsGet(&alarms);
// Check each alarm
for (int i = 0; i < SYSTEMALARMS_ALARM_NUMELEM; i++)
{
if (alarms.Alarm[i] >= SYSTEMALARMS_ALARM_ERROR)
{ // found an alarm thats set
if (i == SYSTEMALARMS_ALARM_GPS || i == SYSTEMALARMS_ALARM_TELEMETRY)
continue;
return false;
}
}
return true;
}
/**
* @brief Update the flightStatus object only if value changed. Reduces callbacks
* @param[in] val The new value
*/
static void setArmedIfChanged(uint8_t val) {
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if(flightStatus.Armed != val) {
flightStatus.Armed = val;
FlightStatusSet(&flightStatus);
}
}
/**
* @brief Process the inputs and determine whether to arm or not
* @param[out] cmd The structure to set the armed in
* @param[in] settings Settings indicating the necessary position
*/
static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings)
{
bool lowThrottle = cmd->Throttle <= 0;
if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) {
// In this configuration we always disarm
setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
} else {
// Not really needed since this function not called when disconnected
if (cmd->Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE)
return;
// The throttle is not low, in case we where arming or disarming, abort
if (!lowThrottle) {
switch(armState) {
case ARM_STATE_DISARMING_MANUAL:
case ARM_STATE_DISARMING_TIMEOUT:
armState = ARM_STATE_ARMED;
break;
case ARM_STATE_ARMING_MANUAL:
armState = ARM_STATE_DISARMED;
break;
default:
// Nothing needs to be done in the other states
break;
}
return;
}
// The rest of these cases throttle is low
if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSARMED) {
// In this configuration, we go into armed state as soon as the throttle is low, never disarm
setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMED);
return;
}
// When the configuration is not "Always armed" and no "Always disarmed",
// the state will not be changed when the throttle is not low
static portTickType armedDisarmStart;
float armingInputLevel = 0;
// Calc channel see assumptions7
int8_t sign = ((settings->Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2) ? -1 : 1;
switch ( (settings->Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 ) {
case ARMING_CHANNEL_ROLL: armingInputLevel = sign * cmd->Roll; break;
case ARMING_CHANNEL_PITCH: armingInputLevel = sign * cmd->Pitch; break;
case ARMING_CHANNEL_YAW: armingInputLevel = sign * cmd->Yaw; break;
}
bool manualArm = false;
bool manualDisarm = false;
if (armingInputLevel <= -ARMED_THRESHOLD)
manualArm = true;
else if (armingInputLevel >= +ARMED_THRESHOLD)
manualDisarm = true;
switch(armState) {
case ARM_STATE_DISARMED:
setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
// only allow arming if it's OK too
if (manualArm && okToArm()) {
armedDisarmStart = lastSysTime;
armState = ARM_STATE_ARMING_MANUAL;
}
break;
case ARM_STATE_ARMING_MANUAL:
setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMING);
if (manualArm && (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS))
armState = ARM_STATE_ARMED;
else if (!manualArm)
armState = ARM_STATE_DISARMED;
break;
case ARM_STATE_ARMED:
// When we get here, the throttle is low,
// we go immediately to disarming due to timeout, also when the disarming mechanism is not enabled
armedDisarmStart = lastSysTime;
armState = ARM_STATE_DISARMING_TIMEOUT;
setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMED);
break;
case ARM_STATE_DISARMING_TIMEOUT:
// We get here when armed while throttle low, even when the arming timeout is not enabled
if ((settings->ArmedTimeout != 0) && (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings->ArmedTimeout))
armState = ARM_STATE_DISARMED;
// Switch to disarming due to manual control when needed
if (manualDisarm) {
armedDisarmStart = lastSysTime;
armState = ARM_STATE_DISARMING_MANUAL;
}
break;
case ARM_STATE_DISARMING_MANUAL:
if (manualDisarm &&(timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS))
armState = ARM_STATE_DISARMED;
else if (!manualDisarm)
armState = ARM_STATE_ARMED;
break;
} // End Switch
}
}
/**
* @brief Determine which of three positions the flight mode switch is in and set flight mode accordingly
* @param[out] cmd Pointer to the command structure to set the flight mode in
* @param[in] settings The settings which indicate which position is which mode
* @param[in] flightMode the value of the switch position
*/
static void processFlightMode(ManualControlSettingsData * settings, float flightMode)
{
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
uint8_t newMode;
// Note here the code is ass
if (flightMode < -FLIGHT_MODE_LIMIT)
newMode = settings->FlightModePosition[0];
else if (flightMode > FLIGHT_MODE_LIMIT)
newMode = settings->FlightModePosition[2];
else
newMode = settings->FlightModePosition[1];
if(flightStatus.FlightMode != newMode) {
flightStatus.FlightMode = newMode;
FlightStatusSet(&flightStatus);
}
}
/**
* @brief Determine if the manual input value is within acceptable limits
* @returns return TRUE if so, otherwise return FALSE
*/
bool validInputRange(int16_t min, int16_t max, uint16_t value)
{
if (min > max)
{
int16_t tmp = min;
min = max;
max = tmp;
}
return (value >= min - CONNECTION_OFFSET && value <= max + CONNECTION_OFFSET);
}
/**
* @}
* @}
*/
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup ManualControlModule Manual Control Module
* @brief Provide manual control or allow it alter flight mode.
* @{
*
* Reads in the ManualControlCommand FlightMode setting from receiver then either
* pass the settings straght to ActuatorDesired object (manual mode) or to
* AttitudeDesired object (stabilized mode)
*
* @file manualcontrol.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief ManualControl module. Handles safety R/C link and flight mode.
*
* @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 "openpilot.h"
#include "manualcontrol.h"
#include "manualcontrolsettings.h"
#include "stabilizationsettings.h"
#include "manualcontrolcommand.h"
#include "actuatordesired.h"
#include "stabilizationdesired.h"
#include "flighttelemetrystats.h"
#include "flightstatus.h"
#include "accessorydesired.h"
// Private constants
#if defined(PIOS_MANUAL_STACK_SIZE)
#define STACK_SIZE_BYTES PIOS_MANUAL_STACK_SIZE
#else
#define STACK_SIZE_BYTES 824
#endif
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
#define UPDATE_PERIOD_MS 20
#define THROTTLE_FAILSAFE -0.1
#define FLIGHT_MODE_LIMIT 1.0/3.0
#define ARMED_TIME_MS 1000
#define ARMED_THRESHOLD 0.50
//safe band to allow a bit of calibration error or trim offset (in microseconds)
#define CONNECTION_OFFSET 150
// Private types
typedef enum
{
ARM_STATE_DISARMED,
ARM_STATE_ARMING_MANUAL,
ARM_STATE_ARMED,
ARM_STATE_DISARMING_MANUAL,
ARM_STATE_DISARMING_TIMEOUT
} ArmState_t;
// Private variables
static xTaskHandle taskHandle;
static ArmState_t armState;
static portTickType lastSysTime;
// Private functions
static void updateActuatorDesired(ManualControlCommandData * cmd);
static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
static void processFlightMode(ManualControlSettingsData * settings, float flightMode);
static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
static void manualControlTask(void *parameters);
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral);
static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time);
static bool okToArm(void);
static bool validInputRange(int16_t min, int16_t max, uint16_t value);
#define assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode)
/**
* Module starting
*/
int32_t ManualControlStart()
{
// Start main task
xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_MANUAL);
return 0;
}
/**
* Module initialization
*/
int32_t ManualControlInitialize()
{
/* Check the assumptions about uavobject enum's are correct */
if(!assumptions)
return -1;
AccessoryDesiredInitialize();
ManualControlCommandInitialize();
FlightStatusInitialize();
StabilizationDesiredInitialize();
ManualControlSettingsInitialize();
return 0;
}
MODULE_INITCALL(ManualControlInitialize, ManualControlStart)
/**
* Module task
*/
static void manualControlTask(void *parameters)
{
ManualControlSettingsData settings;
ManualControlCommandData cmd;
FlightStatusData flightStatus;
float flightMode = 0;
uint8_t disconnected_count = 0;
uint8_t connected_count = 0;
// For now manual instantiate extra instances of Accessory Desired. In future should be done dynamically
// this includes not even registering it if not used
AccessoryDesiredCreateInstance();
AccessoryDesiredCreateInstance();
// Make sure unarmed on power up
ManualControlCommandGet(&cmd);
FlightStatusGet(&flightStatus);
flightStatus.Armed = FLIGHTSTATUS_ARMED_DISARMED;
armState = ARM_STATE_DISARMED;
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1) {
float scaledChannel[MANUALCONTROLCOMMAND_CHANNEL_NUMELEM];
// Wait until next update
vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS);
PIOS_WDG_UpdateFlag(PIOS_WDG_MANUAL);
// Read settings
ManualControlSettingsGet(&settings);
if (ManualControlCommandReadOnly(&cmd)) {
FlightTelemetryStatsData flightTelemStats;
FlightTelemetryStatsGet(&flightTelemStats);
if(flightTelemStats.Status != FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) {
/* trying to fly via GCS and lost connection. fall back to transmitter */
UAVObjMetadata metadata;
UAVObjGetMetadata(&cmd, &metadata);
metadata.access = ACCESS_READWRITE;
UAVObjSetMetadata(&cmd, &metadata);
}
}
if (!ManualControlCommandReadOnly(&cmd)) {
// Read channel values in us
for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) {
if (pios_rcvr_channel_to_id_map[n].id) {
cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_channel_to_id_map[n].id,
pios_rcvr_channel_to_id_map[n].channel);
} else {
cmd.Channel[n] = -1;
}
scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]);
}
// Check settings, if error raise alarm
if (settings.Roll >= MANUALCONTROLSETTINGS_ROLL_NONE ||
settings.Pitch >= MANUALCONTROLSETTINGS_PITCH_NONE ||
settings.Yaw >= MANUALCONTROLSETTINGS_YAW_NONE ||
settings.Throttle >= MANUALCONTROLSETTINGS_THROTTLE_NONE ||
settings.FlightMode >= MANUALCONTROLSETTINGS_FLIGHTMODE_NONE) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
ManualControlCommandSet(&cmd);
continue;
}
// decide if we have valid manual input or not
bool valid_input_detected = validInputRange(settings.ChannelMin[settings.Throttle], settings.ChannelMax[settings.Throttle], cmd.Channel[settings.Throttle]) &&
validInputRange(settings.ChannelMin[settings.Roll], settings.ChannelMax[settings.Roll], cmd.Channel[settings.Roll]) &&
validInputRange(settings.ChannelMin[settings.Yaw], settings.ChannelMax[settings.Yaw], cmd.Channel[settings.Yaw]) &&
validInputRange(settings.ChannelMin[settings.Pitch], settings.ChannelMax[settings.Pitch], cmd.Channel[settings.Pitch]);
