mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-30 15:52:12 +01:00
Merge branch 'next' into CC_GPS
This commit is contained in:
Corvus Corax
commit
b75890fcd4
@ -27,6 +27,10 @@ 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
|
||||
@ -162,6 +166,8 @@ 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
|
||||
@ -201,4 +207,3 @@ 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
43
HISTORY.txt
Normal 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.
|
||||
@ -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
|
||||
|
||||
@ -94,37 +94,87 @@ V: http://vimeo.com/22221798
|
||||
|
||||
M: First CopterControl flight on a Hexa
|
||||
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 Y6 CopterControl flight
|
||||
* First Helicopter flight with OpenPilot
|
||||
* First Octo 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 Multirotor navigation flight
|
||||
* First Helicopter navigation flight
|
||||
|
||||
439
Makefile
439
Makefile
@ -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
|
||||
@ -265,23 +294,11 @@ 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 $@"
|
||||
@ -290,8 +307,8 @@ openpilotgcs_clean:
|
||||
.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) ; \
|
||||
)
|
||||
|
||||
@ -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: $(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))
|
||||
|
||||
.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 $@
|
||||
|
||||
BIN
artwork/3D Model/boards/CopterControl/CopterControl.3ds
Normal file
BIN
artwork/3D Model/boards/CopterControl/CopterControl.3ds
Normal file
Binary file not shown.
BIN
artwork/3D Model/boards/CopterControl/TEXTURE.PNG
Normal file
BIN
artwork/3D Model/boards/CopterControl/TEXTURE.PNG
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 31 KiB |
BIN
artwork/3D Model/multi/joes_cnc/CC.PNG
Normal file
BIN
artwork/3D Model/multi/joes_cnc/CC.PNG
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 96 KiB |
BIN
artwork/3D Model/multi/joes_cnc/J14-QT_+.3DS
Normal file
BIN
artwork/3D Model/multi/joes_cnc/J14-QT_+.3DS
Normal file
Binary file not shown.
BIN
artwork/3D Model/multi/joes_cnc/J14-QT_+.jpg
Normal file
BIN
artwork/3D Model/multi/joes_cnc/J14-QT_+.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 125 KiB |
BIN
artwork/3D Model/multi/joes_cnc/J14-QT_X.3DS
Normal file
BIN
artwork/3D Model/multi/joes_cnc/J14-QT_X.3DS
Normal file
Binary file not shown.
BIN
artwork/3D Model/multi/joes_cnc/J14-QT_X.jpg
Normal file
BIN
artwork/3D Model/multi/joes_cnc/J14-QT_X.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 132 KiB |
BIN
artwork/3D Model/multi/joes_cnc/J14-Q_+.3DS
Normal file
BIN
artwork/3D Model/multi/joes_cnc/J14-Q_+.3DS
Normal file
Binary file not shown.
BIN
artwork/3D Model/multi/joes_cnc/J14-Q_+.jpg
Normal file
BIN
artwork/3D Model/multi/joes_cnc/J14-Q_+.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 84 KiB |
BIN
artwork/3D Model/multi/joes_cnc/J14-Q_X.3DS
Normal file
BIN
artwork/3D Model/multi/joes_cnc/J14-Q_X.3DS
Normal file
Binary file not shown.