// Implement hysteresis loop on connection status
if (valid_input_detected && (++connected_count > 10)) {
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_TRUE;
connected_count = 0;
disconnected_count = 0;
} else if (!valid_input_detected && (++disconnected_count > 10)) {
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
connected_count = 0;
disconnected_count = 0;
}
if (cmd.Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE) {
cmd.Throttle = -1; // Shut down engine with no control
cmd.Roll = 0;
cmd.Yaw = 0;
cmd.Pitch = 0;
//cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO; // don't do until AUTO implemented and functioning
// Important: Throttle < 0 will reset Stabilization coefficients among other things. Either change this,
// or leave throttle at IDLE speed or above when going into AUTO-failsafe.
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
ManualControlCommandSet(&cmd);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
// Scale channels to -1 -> +1 range
cmd.Roll = scaledChannel[settings.Roll];
cmd.Pitch = scaledChannel[settings.Pitch];
cmd.Yaw = scaledChannel[settings.Yaw];
cmd.Throttle = scaledChannel[settings.Throttle];
flightMode = scaledChannel[settings.FlightMode];
AccessoryDesiredData accessory;
// Set Accessory 0
if(settings.Accessory0 != MANUALCONTROLSETTINGS_ACCESSORY0_NONE) {
accessory.AccessoryVal = scaledChannel[settings.Accessory0];
if(AccessoryDesiredInstSet(0, &accessory) != 0)
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
// Set Accessory 1
if(settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE) {
accessory.AccessoryVal = scaledChannel[settings.Accessory1];
if(AccessoryDesiredInstSet(1, &accessory) != 0)
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
// Set Accsesory 2
if(settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) {
accessory.AccessoryVal = scaledChannel[settings.Accessory2];
if(AccessoryDesiredInstSet(2, &accessory) != 0)
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
processFlightMode(&settings, flightMode);
processArm(&cmd, &settings);
// Update cmd object
ManualControlCommandSet(&cmd);
}
} else {
ManualControlCommandGet(&cmd); /* Under GCS control */
}
FlightStatusGet(&flightStatus);
// Depending on the mode update the Stabilization or Actuator objects
switch(PARSE_FLIGHT_MODE(flightStatus.FlightMode)) {
case FLIGHTMODE_UNDEFINED:
// This reflects a bug in the code architecture!
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
break;
case FLIGHTMODE_MANUAL:
updateActuatorDesired(&cmd);
break;
case FLIGHTMODE_STABILIZED:
updateStabilizationDesired(&cmd, &settings);
break;
case FLIGHTMODE_GUIDANCE:
// TODO: Implement
break;
}
}
}
static void updateActuatorDesired(ManualControlCommandData * cmd)
{
ActuatorDesiredData actuator;
ActuatorDesiredGet(&actuator);
actuator.Roll = cmd->Roll;
actuator.Pitch = cmd->Pitch;
actuator.Yaw = cmd->Yaw;
actuator.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
ActuatorDesiredSet(&actuator);
}
static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings)
{
StabilizationDesiredData stabilization;
StabilizationDesiredGet(&stabilization);
StabilizationSettingsData stabSettings;
StabilizationSettingsGet(&stabSettings);
uint8_t * stab_settings;
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
switch(flightStatus.FlightMode) {
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
stab_settings = settings->Stabilization1Settings;
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
stab_settings = settings->Stabilization2Settings;
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
stab_settings = settings->Stabilization3Settings;
break;
default:
// Major error, this should not occur because only enter this block when one of these is true
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
return;
}
// TOOD: Add assumption about order of stabilization desired and manual control stabilization mode fields having same order
stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = stab_settings[0];
stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = stab_settings[1];
stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = stab_settings[2];
stabilization.Roll = (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
0; // this is an invalid mode
;
stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
0; // this is an invalid mode
stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
0; // this is an invalid mode
stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
StabilizationDesiredSet(&stabilization);
}
/**
* Convert channel from servo pulse duration (microseconds) to scaled -1/+1 range.
*/
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral)
{
float valueScaled;
// Scale
if ((max > min && value >= neutral) || (min > max && value <= neutral))
{
if (max != neutral)
valueScaled = (float)(value - neutral) / (float)(max - neutral);
else
valueScaled = 0;
}
else
{
if (min != neutral)
valueScaled = (float)(value - neutral) / (float)(neutral - min);
else
valueScaled = 0;
}
// Bound
if (valueScaled > 1.0) valueScaled = 1.0;
else
if (valueScaled < -1.0) valueScaled = -1.0;
return valueScaled;
}
static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time) {
if(end_time > start_time)
return (end_time - start_time) * portTICK_RATE_MS;
return ((((portTICK_RATE_MS) -1) - start_time) + end_time) * portTICK_RATE_MS;
}
/**
* @brief Determine if the aircraft is safe to arm
* @returns True if safe to arm, false otherwise
*/
static bool okToArm(void)
{
// read alarms
SystemAlarmsData alarms;
SystemAlarmsGet(&alarms);
// Check each alarm
for (int i = 0; i < SYSTEMALARMS_ALARM_NUMELEM; i++)
{
if (alarms.Alarm[i] >= SYSTEMALARMS_ALARM_ERROR)
{ // found an alarm thats set
if (i == SYSTEMALARMS_ALARM_GPS || i == SYSTEMALARMS_ALARM_TELEMETRY)
continue;
return false;
}
}
return true;
}
/**
* @brief Update the flightStatus object only if value changed. Reduces callbacks
* @param[in] val The new value
*/
static void setArmedIfChanged(uint8_t val) {
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if(flightStatus.Armed != val) {
flightStatus.Armed = val;
FlightStatusSet(&flightStatus);
}
}
/**
* @brief Process the inputs and determine whether to arm or not
* @param[out] cmd The structure to set the armed in
* @param[in] settings Settings indicating the necessary position
*/
static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings)
{
bool lowThrottle = cmd->Throttle <= 0;
if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) {
// In this configuration we always disarm
setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
} else {
// Not really needed since this function not called when disconnected
if (cmd->Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE)
return;
// The throttle is not low, in case we where arming or disarming, abort
if (!lowThrottle) {
switch(armState) {
case ARM_STATE_DISARMING_MANUAL:
case ARM_STATE_DISARMING_TIMEOUT:
armState = ARM_STATE_ARMED;
break;
case ARM_STATE_ARMING_MANUAL:
armState = ARM_STATE_DISARMED;
break;
default:
// Nothing needs to be done in the other states
break;
}
return;
}
// The rest of these cases throttle is low
if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSARMED) {
// In this configuration, we go into armed state as soon as the throttle is low, never disarm
setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMED);
return;
}
// When the configuration is not "Always armed" and no "Always disarmed",
// the state will not be changed when the throttle is not low
static portTickType armedDisarmStart;
float armingInputLevel = 0;
// Calc channel see assumptions7
int8_t sign = ((settings->Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2) ? -1 : 1;
switch ( (settings->Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 ) {
case ARMING_CHANNEL_ROLL: armingInputLevel = sign * cmd->Roll; break;
case ARMING_CHANNEL_PITCH: armingInputLevel = sign * cmd->Pitch; break;
case ARMING_CHANNEL_YAW: armingInputLevel = sign * cmd->Yaw; break;
}
bool manualArm = false;
bool manualDisarm = false;
if (armingInputLevel <= -ARMED_THRESHOLD)
manualArm = true;
else if (armingInputLevel >= +ARMED_THRESHOLD)
manualDisarm = true;
switch(armState) {
case ARM_STATE_DISARMED:
setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
// only allow arming if it's OK too
if (manualArm && okToArm()) {
armedDisarmStart = lastSysTime;
armState = ARM_STATE_ARMING_MANUAL;
}
break;
case ARM_STATE_ARMING_MANUAL:
setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMING);
if (manualArm && (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS))
armState = ARM_STATE_ARMED;
else if (!manualArm)
armState = ARM_STATE_DISARMED;
break;
case ARM_STATE_ARMED:
// When we get here, the throttle is low,
// we go immediately to disarming due to timeout, also when the disarming mechanism is not enabled
armedDisarmStart = lastSysTime;
armState = ARM_STATE_DISARMING_TIMEOUT;
setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMED);
break;
case ARM_STATE_DISARMING_TIMEOUT:
// We get here when armed while throttle low, even when the arming timeout is not enabled
if ((settings->ArmedTimeout != 0) && (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings->ArmedTimeout))
armState = ARM_STATE_DISARMED;
// Switch to disarming due to manual control when needed
if (manualDisarm) {
armedDisarmStart = lastSysTime;
armState = ARM_STATE_DISARMING_MANUAL;
}
break;
case ARM_STATE_DISARMING_MANUAL:
if (manualDisarm &&(timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS))
armState = ARM_STATE_DISARMED;
else if (!manualDisarm)
armState = ARM_STATE_ARMED;
break;
} // End Switch
}
}
/**
* @brief Determine which of three positions the flight mode switch is in and set flight mode accordingly
* @param[out] cmd Pointer to the command structure to set the flight mode in
* @param[in] settings The settings which indicate which position is which mode
* @param[in] flightMode the value of the switch position
*/
static void processFlightMode(ManualControlSettingsData * settings, float flightMode)
{
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
uint8_t newMode;
// Note here the code is ass
if (flightMode < -FLIGHT_MODE_LIMIT)
newMode = settings->FlightModePosition[0];
else if (flightMode > FLIGHT_MODE_LIMIT)
newMode = settings->FlightModePosition[2];
else
newMode = settings->FlightModePosition[1];
if(flightStatus.FlightMode != newMode) {
flightStatus.FlightMode = newMode;
FlightStatusSet(&flightStatus);
}
}
/**
* @brief Determine if the manual input value is within acceptable limits
* @returns return TRUE if so, otherwise return FALSE
*/
bool validInputRange(int16_t min, int16_t max, uint16_t value)
{
if (min > max)
{
int16_t tmp = min;
min = max;
max = tmp;
}
return (value >= min - CONNECTION_OFFSET && value <= max + CONNECTION_OFFSET);
}
/**
* @}
* @}
*/

260
flight/Modules/Stabilization/stabilization.c
View File

@ -40,8 +40,6 @@
#include "attitudeactual.h"
#include "attituderaw.h"
#include "flightstatus.h"
#include "systemsettings.h"
#include "ahrssettings.h"
#include "manualcontrol.h" // Just to get a macro
#include "CoordinateConversions.h"
@ -77,6 +75,15 @@ static xTaskHandle taskHandle;
static StabilizationSettingsData settings;
static xQueueHandle queue;
float dT = 1;
float gyro_alpha = 0;
float gyro_filtered[3] = {0,0,0};
float axis_lock_accum[3] = {0,0,0};
uint8_t max_axis_lock = 0;
uint8_t max_axislock_rate = 0;
float weak_leveling_kp = 0;
uint8_t weak_leveling_max = 0;
bool lowThrottleZeroIntegral;
pid_type pids[PID_MAX];
// Private functions
@ -89,27 +96,45 @@ static void SettingsUpdatedCb(UAVObjEvent * ev);
/**
* Module initialization
*/
int32_t StabilizationInitialize()
int32_t StabilizationStart()
{
// Initialize variables
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// Listen for updates.
// AttitudeActualConnectQueue(queue);
AttitudeRawConnectQueue(queue);
StabilizationSettingsConnectCallback(SettingsUpdatedCb);
SettingsUpdatedCb(StabilizationSettingsHandle());
// Start main task
xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_STABILIZATION, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_STABILIZATION);
return 0;
}
/**
* Module initialization
*/
int32_t StabilizationInitialize()
{
// Initialize variables
StabilizationSettingsInitialize();
ActuatorDesiredInitialize();
#if defined(DIAGNOSTICS)
RateDesiredInitialize();
#endif
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// Listen for updates.
// AttitudeActualConnectQueue(queue);
AttitudeRawConnectQueue(queue);
StabilizationSettingsConnectCallback(SettingsUpdatedCb);
SettingsUpdatedCb(StabilizationSettingsHandle());
// Start main task
return 0;
}
MODULE_INITCALL(StabilizationInitialize, StabilizationStart)
/**
* Module task
*/
@ -118,43 +143,44 @@ static void stabilizationTask(void* parameters)
portTickType lastSysTime;
portTickType thisSysTime;
UAVObjEvent ev;
ActuatorDesiredData actuatorDesired;
StabilizationDesiredData stabDesired;
RateDesiredData rateDesired;
AttitudeActualData attitudeActual;
AttitudeRawData attitudeRaw;
SystemSettingsData systemSettings;
FlightStatusData flightStatus;
SettingsUpdatedCb((UAVObjEvent *) NULL);
// Main task loop
lastSysTime = xTaskGetTickCount();
ZeroPids();
while(1) {
PIOS_WDG_UpdateFlag(PIOS_WDG_STABILIZATION);
// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
{
AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION,SYSTEMALARMS_ALARM_WARNING);
continue;
}
}
// Check how long since last update
thisSysTime = xTaskGetTickCount();
if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
lastSysTime = thisSysTime;
FlightStatusGet(&flightStatus);
StabilizationDesiredGet(&stabDesired);
AttitudeActualGet(&attitudeActual);
AttitudeRawGet(&attitudeRaw);
#if defined(DIAGNOSTICS)
RateDesiredGet(&rateDesired);
SystemSettingsGet(&systemSettings);
#endif
#if defined(PIOS_QUATERNION_STABILIZATION)
// Quaternion calculation of error in each axis. Uses more memory.
@ -162,11 +188,11 @@ static void stabilizationTask(void* parameters)
float q_desired[4];
float q_error[4];
float local_error[3];
// Essentially zero errors for anything in rate or none
if(stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)
rpy_desired[0] = stabDesired.Roll;
else
rpy_desired[0] = stabDesired.Roll;
else
rpy_desired[0] = attitudeActual.Roll;
if(stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)
@ -178,13 +204,13 @@ static void stabilizationTask(void* parameters)
rpy_desired[2] = stabDesired.Yaw;
else
rpy_desired[2] = attitudeActual.Yaw;
RPY2Quaternion(rpy_desired, q_desired);
quat_inverse(q_desired);
quat_mult(q_desired, &attitudeActual.q1, q_error);
quat_inverse(q_error);
Quaternion2RPY(q_error, local_error);
#else
// Simpler algorithm for CC, less memory
float local_error[3] = {stabDesired.Roll - attitudeActual.Roll,
@ -192,49 +218,85 @@ static void stabilizationTask(void* parameters)
stabDesired.Yaw - attitudeActual.Yaw};
local_error[2] = fmod(local_error[2] + 180, 360) - 180;
#endif
for(uint8_t i = 0; i < MAX_AXES; i++) {
gyro_filtered[i] = gyro_filtered[i] * gyro_alpha + attitudeRaw.gyros[i] * (1 - gyro_alpha);
}
float *attitudeDesiredAxis = &stabDesired.Roll;
float *actuatorDesiredAxis = &actuatorDesired.Roll;
float *rateDesiredAxis = &rateDesired.Roll;
//Calculate desired rate
for(int8_t ct=0; ct< MAX_AXES; ct++)
for(uint8_t i=0; i< MAX_AXES; i++)
{
switch(stabDesired.StabilizationMode[ct])
switch(stabDesired.StabilizationMode[i])
{
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
rateDesiredAxis[ct] = attitudeDesiredAxis[ct];
rateDesiredAxis[i] = attitudeDesiredAxis[i];
axis_lock_accum[i] = 0;
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
{
float weak_leveling = local_error[i] * weak_leveling_kp;
if(weak_leveling > weak_leveling_max)
weak_leveling = weak_leveling_max;
if(weak_leveling < -weak_leveling_max)
weak_leveling = -weak_leveling_max;
rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
axis_lock_accum[i] = 0;
break;
}
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
rateDesiredAxis[ct] = ApplyPid(&pids[PID_ROLL + ct], local_error[ct]);
rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i]);
axis_lock_accum[i] = 0;
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
if(fabs(attitudeDesiredAxis[i]) > max_axislock_rate) {
// While getting strong commands act like rate mode
rateDesiredAxis[i] = attitudeDesiredAxis[i];
axis_lock_accum[i] = 0;
} else {
// For weaker commands or no command simply attitude lock (almost) on no gyro change
axis_lock_accum[i] += (attitudeDesiredAxis[i] - gyro_filtered[i]) * dT;
if(axis_lock_accum[i] > max_axis_lock)
axis_lock_accum[i] = max_axis_lock;
else if(axis_lock_accum[i] < -max_axis_lock)
axis_lock_accum[i] = -max_axis_lock;
rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i]);
}
break;
}
}
uint8_t shouldUpdate = 1;
#if defined(DIAGNOSTICS)
RateDesiredSet(&rateDesired);
#endif
ActuatorDesiredGet(&actuatorDesired);
//Calculate desired command
for(int8_t ct=0; ct< MAX_AXES; ct++)
{
if(fabs(rateDesiredAxis[ct]) > settings.MaximumRate[ct])
{
if(rateDesiredAxis[ct] > 0)
{
rateDesiredAxis[ct] = settings.MaximumRate[ct];
}else
{
rateDesiredAxis[ct] = -settings.MaximumRate[ct];
}
}
if(rateDesiredAxis[ct] > settings.MaximumRate[ct])
rateDesiredAxis[ct] = settings.MaximumRate[ct];
else if(rateDesiredAxis[ct] < -settings.MaximumRate[ct])
rateDesiredAxis[ct] = -settings.MaximumRate[ct];
switch(stabDesired.StabilizationMode[ct])
{
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
{
float command = ApplyPid(&pids[PID_RATE_ROLL + ct], rateDesiredAxis[ct]-attitudeRaw.gyros[ct]);
float command = ApplyPid(&pids[PID_RATE_ROLL + ct], rateDesiredAxis[ct] - gyro_filtered[ct]);
actuatorDesiredAxis[ct] = bound(command);
break;
}
@ -255,16 +317,16 @@ static void stabilizationTask(void* parameters)
break;
}
break;
}
}
// Save dT
actuatorDesired.UpdateTime = dT * 1000;
if(PARSE_FLIGHT_MODE(flightStatus.FlightMode) == FLIGHTMODE_MANUAL)
shouldUpdate = 0;
if(shouldUpdate)
{
actuatorDesired.Throttle = stabDesired.Throttle;
@ -272,16 +334,17 @@ static void stabilizationTask(void* parameters)
actuatorDesired.NumLongUpdates++;
ActuatorDesiredSet(&actuatorDesired);
}
if(flightStatus.Armed != FLIGHTSTATUS_ARMED_ARMED ||
!shouldUpdate || (stabDesired.Throttle < 0))
(lowThrottleZeroIntegral && stabDesired.Throttle < 0) ||
!shouldUpdate)
{
ZeroPids();
}
// Clear alarms
AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
}
}
@ -289,15 +352,15 @@ float ApplyPid(pid_type * pid, const float err)
{
float diff = (err - pid->lastErr);
pid->lastErr = err;
pid->iAccumulator += err * pid->i * dT;
if(fabs(pid->iAccumulator) > pid->iLim) {
if(pid->iAccumulator >0) {
pid->iAccumulator = pid->iLim;
} else {
pid->iAccumulator = -pid->iLim;
}
// Scale up accumulator by 1000 while computing to avoid losing precision
pid->iAccumulator += err * (pid->i * dT * 1000);
if(pid->iAccumulator > (pid->iLim * 1000)) {
pid->iAccumulator = pid->iLim * 1000;
} else if (pid->iAccumulator < -(pid->iLim * 1000)) {
pid->iAccumulator = -pid->iLim * 1000;
}
return ((err * pid->p) + pid->iAccumulator + (diff * pid->d / dT));
return ((err * pid->p) + pid->iAccumulator / 1000 + (diff * pid->d / dT));
}
@ -307,6 +370,8 @@ static void ZeroPids(void)
pids[ct].iAccumulator = 0;
pids[ct].lastErr = 0;
}
for(uint8_t i = 0; i < 3; i++)
axis_lock_accum[i] = 0;
}
@ -328,14 +393,61 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
{
memset(pids,0,sizeof (pid_type) * PID_MAX);
StabilizationSettingsGet(&settings);
float * data = settings.RollRatePI;
for(int8_t pid=0; pid < PID_MAX; pid++)
{
pids[pid].p = *data++;
pids[pid].i = *data++;
pids[pid].iLim = *data++;
}
// Set the roll rate PID constants
pids[0].p = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP];
pids[0].i = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI];
pids[0].d = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD];
pids[0].iLim = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT];
// Set the pitch rate PID constants
pids[1].p = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP];
pids[1].i = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI];
pids[1].d = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD];
pids[1].iLim = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT];
// Set the yaw rate PID constants
pids[2].p = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KP];
pids[2].i = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KI];
pids[2].d = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KD];
pids[2].iLim = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_ILIMIT];
// Set the roll attitude PI constants
pids[3].p = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP];
pids[3].i = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI];
pids[3].iLim = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT];
// Set the pitch attitude PI constants
pids[4].p = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP];
pids[4].i = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI];
pids[4].iLim = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT];
// Set the yaw attitude PI constants
pids[5].p = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KP];
pids[5].i = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KI];
pids[5].iLim = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT];
// Maximum deviation to accumulate for axis lock
max_axis_lock = settings.MaxAxisLock;
max_axislock_rate = settings.MaxAxisLockRate;
// Settings for weak leveling
weak_leveling_kp = settings.WeakLevelingKp;
weak_leveling_max = settings.MaxWeakLevelingRate;
// Whether to zero the PID integrals while throttle is low
lowThrottleZeroIntegral = settings.LowThrottleZeroIntegral == STABILIZATIONSETTINGS_LOWTHROTTLEZEROINTEGRAL_TRUE;
// The dT has some jitter iteration to iteration that we don't want to
// make thie result unpredictable. Still, it's nicer to specify the constant
// based on a time (in ms) rather than a fixed multiplier. The error between
// update rates on OP (~300 Hz) and CC (~475 Hz) is negligible for this
// calculation
const float fakeDt = 0.0025;
if(settings.GyroTau < 0.0001)
gyro_alpha = 0; // not trusting this to resolve to 0
else
gyro_alpha = exp(-fakeDt / settings.GyroTau);
}