BIN
artwork/3D Model/multi/joes_cnc/J14-Q_X.jpg
Normal file
BIN
artwork/3D Model/multi/joes_cnc/J14-Q_X.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 84 KiB |
BIN
artwork/3D Model/multi/joes_cnc/TEXTURE.PNG
Normal file
BIN
artwork/3D Model/multi/joes_cnc/TEXTURE.PNG
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 1.1 KiB |
@ -14,7 +14,7 @@
|
||||
height="80.827866"
|
||||
id="svg10068"
|
||||
version="1.1"
|
||||
inkscape:version="0.47 r22583"
|
||||
inkscape:version="0.48.1 r9760"
|
||||
sodipodi:docname="flightmode-status.svg"
|
||||
inkscape:export-filename="H:\Documents\Hobbies\W433\My Gauges\vbat-001.png"
|
||||
inkscape:export-xdpi="103.61"
|
||||
@ -949,6 +949,94 @@
|
||||
fx="29.77438"
|
||||
fy="7.0922189"
|
||||
r="25.380436" />
|
||||
<radialGradient
|
||||
inkscape:collect="always"
|
||||
xlink:href="#linearGradient5224-4"
|
||||
id="radialGradient3197"
|
||||
gradientUnits="userSpaceOnUse"
|
||||
gradientTransform="matrix(1,0,0,0.29375,0,18.848047)"
|
||||
cx="14.5"
|
||||
cy="26.6875"
|
||||
fx="14.5"
|
||||
fy="26.6875"
|
||||
r="10" />
|
||||
<radialGradient
|
||||
inkscape:collect="always"
|
||||
xlink:href="#linearGradient5224-4"
|
||||
id="radialGradient3199"
|
||||
gradientUnits="userSpaceOnUse"
|
||||
gradientTransform="matrix(1,0,0,0.29375,0,18.848047)"
|
||||
cx="14.5"
|
||||
cy="26.6875"
|
||||
fx="14.5"
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Before Width: | Height: | Size: 301 KiB After Width: | Height: | Size: 320 KiB |
@ -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
|
||||
|
||||
@ -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);
|
||||
}
|
||||
}
|
||||
|
||||
@ -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,
|
||||
@ -388,12 +373,17 @@ void PIOS_Board_Init(void) {
|
||||
/* Communication system */
|
||||
#if !defined(PIOS_ENABLE_DEBUG_PINS)
|
||||
#if defined(PIOS_INCLUDE_COM)
|
||||
{
|
||||
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)) {
|
||||
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
|
||||
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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;
|
||||
|
||||
@ -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;
|
||||
}
|
||||
|
||||
@ -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
|
||||
|
||||
Binary file not shown.
@ -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
|
||||
|
||||
@ -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;
|
||||
@ -182,21 +187,22 @@ 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);
|
||||
}
|
||||
}
|
||||
return TRUE;
|
||||
}
|
||||
|
||||
|
||||
@ -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) {
|
||||
|
||||
@ -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 */
|
||||
|
||||
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar
|
||||
|
||||
board_init_complete = true;
|
||||
}
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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;
|
||||
@ -247,11 +250,10 @@ 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);
|
||||
}
|
||||
}
|
||||
} else if (ProgPort == Serial) {
|
||||
|
||||
if (fifoBuf_getUsed(&ssp_buffer) >= 63) {
|
||||
@ -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;
|
||||
}
|
||||
|
||||
@ -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) {
|
||||
|
||||
@ -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 */
|
||||
@ -230,10 +257,13 @@ 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 */
|
||||
@ -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;
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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;
|
||||
@ -190,21 +193,22 @@ 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);
|
||||
}
|
||||
}
|
||||
return TRUE;
|
||||
}
|
||||
|
||||
|
||||
@ -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) {
|
||||
|
||||
@ -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 */
|
||||
|
||||
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar
|
||||
|
||||
board_init_complete = true;
|
||||
}
|
||||
|
||||
@ -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 += $(CDEFS)
|
||||
@ -473,21 +477,9 @@ LDFLAGS += -lc -lgcc
|
||||
LDFLAGS += -T$(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
|
||||
@ -519,18 +511,6 @@ 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)
|
||||
# @echo $(MSG_PYMITEINIT) $(call toprel, $@)
|
||||
@ -538,13 +518,6 @@ ${OUTDIR}/InitMods.c: Makefile
|
||||
# @$(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
|
||||
|
||||