116
flight/Modules/System/systemmod.c
View File

@ -43,7 +43,9 @@
#include "objectpersistence.h"
#include "flightstatus.h"
#include "systemstats.h"
#include "systemsettings.h"
#include "i2cstats.h"
#include "taskinfo.h"
#include "watchdogstatus.h"
#include "taskmonitor.h"
#include "pios_config.h"
@ -78,24 +80,51 @@ static int32_t stackOverflow;
// Private functions
static void objectUpdatedCb(UAVObjEvent * ev);
static void updateStats();
static void updateI2Cstats();
static void updateWDGstats();
static void updateSystemAlarms();
static void systemTask(void *parameters);
#if defined(DIAGNOSTICS)
static void updateI2Cstats();
static void updateWDGstats();
#endif
/**
* Initialise the module, called on startup.
* \returns 0 on success or -1 if initialisation failed
* Create the module task.
* \returns 0 on success or -1 if initialization failed
*/
int32_t SystemModInitialize(void)
int32_t SystemModStart(void)
{
// Initialize vars
stackOverflow = 0;
// Create system task
xTaskCreate(systemTask, (signed char *)"System", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &systemTaskHandle);
// Register task
TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
return 0;
}
/**
* Initialize the module, called on startup.
* \returns 0 on success or -1 if initialization failed
*/
int32_t SystemModInitialize(void)
{
// Must registers objects here for system thread because ObjectManager started in OpenPilotInit
SystemSettingsInitialize();
SystemStatsInitialize();
ObjectPersistenceInitialize();
#if defined(DIAGNOSTICS)
TaskInfoInitialize();
I2CStatsInitialize();
WatchdogStatusInitialize();
#endif
SystemModStart();
return 0;
}
MODULE_INITCALL(SystemModInitialize, 0)
/**
* System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
*/
@ -103,11 +132,8 @@ static void systemTask(void *parameters)
{
portTickType lastSysTime;
// System initialization
OpenPilotInit();
// Register task
TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
/* create all modules thread */
MODULE_TASKCREATE_ALL
// Initialize vars
idleCounter = 0;
@ -118,15 +144,16 @@ static void systemTask(void *parameters)
ObjectPersistenceConnectCallback(&objectUpdatedCb);
// Main system loop
while (1) {
while (1) {
// Update the system statistics
updateStats();
// Update the system alarms
updateSystemAlarms();
#if defined(DIAGNOSTICS)
updateI2Cstats();
updateWDGstats();
#endif
// Update the task status object
TaskMonitorUpdateAll();
@ -228,9 +255,7 @@ static void objectUpdatedCb(UAVObjEvent * ev)
/**
* Called periodically to update the I2C statistics
*/
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
static void updateI2Cstats() {} //Posix and win32 don't have I2C
#else
#if defined(DIAGNOSTICS)
static void updateI2Cstats()
{
#if defined(PIOS_INCLUDE_I2C)
@ -250,7 +275,6 @@ static void updateI2Cstats()
I2CStatsSet(&i2cStats);
#endif
}
#endif
static void updateWDGstats()
{
@ -259,6 +283,50 @@ static void updateWDGstats()
watchdogStatus.ActiveFlags = PIOS_WDG_GetActiveFlags();
WatchdogStatusSet(&watchdogStatus);
}
#endif
/**
* Called periodically to update the system stats
*/
static uint16_t GetFreeIrqStackSize(void)
{
uint32_t i = 0x200;
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
extern uint32_t _irq_stack_top;
extern uint32_t _irq_stack_end;
uint32_t pattern = 0x0000A5A5;
uint32_t *ptr = &_irq_stack_end;
#if 1 /* the ugly way accurate but takes more time, useful for debugging */
uint32_t stack_size = (((uint32_t)&_irq_stack_top - (uint32_t)&_irq_stack_end) & ~3 ) / 4;
for (i=0; i< stack_size; i++)
{
if (ptr[i] != pattern)
{
i=i*4;
break;
}
}
#else /* faster way but not accurate */
if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_CRITICAL) != pattern)
{
i = IRQSTACK_LIMIT_CRITICAL - 1;
}
else if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_WARNING) != pattern)
{
i = IRQSTACK_LIMIT_WARNING - 1;
}
else
{
i = IRQSTACK_LIMIT_WARNING;
}
#endif
#endif
return i;
}
/**
* Called periodically to update the system stats
@ -278,6 +346,9 @@ static void updateStats()
stats.HeapRemaining = xPortGetFreeHeapSize();
#endif
// Get Irq stack status
stats.IRQStackRemaining = GetFreeIrqStackSize();
// When idleCounterClear was not reset by the idle-task, it means the idle-task did not run
if (idleCounterClear) {
idleCounter = 0;
@ -320,6 +391,17 @@ static void updateSystemAlarms()
AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY);
}
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
// Check IRQ stack
if (stats.IRQStackRemaining < IRQSTACK_LIMIT_CRITICAL) {
AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL);
} else if (stats.IRQStackRemaining < IRQSTACK_LIMIT_WARNING) {
AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_WARNING);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY);
}
#endif
// Check CPU load
if (stats.CPULoad > CPULOAD_LIMIT_CRITICAL) {
AlarmsSet(SYSTEMALARMS_ALARM_CPUOVERLOAD, SYSTEMALARMS_ALARM_CRITICAL);

132
flight/Modules/Telemetry/telemetry.c
View File

@ -31,6 +31,7 @@
*/
#include "openpilot.h"
#include "telemetry.h"
#include "flighttelemetrystats.h"
#include "gcstelemetrystats.h"
#include "telemetrysettings.h"
@ -66,6 +67,7 @@ static uint32_t txErrors;
static uint32_t txRetries;
static TelemetrySettingsData settings;
static uint32_t timeOfLastObjectUpdate;
static UAVTalkConnection uavTalkCon;
// Private functions
static void telemetryTxTask(void *parameters);
@ -85,38 +87,15 @@ static void updateSettings();
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t TelemetryInitialize(void)
int32_t TelemetryStart(void)
{
UAVObjEvent ev;
// Initialize vars
timeOfLastObjectUpdate = 0;
// Create object queues
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
priorityQueue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
#endif
// Get telemetry settings object
updateSettings();
// Initialise UAVTalk
UAVTalkInitialize(&transmitData);
// Process all registered objects and connect queue for updates
UAVObjIterate(&registerObject);
// Create periodic event that will be used to update the telemetry stats
txErrors = 0;
txRetries = 0;
memset(&ev, 0, sizeof(UAVObjEvent));
EventPeriodicQueueCreate(&ev, priorityQueue, STATS_UPDATE_PERIOD_MS);
// Listen to objects of interest
GCSTelemetryStatsConnectQueue(priorityQueue);
TelemetrySettingsConnectQueue(priorityQueue);
// Start telemetry tasks
xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
@ -127,10 +106,50 @@ int32_t TelemetryInitialize(void)
xTaskCreate(telemetryTxPriTask, (signed char *)"TelPriTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle);
#endif
return 0;
}
/**
* Initialise the telemetry module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t TelemetryInitialize(void)
{
UAVObjEvent ev;
FlightTelemetryStatsInitialize();
GCSTelemetryStatsInitialize();
TelemetrySettingsInitialize();
// Initialize vars
timeOfLastObjectUpdate = 0;
// Create object queues
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
priorityQueue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
#endif
// Get telemetry settings object
updateSettings();
// Initialise UAVTalk
uavTalkCon = UAVTalkInitialize(&transmitData,256);
// Create periodic event that will be used to update the telemetry stats
txErrors = 0;
txRetries = 0;
memset(&ev, 0, sizeof(UAVObjEvent));
EventPeriodicQueueCreate(&ev, priorityQueue, STATS_UPDATE_PERIOD_MS);
return 0;
}
MODULE_INITCALL(TelemetryInitialize, TelemetryStart)
/**
* Register a new object, adds object to local list and connects the queue depending on the object's
* telemetry settings.
@ -221,7 +240,7 @@ static void processObjEvent(UAVObjEvent * ev)
if (ev->event == EV_UPDATED || ev->event == EV_UPDATED_MANUAL) {
// Send update to GCS (with retries)
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(ev->obj, ev->instId, metadata.telemetryAcked, REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
success = UAVTalkSendObject(uavTalkCon, ev->obj, ev->instId, metadata.telemetryAcked, REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
++retries;
}
// Update stats
@ -232,7 +251,7 @@ static void processObjEvent(UAVObjEvent * ev)
} else if (ev->event == EV_UPDATE_REQ) {
// Request object update from GCS (with retries)
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObjectRequest(ev->obj, ev->instId, REQ_TIMEOUT_MS); // call blocks until update is received or timeout
success = UAVTalkSendObjectRequest(uavTalkCon, ev->obj, ev->instId, REQ_TIMEOUT_MS); // call blocks until update is received or timeout
++retries;
}
// Update stats
@ -291,7 +310,6 @@ static void telemetryTxPriTask(void *parameters)
static void telemetryRxTask(void *parameters)
{
uint32_t inputPort;
int32_t len;
// Task loop
while (1) {
@ -305,14 +323,20 @@ static void telemetryRxTask(void *parameters)
inputPort = telemetryPort;
}
// Block until data are available
// TODO: Currently we periodically check the buffer for data, update once the PIOS_COM is made blocking
len = PIOS_COM_ReceiveBufferUsed(inputPort);
for (int32_t n = 0; n < len; ++n) {
UAVTalkProcessInputStream(PIOS_COM_ReceiveBuffer(inputPort));
}
vTaskDelay(5); // <- remove when blocking calls are implemented
if (inputPort) {
// Block until data are available
uint8_t serial_data[1];
uint16_t bytes_to_process;
bytes_to_process = PIOS_COM_ReceiveBuffer(inputPort, serial_data, sizeof(serial_data), 500);
if (bytes_to_process > 0) {
for (uint8_t i = 0; i < bytes_to_process; i++) {
UAVTalkProcessInputStream(uavTalkCon,serial_data[i]);
}
}
} else {
vTaskDelay(5);
}
}
}
@ -336,7 +360,11 @@ static int32_t transmitData(uint8_t * data, int32_t length)
outputPort = telemetryPort;
}
return PIOS_COM_SendBufferNonBlocking(outputPort, data, length);
if (outputPort) {
return PIOS_COM_SendBufferNonBlocking(outputPort, data, length);
} else {
return -1;
}
}
/**
@ -403,8 +431,8 @@ static void updateTelemetryStats()
uint32_t timeNow;
// Get stats
UAVTalkGetStats(&utalkStats);
UAVTalkResetStats();
UAVTalkGetStats(uavTalkCon, &utalkStats);
UAVTalkResetStats(uavTalkCon);
// Get object data
FlightTelemetryStatsGet(&flightStats);
@ -492,20 +520,16 @@ static void updateSettings()
// Retrieve settings
TelemetrySettingsGet(&settings);
// Set port speed
if (settings.Speed == TELEMETRYSETTINGS_SPEED_2400) PIOS_COM_ChangeBaud(telemetryPort, 2400);
else
if (settings.Speed == TELEMETRYSETTINGS_SPEED_4800) PIOS_COM_ChangeBaud(telemetryPort, 4800);
else
if (settings.Speed == TELEMETRYSETTINGS_SPEED_9600) PIOS_COM_ChangeBaud(telemetryPort, 9600);
else
if (settings.Speed == TELEMETRYSETTINGS_SPEED_19200) PIOS_COM_ChangeBaud(telemetryPort, 19200);
else
if (settings.Speed == TELEMETRYSETTINGS_SPEED_38400) PIOS_COM_ChangeBaud(telemetryPort, 38400);
else
if (settings.Speed == TELEMETRYSETTINGS_SPEED_57600) PIOS_COM_ChangeBaud(telemetryPort, 57600);
else
if (settings.Speed == TELEMETRYSETTINGS_SPEED_115200) PIOS_COM_ChangeBaud(telemetryPort, 115200);
if (telemetryPort) {
// Set port speed
if (settings.Speed == TELEMETRYSETTINGS_SPEED_2400) PIOS_COM_ChangeBaud(telemetryPort, 2400);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_4800) PIOS_COM_ChangeBaud(telemetryPort, 4800);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_9600) PIOS_COM_ChangeBaud(telemetryPort, 9600);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_19200) PIOS_COM_ChangeBaud(telemetryPort, 19200);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_38400) PIOS_COM_ChangeBaud(telemetryPort, 38400);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_57600) PIOS_COM_ChangeBaud(telemetryPort, 57600);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_115200) PIOS_COM_ChangeBaud(telemetryPort, 115200);
}
}
/**

115
flight/OpenPilot/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../)
include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := fw_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options
# Set to YES to compile for debugging
@ -36,9 +43,6 @@ ENABLE_DEBUG_PINS ?= NO
# Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
ENABLE_AUX_UART ?= NO
USE_SPEKTRUM ?= NO
# Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= YES
@ -52,29 +56,13 @@ endif
FLASH_TOOL = OPENOCD
# List of modules to include
MODULES = Actuator Telemetry GPS ManualControl Altitude AHRSComms Stabilization Guidance FirmwareIAP FlightPlan
MODULES = Actuator Telemetry GPS ManualControl Altitude AHRSComms Stabilization Guidance FirmwareIAP
PYMODULES = FlightPlan
#MODULES = Telemetry Example
#MODULES = Telemetry MK/MKSerial
#MODULES = Telemetry
#MODULES += Osd/OsdEtStd
# MCU name, submodel and board
# - MCU used for compiler-option (-mcpu)
# - MODEL used for linker-script name (-T) and passed as define
# - BOARD just passed as define (optional)
MCU = cortex-m3
CHIP = STM32F103RET
BOARD = STM3210E_OP
MODEL = HD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/openpilot
# Target file name (without extension).
TARGET = OpenPilot
# Paths
OPSYSTEM = ./System
OPSYSTEMINC = $(OPSYSTEM)/inc
@ -124,21 +112,20 @@ UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files
MODNAMES = $(notdir ${MODULES})
ifndef TESTAPP
## PyMite files
## PyMite files and modules
SRC += $(OUTDIR)/pmlib_img.c
SRC += $(OUTDIR)/pmlib_nat.c
SRC += $(OUTDIR)/pmlibusr_img.c
SRC += $(OUTDIR)/pmlibusr_nat.c
SRC += $(wildcard ${PYMITEVM}/*.c)
SRC += $(wildcard ${PYMITEPLAT}/*.c)
PYSRC += $(wildcard ${PYMITEVM}/*.c)
PYSRC += $(wildcard ${PYMITEPLAT}/*.c)
PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
SRC += $(PYSRC)
## MODULES
SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
SRC += ${OUTDIR}/InitMods.c
## OPENPILOT CORE:
SRC += ${OPMODULEDIR}/System/systemmod.c
SRC += $(OPSYSTEM)/openpilot.c
@ -148,7 +135,6 @@ SRC += $(OPSYSTEM)/taskmonitor.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/eventdispatcher.c
SRC += $(OPUAVOBJ)/uavobjectsinit_linker.c
else
## TESTCODE
SRC += $(OPTESTS)/test_common.c
@ -177,6 +163,7 @@ SRC += $(PIOSSTM32F10X)/pios_spi.c
SRC += $(PIOSSTM32F10X)/pios_ppm.c
SRC += $(PIOSSTM32F10X)/pios_pwm.c
SRC += $(PIOSSTM32F10X)/pios_spektrum.c
SRC += $(PIOSSTM32F10X)/pios_sbus.c
SRC += $(PIOSSTM32F10X)/pios_debug.c
SRC += $(PIOSSTM32F10X)/pios_gpio.c
SRC += $(PIOSSTM32F10X)/pios_exti.c
@ -193,6 +180,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_crc.c
SRC += $(PIOSCOMMON)/pios_sdcard.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_bmp085.c
@ -200,6 +188,7 @@ SRC += $(PIOSCOMMON)/pios_hcsr04.c
SRC += $(PIOSCOMMON)/pios_i2c_esc.c
SRC += $(PIOSCOMMON)/pios_iap.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/pios_rcvr.c
SRC += $(PIOSCOMMON)/printf-stdarg.c
SRC += $(FLIGHTLIB)/ahrs_spi_comm.c
SRC += $(FLIGHTLIB)/ahrs_comm_objects.c
@ -286,7 +275,7 @@ CPPSRCARM =
# Even though the DOS/Win* filesystem matches both .s and .S the same,
# it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line.
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)_OP.S
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM =
@ -317,7 +306,7 @@ EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
EXTRAINCDIRS += $(AHRSBOOTLOADERINC)
EXTRAINCDIRS += $(PYMITEINC)
EXTRAINCDIRS += ${foreach MOD, ${MODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
EXTRAINCDIRS += ${foreach MOD, ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
# List any extra directories to look for library files here.
@ -368,12 +357,6 @@ endif
ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
endif
CDEFS += -DUSE_BOOTLOADER
ifeq ($(USE_SPEKTRUM), YES)
CDEFS += -DUSE_SPEKTRUM
endif
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
@ -404,6 +387,9 @@ ifeq ($(DEBUG),YES)
CFLAGS = -g$(DEBUGF) -DDEBUG
endif
# OP has enough memory to always enable optional objects
CFLAGS += -DDIAGNOSTICS
CFLAGS += -O$(OPT)
CFLAGS += -mcpu=$(MCU)
CFLAGS += $(CDEFS)
@ -450,22 +436,9 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08005000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08005000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f
PYTHON = python
###SHELL = sh
###COPY = cp
# List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -481,7 +454,7 @@ LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
# Default target.
all: gencode gccversion build
all: gccversion build
ifeq ($(LOADFORMAT),ihex)
build: elf hex lss sym
@ -498,16 +471,9 @@ endif
endif
# Generate intermediate code
gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h
gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h
# Generate code for module initialization
${OUTDIR}/InitMods.c: Makefile
@echo $(MSG_MODINIT) $(call toprel, $@)
@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
$(PYSRC): gencode
# Generate code for PyMite
${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py)
@ -516,14 +482,6 @@ ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/p
@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
# Program the device.
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -553,23 +511,37 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.PHONY: elf lss sym hex bin bino
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss
sym: $(OUTDIR)/$(TARGET).sym
hex: $(OUTDIR)/$(TARGET).hex
bin: $(OUTDIR)/$(TARGET).bin
bino: $(OUTDIR)/$(TARGET).bin.o
opfw: $(OUTDIR)/$(TARGET).opfw
# Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).opfw
ifneq ($(INSTALL_DIR),)
@echo $(MSG_INSTALLING) $(call toprel, $<)
$(V1) mkdir -p $(INSTALL_DIR)
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
else
$(error INSTALL_DIR must be specified for $@)
endif
# Target: clean project.
clean: clean_list
@ -609,5 +581,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program gencode
.PHONY : all build clean clean_list gencode install

10
flight/OpenPilot/Makefile.posix
View File

@ -162,8 +162,10 @@ CFLAGS_UAVOBJECTS = $(UAVOBJDEFINE)
endif
## PIOS Hardware (posix)
SRC += $(PIOSPOSIX)/pios_crc.c
SRC += $(PIOSPOSIX)/pios_sys.c
SRC += $(PIOSPOSIX)/pios_led.c
SRC += $(PIOSPOSIX)/pios_irq.c
SRC += $(PIOSPOSIX)/pios_delay.c
SRC += $(PIOSPOSIX)/pios_sdcard.c
SRC += $(PIOSPOSIX)/pios_udp.c
@ -172,8 +174,10 @@ SRC += $(PIOSPOSIX)/pios_servo.c
SRC += $(PIOSPOSIX)/pios_wdg.c
SRC += $(PIOSPOSIX)/pios_debug.c
SRC += $(PIOSPOSIX)/pios_rcvr.c
## Libraries for flight calculations
#SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(FLIGHTLIB)/WorldMagModel.c
SRC += $(FLIGHTLIB)/CoordinateConversions.c
## RTOS and RTOS Portable
@ -440,9 +444,13 @@ ${OUTDIR}/InitMods.c: Makefile.posix
@echo ${MSG_MODINIT}
@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Start(void);}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}void StartModules() {${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Start();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# Generate code for PyMite
${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py)

1
flight/OpenPilot/Makefile.win32
View File

@ -166,6 +166,7 @@ SRC += $(PIOSWIN32)/pios_udp.c
SRC += $(PIOSWIN32)/pios_com.c
SRC += $(PIOSWIN32)/pios_servo.c
SRC += $(PIOSWIN32)/pios_wdg.c
SRC += $(PIOSWIN32)/pios_crc.c
#
## RTOS
SRC += $(RTOSSRCDIR)/list.c

12
flight/OpenPilot/System/alarms.c
View File

@ -41,14 +41,12 @@ static xSemaphoreHandle lock;
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
/**
* Initialize the alarms library
* Initialize the alarms library
*/
int32_t AlarmsInitialize(void)
{
SystemAlarmsInitialize();
lock = xSemaphoreCreateRecursiveMutex();
//do not change the default states of the alarms, let the init code generated by the uavobjectgenerator handle that
//AlarmsClearAll();
//AlarmsDefaultAll();
return 0;
}
@ -56,7 +54,7 @@ int32_t AlarmsInitialize(void)
* Set an alarm
* @param alarm The system alarm to be modified
* @param severity The alarm severity
* @return 0 if success, -1 if an error
* @return 0 if success, -1 if an error
*/
int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
{
@ -151,7 +149,7 @@ void AlarmsClearAll()
/**
* Check if there are any alarms with the given or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasWarnings()
{
@ -208,5 +206,5 @@ static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
/**
* @}
* @}
*/
*/

20
flight/OpenPilot/System/inc/FreeRTOSConfig.h
View File

@ -39,7 +39,7 @@
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 0
#define configUSE_ALTERNATIVE_API 0
#define configCHECK_FOR_STACK_OVERFLOW 2
//#define configCHECK_FOR_STACK_OVERFLOW 2
#define configQUEUE_REGISTRY_SIZE 10
/* Co-routine definitions. */
@ -72,14 +72,24 @@ NVIC value of 255. */
#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY 15
/* Enable run time stats collection */
#if defined(DEBUG)
#if defined(DIAGNOSTICS)
#define configCHECK_FOR_STACK_OVERFLOW 2
#define configGENERATE_RUN_TIME_STATS 1
#define INCLUDE_uxTaskGetRunTime 1
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() PIOS_RTC_Start()
// Note: Using the tick count defeats the purpose here, need some timer on the scale of 10khz
#define portGET_RUN_TIME_COUNTER_VALUE() PIOS_RTC_Counter()
#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 */
#else
#define configCHECK_FOR_STACK_OVERFLOW 1
#endif
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32)
#define CHECK_IRQ_STACK
#endif
/**
* @}

17
flight/OpenPilot/System/inc/pios_board_posix.h
View File

@ -52,15 +52,22 @@
//-------------------------
//#define PIOS_USART_TX_BUFFER_SIZE 256
#define PIOS_COM_BUFFER_SIZE 1024
#define PIOS_COM_MAX_DEVS 256
#define PIOS_UDP_RX_BUFFER_SIZE PIOS_COM_BUFFER_SIZE
#define PIOS_COM_TELEM_RF 0
#define PIOS_COM_GPS 1
#define PIOS_COM_TELEM_USB 2
extern uint32_t pios_com_telem_rf_id;
extern uint32_t pios_com_telem_usb_id;
extern uint32_t pios_com_gps_id;
extern uint32_t pios_com_aux_id;
extern uint32_t pios_com_spectrum_id;
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#define PIOS_COM_GPS (pios_com_gps_id)
#ifdef PIOS_ENABLE_AUX_UART
#define PIOS_COM_AUX 3
#define PIOS_COM_DEBUG PIOS_COM_AUX
#define PIOS_COM_AUX (pios_com_aux_id)
#define PIOS_COM_DEBUG (PIOS_COM_AUX
#endif
/**

13
flight/OpenPilot/System/inc/pios_config.h
View File

@ -42,12 +42,14 @@
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_LED
#if defined(USE_SPEKTRUM)
#define PIOS_INCLUDE_RCVR
#define PIOS_INCLUDE_SPEKTRUM
#else
//#define PIOS_INCLUDE_PPM
//#define PIOS_INCLUDE_SBUS
#define PIOS_INCLUDE_PWM
#endif
//#define PIOS_INCLUDE_PPM
#define PIOS_INCLUDE_TELEMETRY_RF
#define PIOS_INCLUDE_SERVO
#define PIOS_INCLUDE_SPI
@ -58,6 +60,7 @@
//#define PIOS_INCLUDE_HCSR04
#define PIOS_INCLUDE_OPAHRS
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_GPS
#define PIOS_INCLUDE_SDCARD
#define PIOS_INCLUDE_SETTINGS
#define PIOS_INCLUDE_FREERTOS
@ -84,6 +87,8 @@
/* Alarm Thresholds */
#define HEAP_LIMIT_WARNING 4000
#define HEAP_LIMIT_CRITICAL 1000
#define IRQSTACK_LIMIT_WARNING 150
#define IRQSTACK_LIMIT_CRITICAL 80
#define CPULOAD_LIMIT_WARNING 80
#define CPULOAD_LIMIT_CRITICAL 95

6
flight/OpenPilot/System/inc/pios_config_posix.h
View File

@ -36,9 +36,15 @@
#define PIOS_INCLUDE_SDCARD
#define PIOS_INCLUDE_FREERTOS
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_GPS
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_TELEMETRY_RF
#define PIOS_INCLUDE_UDP
#define PIOS_INCLUDE_SERVO
#define PIOS_INCLUDE_RCVR
#define PIOS_RCVR_MAX_CHANNELS 12
#define PIOS_RCVR_MAX_DEVS 3
/* Defaults for Logging */
#define LOG_FILENAME "PIOS.LOG"

66
flight/OpenPilot/System/openpilot.c
View File

@ -62,11 +62,10 @@ static void TaskSDCard(void *pvParameters);
int32_t CONSOLE_Parse(uint8_t port, char c);
void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value);
/* Prototype of generated InitModules() function */
extern void InitModules(void);
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void Stack_Change(void);
static void Stack_Change_Weak () __attribute__ ((weakref ("Stack_Change")));
/**
* OpenPilot Main function:
@ -85,48 +84,42 @@ int main()
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
/* Initialize the system thread */
SystemModInitialize();
/* Start the FreeRTOS scheduler */
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* If we do get here, it will most likely be because we ran out of heap space. */
PIOS_LED_Off(LED1);
PIOS_LED_Off(LED2);
for(;;) {
PIOS_LED_Toggle(LED1);
PIOS_LED_Toggle(LED2);
PIOS_DELAY_WaitmS(100);
}
return 0;
}
/**
* Initialize the hardware, libraries and modules (called by the System thread in systemmod.c)
*/
void OpenPilotInit()
{
/* Architecture dependant Hardware and
* core subsystem initialisation
* (see pios_board.c for your arch)
* */
PIOS_Board_Init();
/* Initialize modules */
InitModules();
MODULE_INITIALISE_ALL
#if INCLUDE_TEST_TASKS
/* Create test tasks */
//xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
//xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
//xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
//xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
#endif
/* swap the stack to use the IRQ stack (does nothing in sim mode) */
Stack_Change_Weak();
/* Start the FreeRTOS scheduler which should never returns.*/
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 */
PIOS_LED_Off(LED1); \
for(;;) { \
PIOS_LED_Toggle(LED1); \
PIOS_DELAY_WaitmS(100); \
};
return 0;
}
#if INCLUDE_TEST_TASKS
static void TaskTesting(void *pvParameters)
{
@ -153,6 +146,9 @@ static void TaskTesting(void *pvParameters)
#if defined(PIOS_INCLUDE_SPEKTRUM)
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u\r", PIOS_SPEKTRUM_Get(0), PIOS_SPEKTRUM_Get(1), PIOS_SPEKTRUM_Get(2), PIOS_SPEKTRUM_Get(3), PIOS_SPEKTRUM_Get(4), PIOS_SPEKTRUM_Get(5), PIOS_SPEKTRUM_Get(6), PIOS_SPEKTRUM_Get(7));
#endif
#if defined(PIOS_INCLUDE_SBUS)
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u\r", PIOS_SBUS_Get(0), PIOS_SBUS_Get(1), PIOS_SBUS_Get(2), PIOS_SBUS_Get(3), PIOS_SBUS_Get(4), PIOS_SBUS_Get(5), PIOS_SBUS_Get(6), PIOS_SBUS_Get(7));
#endif
#if defined(PIOS_INCLUDE_PWM)
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u uS\r", PIOS_PWM_Get(0), PIOS_PWM_Get(1), PIOS_PWM_Get(2), PIOS_PWM_Get(3), PIOS_PWM_Get(4), PIOS_PWM_Get(5), PIOS_PWM_Get(6), PIOS_PWM_Get(7));
#endif
@ -339,5 +335,5 @@ static void TaskSDCard(void *pvParameters)
/**
* @}
* @}
*/
*/

367
flight/OpenPilot/System/pios_board.c
View File

@ -30,6 +30,7 @@
#include <pios.h>
#include <openpilot.h>
#include <uavobjectsinit.h>
#include "manualcontrolsettings.h"
//#define I2C_DEBUG_PIN 0
//#define USART_GPS_DEBUG_PIN 1
@ -46,7 +47,7 @@
void PIOS_SPI_sdcard_irq_handler(void);
void DMA1_Channel2_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler")));
void DMA1_Channel3_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler")));
const struct pios_spi_cfg pios_spi_sdcard_cfg = {
static const struct pios_spi_cfg pios_spi_sdcard_cfg = {
.regs = SPI1,
.init = {
.SPI_Mode = SPI_Mode_Master,
@ -63,7 +64,6 @@ const struct pios_spi_cfg pios_spi_sdcard_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_sdcard_irq_handler,
.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
.init = {
.NVIC_IRQChannel = DMA1_Channel2_IRQn,
@ -144,7 +144,7 @@ const struct pios_spi_cfg pios_spi_sdcard_cfg = {
void PIOS_SPI_ahrs_irq_handler(void);
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
const struct pios_spi_cfg pios_spi_ahrs_cfg = {
static const struct pios_spi_cfg pios_spi_ahrs_cfg = {
.regs = SPI2,
.init = {
.SPI_Mode = SPI_Mode_Master,
@ -162,7 +162,6 @@ const struct pios_spi_cfg pios_spi_ahrs_cfg = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_SPI_ahrs_irq_handler,
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
.init = {
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
@ -258,11 +257,10 @@ void PIOS_SPI_ahrs_irq_handler(void)
extern void PIOS_ADC_handler(void);
void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
// Remap the ADC DMA handler to this one
const struct pios_adc_cfg pios_adc_cfg = {
static const struct pios_adc_cfg pios_adc_cfg = {
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.handler = PIOS_ADC_DMA_Handler,
.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
.init = {
.NVIC_IRQChannel = DMA1_Channel1_IRQn,
@ -310,16 +308,10 @@ void PIOS_ADC_handler() {
/*
* Telemetry USART
*/
void PIOS_USART_telem_irq_handler(void);
void USART2_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler")));
const struct pios_usart_cfg pios_usart_telem_cfg = {
static const struct pios_usart_cfg pios_usart_telem_cfg = {
.regs = USART2,
.init = {
#if defined (PIOS_COM_TELEM_BAUDRATE)
.USART_BaudRate = PIOS_COM_TELEM_BAUDRATE,
#else
.USART_BaudRate = 57600,
#endif
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
@ -327,7 +319,6 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_telem_irq_handler,
.init = {
.NVIC_IRQChannel = USART2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -356,17 +347,11 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
/*
* GPS USART
*/
void PIOS_USART_gps_irq_handler(void);
void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_gps_irq_handler")));
const struct pios_usart_cfg pios_usart_gps_cfg = {
static const struct pios_usart_cfg pios_usart_gps_cfg = {
.regs = USART3,
.remap = GPIO_PartialRemap_USART3,
.init = {
#if defined (PIOS_COM_GPS_BAUDRATE)
.USART_BaudRate = PIOS_COM_GPS_BAUDRATE,
#else
.USART_BaudRate = 57600,
#endif
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
@ -374,7 +359,6 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_gps_irq_handler,
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -404,16 +388,9 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
/*
* AUX USART
*/
void PIOS_USART_aux_irq_handler(void);
void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_aux_irq_handler")));
const struct pios_usart_cfg pios_usart_aux_cfg = {
static const struct pios_usart_cfg pios_usart_aux_cfg = {
.regs = USART1,
.init = {
#if defined (PIOS_COM_AUX_BAUDRATE)
.USART_BaudRate = PIOS_COM_AUX_BAUDRATE,
#else
.USART_BaudRate = 57600,
#endif
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
@ -422,7 +399,6 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.handler = PIOS_USART_aux_irq_handler,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@ -450,20 +426,44 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
};
#endif
#ifdef PIOS_COM_SPEKTRUM
#if defined(PIOS_INCLUDE_RTC)
/*
* Realtime Clock (RTC)
*/
#include <pios_rtc_priv.h>
void PIOS_RTC_IRQ_Handler (void);
void RTC_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
static const struct pios_rtc_cfg pios_rtc_main_cfg = {
.clksrc = RCC_RTCCLKSource_HSE_Div128,
.prescaler = 100,
.irq = {
.init = {
.NVIC_IRQChannel = RTC_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
void PIOS_RTC_IRQ_Handler (void)
{
PIOS_RTC_irq_handler ();
}
#endif
#if defined(PIOS_INCLUDE_SPEKTRUM)
/*
* SPEKTRUM USART
*/
void PIOS_USART_spektrum_irq_handler(void);
void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_spektrum_irq_handler")));
const struct pios_usart_cfg pios_usart_spektrum_cfg = {
#include <pios_spektrum_priv.h>
static const struct pios_usart_cfg pios_usart_spektrum_cfg = {
.regs = USART1,
.init = {
#if defined (PIOS_COM_SPEKTRUM_BAUDRATE)
.USART_BaudRate = PIOS_COM_SPEKTRUM_BAUDRATE,
#else
.USART_BaudRate = 115200,
#endif
.USART_BaudRate = 115200,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
@ -471,7 +471,6 @@ const struct pios_usart_cfg pios_usart_spektrum_cfg = {
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.handler = PIOS_USART_spektrum_irq_handler,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@ -497,75 +496,24 @@ const struct pios_usart_cfg pios_usart_spektrum_cfg = {
},
};
static uint32_t pios_usart_spektrum_id;
void PIOS_USART_spektrum_irq_handler(void)
{
SPEKTRUM_IRQHandler(pios_usart_spektrum_id);
}
#include <pios_spektrum_priv.h>
void TIM6_IRQHandler();
void TIM6_IRQHandler() __attribute__ ((alias ("PIOS_TIM6_irq_handler")));
const struct pios_spektrum_cfg pios_spektrum_cfg = {
.pios_usart_spektrum_cfg = &pios_usart_spektrum_cfg,
.tim_base_init = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = ((1000000 / 120) - 1), //11ms-10*16b/115200bps, atleast one interrupt between frames
.TIM_RepetitionCounter = 0x0000,
},
.gpio_init = { //used for bind feature
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
.remap = 0,
.irq = {
.handler = TIM6_IRQHandler,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
static const struct pios_spektrum_cfg pios_spektrum_cfg = {
.bind = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
.timer = TIM6,
.port = GPIOA,
.ccr = TIM_IT_Update,
.pin = GPIO_Pin_10,
.remap = 0,
};
void PIOS_TIM6_irq_handler()
{
PIOS_SPEKTRUM_irq_handler();
}
#endif /* PIOS_COM_SPEKTRUM */
static uint32_t pios_usart_telem_rf_id;
void PIOS_USART_telem_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_telem_rf_id);
}
static uint32_t pios_usart_gps_id;
void PIOS_USART_gps_irq_handler(void)
{
#ifdef USART_GPS_DEBUG_PIN
PIOS_DEBUG_PinHigh(USART_GPS_DEBUG_PIN);
#endif
PIOS_USART_IRQ_Handler(pios_usart_gps_id);
#ifdef USART_GPS_DEBUG_PIN
PIOS_DEBUG_PinLow(USART_GPS_DEBUG_PIN);
#endif
}
#ifdef PIOS_COM_AUX
static uint32_t pios_usart_aux_id;
void PIOS_USART_aux_irq_handler(void)
{
PIOS_USART_IRQ_Handler(pios_usart_aux_id);
}
#endif
#if defined(PIOS_INCLUDE_SBUS)
#error PIOS_INCLUDE_SBUS not implemented
#endif /* PIOS_INCLUDE_SBUS */
#endif /* PIOS_INCLUDE_USART */
@ -573,13 +521,22 @@ void PIOS_USART_aux_irq_handler(void)
#include "pios_com_priv.h"
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
#define PIOS_COM_GPS_RX_BUF_LEN 96
#define PIOS_COM_GPS_TX_BUF_LEN 96
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
#endif /* PIOS_INCLUDE_COM */
/**
* Pios servo configuration structures
*/
#include <pios_servo_priv.h>
const struct pios_servo_channel pios_servo_channels[] = {
static const struct pios_servo_channel pios_servo_channels[] = {
{
.timer = TIM4,
.port = GPIOB,
@ -663,7 +620,7 @@ const struct pios_servo_cfg pios_servo_cfg = {
*/
#if defined(PIOS_INCLUDE_PWM)
#include <pios_pwm_priv.h>
const struct pios_pwm_channel pios_pwm_channels[] = {
static const struct pios_pwm_channel pios_pwm_channels[] = {
{
.timer = TIM1,
.port = GPIOA,
@ -748,7 +705,6 @@ const struct pios_pwm_cfg pios_pwm_cfg = {
},
.remap = GPIO_PartialRemap_TIM3,
.irq = {
.handler = TIM1_CC_IRQHandler,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
@ -779,7 +735,7 @@ void PIOS_TIM5_irq_handler()
#include <pios_ppm_priv.h>
void TIM6_IRQHandler();
void TIM6_IRQHandler() __attribute__ ((alias ("PIOS_TIM6_irq_handler")));
const struct pios_ppmsv_cfg pios_ppmsv_cfg = {
static const struct pios_ppmsv_cfg pios_ppmsv_cfg = {
.tim_base_init = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */
.TIM_ClockDivision = TIM_CKD_DIV1,
@ -788,7 +744,6 @@ const struct pios_ppmsv_cfg pios_ppmsv_cfg = {
.TIM_RepetitionCounter = 0x0000,
},
.irq = {
.handler = TIM6_IRQHandler,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
@ -799,14 +754,14 @@ const struct pios_ppmsv_cfg pios_ppmsv_cfg = {
.ccr = TIM_IT_Update,
};
void PIOS_TIM6_irq_handler()
void PIOS_TIM6_irq_handler(void)
{
PIOS_PPMSV_irq_handler();
}
void TIM1_CC_IRQHandler();
void TIM1_CC_IRQHandler() __attribute__ ((alias ("PIOS_TIM1_CC_irq_handler")));
const struct pios_ppm_cfg pios_ppm_cfg = {
static const struct pios_ppm_cfg pios_ppm_cfg = {
.tim_base_init = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */
.TIM_ClockDivision = TIM_CKD_DIV1,
@ -828,7 +783,6 @@ const struct pios_ppm_cfg pios_ppm_cfg = {
},
.remap = 0,
.irq = {
.handler = TIM1_CC_IRQHandler,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
@ -841,7 +795,7 @@ const struct pios_ppm_cfg pios_ppm_cfg = {
.ccr = TIM_IT_CC2,
};
void PIOS_TIM1_CC_irq_handler()
void PIOS_TIM1_CC_irq_handler(void)
{
PIOS_PPM_irq_handler();
}
@ -861,7 +815,7 @@ void PIOS_I2C_main_adapter_er_irq_handler(void);
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_er_irq_handler")));
const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
.regs = I2C2,
.init = {
.I2C_Mode = I2C_Mode_I2C,
@ -889,7 +843,6 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.event = {
.handler = PIOS_I2C_main_adapter_ev_irq_handler,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_EV_IRQn,
@ -899,7 +852,6 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
},
},
.error = {
.handler = PIOS_I2C_main_adapter_er_irq_handler,
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_ER_IRQn,
@ -1010,6 +962,28 @@ static const struct stm32_gpio pios_debug_pins[] = {
#endif /* PIOS_ENABLE_DEBUG_PINS */
#if defined(PIOS_INCLUDE_RCVR)
#include "pios_rcvr_priv.h"
struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
uint32_t pios_rcvr_max_channel;
#endif /* PIOS_INCLUDE_RCVR */
#if defined(PIOS_INCLUDE_USB_HID)
#include "pios_usb_hid_priv.h"
static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
.irq = {
.init = {
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
#endif /* PIOS_INCLUDE_USB_HID */
extern const struct pios_com_driver pios_usb_com_driver;
uint32_t pios_com_telem_rf_id;
@ -1039,7 +1013,7 @@ void PIOS_Board_Init(void) {
#if defined(PIOS_INCLUDE_SPI)
/* Set up the SPI interface to the SD card */
if (PIOS_SPI_Init(&pios_spi_sdcard_id, &pios_spi_sdcard_cfg)) {
PIOS_DEBUG_Assert(0);
PIOS_Assert(0);
}
/* Enable and mount the SDCard */
@ -1047,21 +1021,14 @@ void PIOS_Board_Init(void) {
PIOS_SDCARD_MountFS(0);
#endif /* PIOS_INCLUDE_SPI */
#if defined(PIOS_INCLUDE_SPEKTRUM)
/* SPEKTRUM init must come before comms */
PIOS_SPEKTRUM_Init();
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_spektrum_id, &pios_usart_com_driver, pios_usart_spektrum_id)) {
PIOS_DEBUG_Assert(0);
}
#endif
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
UAVObjectsInitializeAll();
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
/* Initialize the alarms library */
AlarmsInitialize();
@ -1074,7 +1041,7 @@ void PIOS_Board_Init(void) {
/* Set up the SPI interface to the AHRS */
if (PIOS_SPI_Init(&pios_spi_ahrs_id, &pios_spi_ahrs_cfg)) {
PIOS_DEBUG_Assert(0);
PIOS_Assert(0);
}
/* Bind the AHRS comms layer to the AHRS SPI link */
@ -1082,43 +1049,147 @@ void PIOS_Board_Init(void) {
/* Initialize the PiOS library */
#if defined(PIOS_INCLUDE_COM)
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) {
PIOS_DEBUG_Assert(0);
}
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
{
uint32_t pios_usart_telem_rf_id;
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
PIOS_Assert(0);
}
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
PIOS_DEBUG_Assert(0);
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id,
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) {
PIOS_DEBUG_Assert(0);
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
#if defined(PIOS_INCLUDE_GPS)
{
uint32_t pios_usart_gps_id;
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
tx_buffer, PIOS_COM_GPS_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_GPS */
#endif
PIOS_Servo_Init();
PIOS_ADC_Init();
PIOS_GPIO_Init();
/* Configure the selected receiver */
uint8_t manualcontrolsettings_inputmode;
ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode);
switch (manualcontrolsettings_inputmode) {
case MANUALCONTROLSETTINGS_INPUTMODE_PWM:
#if defined(PIOS_INCLUDE_PWM)
PIOS_PWM_Init();
#if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
#error More receiver inputs than available devices
#endif
PIOS_PWM_Init();
uint32_t pios_pwm_rcvr_id;
if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) {
PIOS_Assert(0);
}
for (uint8_t i = 0;
i < PIOS_PWM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
i++) {
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_pwm_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
#endif /* PIOS_INCLUDE_PWM */
break;
case MANUALCONTROLSETTINGS_INPUTMODE_PPM:
#if defined(PIOS_INCLUDE_PPM)
PIOS_PPM_Init();
#if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
#error More receiver inputs than available devices
#endif
PIOS_PPM_Init();
uint32_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) {
PIOS_Assert(0);
}
for (uint8_t i = 0;
i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
i++) {
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_ppm_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
#endif /* PIOS_INCLUDE_PPM */
break;
case MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM:
#if defined(PIOS_INCLUDE_SPEKTRUM)
#if (PIOS_SPEKTRUM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
#error More receiver inputs than available devices
#endif
{
uint32_t pios_usart_spektrum_id;
if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_spektrum_id;
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
PIOS_Assert(0);
}
uint32_t pios_spektrum_rcvr_id;
if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) {
PIOS_Assert(0);
}
for (uint8_t i = 0;
i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
i++) {
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id;
pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
pios_rcvr_max_channel++;
}
}
#endif
break;
case MANUALCONTROLSETTINGS_INPUTMODE_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
#error SBUS NOT ON OP YET
#endif /* PIOS_INCLUDE_SBUS */
break;
}
#if defined(PIOS_INCLUDE_USB_HID)
PIOS_USB_HID_Init(0);
uint32_t pios_usb_hid_id;
PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg);
#if defined(PIOS_INCLUDE_COM)
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) {
PIOS_DEBUG_Assert(0);
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_USB_HID */
#endif /* PIOS_INCLUDE_USB_HID */
#if defined(PIOS_INCLUDE_I2C)
if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_I2C */
PIOS_IAP_Init();

138
flight/OpenPilot/System/pios_board_posix.c
View File

@ -29,42 +29,32 @@
#include <openpilot.h>
#include <uavobjectsinit.h>
/**
* PIOS_Board_Init()
* initializes all the core systems on this specific hardware
* called from System/openpilot.c
*/
void PIOS_Board_Init(void) {
#include "attituderaw.h"
#include "attitudeactual.h"
#include "positionactual.h"
#include "velocityactual.h"
/* Delay system */
PIOS_DELAY_Init();
#include "pios_rcvr_priv.h"
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
UAVObjectsInitializeAll();
struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
uint32_t pios_rcvr_max_channel;
/* Initialize the alarms library */
AlarmsInitialize();
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Initialize the PiOS library */
PIOS_COM_Init();
void Stack_Change() {
}
void Stack_Change_Weak() {
}
const struct pios_udp_cfg pios_udp0_cfg = {
const struct pios_udp_cfg pios_udp_telem_cfg = {
.ip = "0.0.0.0",
.port = 9000,
};
const struct pios_udp_cfg pios_udp1_cfg = {
const struct pios_udp_cfg pios_udp_gps_cfg = {
.ip = "0.0.0.0",
.port = 9001,
};
const struct pios_udp_cfg pios_udp2_cfg = {
const struct pios_udp_cfg pios_udp_debug_cfg = {
.ip = "0.0.0.0",
.port = 9002,
};
@ -73,15 +63,20 @@ const struct pios_udp_cfg pios_udp2_cfg = {
/*
* AUX USART
*/
const struct pios_udp_cfg pios_udp3_cfg = {
const struct pios_udp_cfg pios_udp_aux_cfg = {
.ip = "0.0.0.0",
.port = 9003,
};
#endif
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
#define PIOS_COM_GPS_RX_BUF_LEN 192
/*
* Board specific number of devices.
*/
/*
struct pios_udp_dev pios_udp_devs[] = {
#define PIOS_UDP_TELEM 0
{
@ -104,7 +99,7 @@ struct pios_udp_dev pios_udp_devs[] = {
};
uint8_t pios_udp_num_devices = NELEMENTS(pios_udp_devs);
*/
/*
* COM devices
*/
@ -115,28 +110,79 @@ uint8_t pios_udp_num_devices = NELEMENTS(pios_udp_devs);
extern const struct pios_com_driver pios_serial_com_driver;
extern const struct pios_com_driver pios_udp_com_driver;
struct pios_com_dev pios_com_devs[] = {
{
.id = PIOS_UDP_TELEM,
.driver = &pios_udp_com_driver,
},
{
.id = PIOS_UDP_GPS,
.driver = &pios_udp_com_driver,
},
{
.id = PIOS_UDP_LOCAL,
.driver = &pios_udp_com_driver,
},
#ifdef PIOS_COM_AUX
{
.id = PIOS_UDP_AUX,
.driver = &pios_udp_com_driver,
},
#endif
};
uint32_t pios_com_telem_rf_id;
uint32_t pios_com_telem_usb_id;
uint32_t pios_com_gps_id;
uint32_t pios_com_aux_id;
uint32_t pios_com_spectrum_id;
const uint8_t pios_com_num_devices = NELEMENTS(pios_com_devs);
/**
* PIOS_Board_Init()
* initializes all the core systems on this specific hardware
* called from System/openpilot.c
*/
void PIOS_Board_Init(void) {
/* Delay system */
PIOS_DELAY_Init();
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
UAVObjectsInitializeAll();
/* Initialize the alarms library */
AlarmsInitialize();
/* Initialize the task monitor library */
TaskMonitorInitialize();
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
{
uint32_t pios_udp_telem_rf_id;
if (PIOS_UDP_Init(&pios_udp_telem_rf_id, &pios_udp_telem_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_udp_com_driver, pios_udp_telem_rf_id,
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
#if defined(PIOS_INCLUDE_GPS)
{
uint32_t pios_udp_gps_id;
if (PIOS_UDP_Init(&pios_udp_gps_id, &pios_udp_gps_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_gps_id, &pios_udp_com_driver, pios_udp_gps_id,
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
tx_buffer, PIOS_COM_GPS_RX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_GPS */
#endif
// Initialize these here as posix has no AHRSComms
AttitudeRawInitialize();
AttitudeActualInitialize();
VelocityActualInitialize();
PositionActualInitialize();
}
/**
* @}

24
flight/OpenPilot/System/taskmonitor.c
View File

@ -35,6 +35,7 @@
// Private variables
static xSemaphoreHandle lock;
static xTaskHandle handles[TASKINFO_RUNNING_NUMELEM];
static uint32_t lastMonitorTime;
// Private functions
@ -45,6 +46,10 @@ int32_t TaskMonitorInitialize(void)
{
lock = xSemaphoreCreateRecursiveMutex();
memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM);
lastMonitorTime = 0;
#if defined(DIAGNOSTICS)
lastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
#endif
return 0;
}
@ -89,12 +94,27 @@ int32_t TaskMonitorRemove(TaskInfoRunningElem task)
*/
void TaskMonitorUpdateAll(void)
{
#if defined(DIAGNOSTICS)
TaskInfoData data;
int n;
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
#if ( configGENERATE_RUN_TIME_STATS == 1 )
uint32_t currentTime;
uint32_t deltaTime;
/*
* Calculate the amount of elapsed run time between the last time we
* measured and now. Scale so that we can convert task run times
* directly to percentages.
*/
currentTime = portGET_RUN_TIME_COUNTER_VALUE();
deltaTime = ((currentTime - lastMonitorTime) / 100) ? : 1; /* avoid divide-by-zero if the interval is too small */
lastMonitorTime = currentTime;
#endif
// Update all task information
for (n = 0; n < TASKINFO_RUNNING_NUMELEM; ++n)
{
@ -107,7 +127,8 @@ void TaskMonitorUpdateAll(void)
data.StackRemaining[n] = uxTaskGetStackHighWaterMark(handles[n]) * 4;
#if ( configGENERATE_RUN_TIME_STATS == 1 )
/* Generate run time stats */
data.RunningTime[n] = 100 * (float) uxTaskGetRunTime(handles[n]) / portGET_RUN_TIME_COUNTER_VALUE();
data.RunningTime[n] = uxTaskGetRunTime(handles[n]) / deltaTime;
#endif
#endif
@ -125,4 +146,5 @@ void TaskMonitorUpdateAll(void)
// Done
xSemaphoreGiveRecursive(lock);
#endif
}

3
flight/OpenPilot/UAVObjects.inc
View File

@ -24,6 +24,7 @@
# (all architectures)
UAVOBJSRCFILENAMES =
UAVOBJSRCFILENAMES += accessorydesired
UAVOBJSRCFILENAMES += actuatorcommand
UAVOBJSRCFILENAMES += actuatordesired
UAVOBJSRCFILENAMES += actuatorsettings
@ -68,6 +69,8 @@ UAVOBJSRCFILENAMES += velocityactual
UAVOBJSRCFILENAMES += velocitydesired
UAVOBJSRCFILENAMES += watchdogstatus
UAVOBJSRCFILENAMES += flightstatus
UAVOBJSRCFILENAMES += cameradesired
UAVOBJSRCFILENAMES += camerastabsettings
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

120
flight/PiOS.posix/inc/pios_com.h
View File

@ -1,55 +1,65 @@
/**
******************************************************************************
*
* @file pios_com.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief COM layer functions 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 PIOS_COM_H
#define PIOS_COM_H
/* Public Functions */
extern int32_t PIOS_COM_Init(void);
extern int32_t PIOS_COM_ChangeBaud(uint8_t port, uint32_t baud);
extern int32_t PIOS_COM_SendCharNonBlocking(uint8_t port, char c);
extern int32_t PIOS_COM_SendChar(uint8_t port, char c);
extern int32_t PIOS_COM_SendBufferNonBlocking(uint8_t port, uint8_t *buffer, uint16_t len);
extern int32_t PIOS_COM_SendBuffer(uint8_t port, uint8_t *buffer, uint16_t len);
extern int32_t PIOS_COM_SendStringNonBlocking(uint8_t port, char *str);
extern int32_t PIOS_COM_SendString(uint8_t port, char *str);
extern int32_t PIOS_COM_SendFormattedStringNonBlocking(uint8_t port, char *format, ...);
extern int32_t PIOS_COM_SendFormattedString(uint8_t port, char *format, ...);
extern uint8_t PIOS_COM_ReceiveBuffer(uint8_t port);
extern int32_t PIOS_COM_ReceiveBufferUsed(uint8_t port);
extern int32_t PIOS_COM_ReceiveHandler(void);
struct pios_com_driver {
void (*init)(uint8_t id);
void (*set_baud)(uint8_t id, uint32_t baud);
int32_t (*tx_nb)(uint8_t id, uint8_t *buffer, uint16_t len);
int32_t (*tx)(uint8_t id, uint8_t *buffer, uint16_t len);
int32_t (*rx)(uint8_t id);
int32_t (*rx_avail)(uint8_t id);
};
#endif /* PIOS_COM_H */
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_COM COM layer functions
* @brief Hardware communication layer
* @{
*
* @file pios_com.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief COM layer functions 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 PIOS_COM_H
#define PIOS_COM_H
typedef uint16_t (*pios_com_callback)(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * task_woken);
struct pios_com_driver {
void (*init)(uint32_t id);
void (*set_baud)(uint32_t id, uint32_t baud);
void (*tx_start)(uint32_t id, uint16_t tx_bytes_avail);
void (*rx_start)(uint32_t id, uint16_t rx_bytes_avail);
void (*bind_rx_cb)(uint32_t id, pios_com_callback rx_in_cb, uint32_t context);
void (*bind_tx_cb)(uint32_t id, pios_com_callback tx_out_cb, uint32_t context);
};
/* Public Functions */
extern int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t * rx_buffer, uint16_t rx_buffer_len, uint8_t * tx_buffer, uint16_t tx_buffer_len);
extern int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud);
extern int32_t PIOS_COM_SendCharNonBlocking(uint32_t com_id, char c);
extern int32_t PIOS_COM_SendChar(uint32_t com_id, char c);
extern int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, uint16_t len);
extern int32_t PIOS_COM_SendBuffer(uint32_t com_id, const uint8_t *buffer, uint16_t len);
extern int32_t PIOS_COM_SendStringNonBlocking(uint32_t com_id, const char *str);
extern int32_t PIOS_COM_SendString(uint32_t com_id, const char *str);
extern int32_t PIOS_COM_SendFormattedStringNonBlocking(uint32_t com_id, const char *format, ...);
extern int32_t PIOS_COM_SendFormattedString(uint32_t com_id, const char *format, ...);
extern uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len, uint32_t timeout_ms);
extern int32_t PIOS_COM_ReceiveBufferUsed(uint32_t com_id);
#endif /* PIOS_COM_H */
/**
* @}
* @}
*/

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