@ -45,6 +45,8 @@ static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
|
||||
*/
|
||||
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();
|
||||
|
||||
@ -35,6 +35,8 @@
|
||||
/* OpenPilot Includes */
|
||||
#include "openpilot.h"
|
||||
#include "uavobjectsinit.h"
|
||||
#include "hwsettings.h"
|
||||
#include "camerastab.h"
|
||||
#include "systemmod.h"
|
||||
|
||||
/* Task Priorities */
|
||||
@ -42,18 +44,16 @@
|
||||
|
||||
/* Global Variables */
|
||||
|
||||
/* 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);
|
||||
|
||||
/**
|
||||
* OpenPilot Main function:
|
||||
*
|
||||
* Initialize PiOS<BR>
|
||||
* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
|
||||
* Start FreeRTOS Scheduler (vTaskStartScheduler)<BR>
|
||||
* Start FreeRTOS Scheduler (vTaskStartScheduler) (Now handled by caller)
|
||||
* If something goes wrong, blink LED1 and LED2 every 100ms
|
||||
*
|
||||
*/
|
||||
@ -65,40 +65,41 @@ int main()
|
||||
/* Brings up System using CMSIS functions, enables the LEDs. */
|
||||
PIOS_SYS_Init();
|
||||
|
||||
/* Initialize the system thread */
|
||||
SystemModInitialize();
|
||||
/* Architecture dependant Hardware and
|
||||
* core subsystem initialisation
|
||||
* (see pios_board.c for your arch)
|
||||
* */
|
||||
PIOS_Board_Init();
|
||||
|
||||
/* Start the FreeRTOS scheduler */
|
||||
/* 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. */
|
||||
/* If we do get here, it will most likely be because we ran out of heap space. */
|
||||
|
||||
/* 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;
|
||||
}
|
||||
|
||||
/**
|
||||
* 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();
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
|
||||
@ -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
|
||||
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
@ -30,11 +30,9 @@
|
||||
* 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
|
||||
@ -45,14 +43,17 @@
|
||||
#define PIOS_INCLUDE_IRQ
|
||||
#define PIOS_INCLUDE_LED
|
||||
|
||||
#if defined(USE_SPEKTRUM)
|
||||
#define PIOS_INCLUDE_RCVR
|
||||
|
||||
/* Supported receiver interfaces */
|
||||
#define PIOS_INCLUDE_SPEKTRUM
|
||||
#else
|
||||
#define PIOS_INCLUDE_GPS
|
||||
#define PIOS_INCLUDE_SBUS
|
||||
//#define PIOS_INCLUDE_PPM
|
||||
#define PIOS_INCLUDE_PWM
|
||||
#endif
|
||||
|
||||
/* Supported USART-based PIOS modules */
|
||||
#define PIOS_INCLUDE_TELEMETRY_RF
|
||||
//#define PIOS_INCLUDE_GPS
|
||||
|
||||
#define PIOS_INCLUDE_SERVO
|
||||
#define PIOS_INCLUDE_SPI
|
||||
@ -64,6 +65,7 @@
|
||||
#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
|
||||
|
||||
@ -84,21 +86,26 @@
|
||||
#define AUXUART_BAUDRATE 19200
|
||||
|
||||
/* Alarm Thresholds */
|
||||
#define HEAP_LIMIT_WARNING 350
|
||||
#define HEAP_LIMIT_CRITICAL 250
|
||||
#define CPULOAD_LIMIT_WARNING 80
|
||||
#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 504
|
||||
#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 */
|
||||
/**
|
||||
* @}
|
||||
|
||||
@ -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_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 = {
|
||||
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_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 = {
|
||||
.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 = {
|
||||
#if defined (PIOS_COM_SPEKTRUM_BAUDRATE)
|
||||
.USART_BaudRate = PIOS_COM_SPEKTRUM_BAUDRATE,
|
||||
#else
|
||||
.USART_BaudRate = 115200,
|
||||
#endif
|
||||
.USART_WordLength = USART_WordLength_8b,
|
||||
.USART_Parity = USART_Parity_No,
|
||||
.USART_StopBits = USART_StopBits_1,
|
||||
@ -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,
|
||||
@ -341,62 +443,78 @@ 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,
|
||||
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,
|
||||
},
|
||||
},
|
||||
.remap = 0,
|
||||
.irq = {
|
||||
.handler = TIM2_IRQHandler,
|
||||
};
|
||||
|
||||
#endif /* PIOS_INCLUDE_SPEKTRUM */
|
||||
|
||||
#if defined(PIOS_INCLUDE_SBUS)
|
||||
/*
|
||||
* SBUS USART
|
||||
*/
|
||||
#include <pios_sbus_priv.h>
|
||||
|
||||
static const struct pios_usart_cfg pios_usart_sbus_main_cfg = {
|
||||
.regs = USART1,
|
||||
.init = {
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
||||
.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,
|
||||
},
|
||||
},
|
||||
.timer = TIM2,
|
||||
.port = GPIOB,
|
||||
.ccr = TIM_IT_Update,
|
||||
.pin = GPIO_Pin_11,
|
||||
.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,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
void PIOS_TIM2_irq_handler()
|
||||
{
|
||||
PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id);
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_SPEKTRUM */
|
||||
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,
|
||||
};
|
||||
|
||||
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_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 */
|
||||
#endif /* PIOS_INCLUDE_SBUS */
|
||||
|
||||
#endif /* PIOS_INCLUDE_USART */
|
||||
|
||||
@ -404,13 +522,49 @@ void PIOS_USART_gps_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_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()
|
||||
@ -675,27 +896,25 @@ void PIOS_Board_Init(void) {
|
||||
|
||||
/* 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_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);
|
||||
/* 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);
|
||||
}
|
||||
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) {
|
||||
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);
|
||||
}
|
||||
}
|
||||
#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);
|
||||
{
|
||||
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);
|
||||
}
|
||||
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) {
|
||||
PIOS_DEBUG_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();
|
||||
}
|
||||
|
||||
@ -42,7 +42,6 @@ void PIOS_Board_Init(void) {
|
||||
/* Initialize UAVObject libraries */
|
||||
EventDispatcherInitialize();
|
||||
UAVObjInitialize();
|
||||
UAVObjectsInitializeAll();
|
||||
|
||||
/* Initialize the alarms library */
|
||||
AlarmsInitialize();
|
||||
|
||||
@ -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;
|
||||
}
|
||||
|
||||
@ -71,12 +76,27 @@ int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle)
|
||||
*/
|
||||
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)
|
||||
{
|
||||
@ -87,12 +107,18 @@ 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;
|
||||
}
|
||||
}
|
||||
|
||||
@ -101,4 +127,5 @@ void TaskMonitorUpdateAll(void)
|
||||
|
||||
// Done
|
||||
xSemaphoreGiveRecursive(lock);
|
||||
#endif
|
||||
}
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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 */
|
||||
|
||||
@ -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();\
|
||||
|
||||
@ -26,7 +26,7 @@
|
||||
#ifndef _FIFO_BUFFER_H_
|
||||
#define _FIFO_BUFFER_H_
|
||||
|
||||
#include "stm32f10x.h"
|
||||
#include <stdint.h>
|
||||
|
||||
// *********************
|
||||
|
||||
|
||||
@ -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
|
||||
@ -69,7 +71,7 @@ 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
|
||||
xTaskCreate(ahrscommsTask, (signed char *)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
|
||||
@ -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.
|
||||
*/
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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;
|
||||
@ -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) {
|
||||
@ -205,7 +258,12 @@ static void actuatorTask(void* parameters)
|
||||
continue;
|
||||
}
|
||||
|
||||
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) {
|
||||
@ -224,12 +282,51 @@ static void actuatorTask(void* parameters)
|
||||
status[ct] = 0;
|
||||
}
|
||||
|
||||
command.Channel[ct] = scaleChannel(status[ct],
|
||||
settings.ChannelMax[ct],
|
||||
settings.ChannelMin[ct],
|
||||
settings.ChannelNeutral[ct]);
|
||||
// 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],
|
||||
ChannelMax[ct],
|
||||
ChannelMin[ct],
|
||||
ChannelNeutral[ct]);
|
||||
}
|
||||
#if defined(DIAGNOSTICS)
|
||||
MixerStatusSet(&mixerStatus);
|
||||
#endif
|
||||
|
||||
// Store update time
|
||||
command.UpdateTime = 1000*dT;
|
||||
@ -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);
|
||||
@ -407,15 +506,15 @@ static void setFailsafe()
|
||||
|
||||
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);
|
||||
}
|
||||
|
||||
|
||||
@ -438,15 +537,13 @@ 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;
|
||||
|
||||
@ -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.
|
||||
*/
|
||||
|
||||
@ -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);
|
||||
@ -105,27 +125,39 @@ int32_t AttitudeInitialize(void)
|
||||
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)
|
||||
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);
|
||||
|
||||
@ -135,27 +167,38 @@ static void AttitudeTask(void *parameters)
|
||||
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;
|
||||
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;
|
||||
}
|
||||
|
||||
@ -163,14 +206,24 @@ static void AttitudeTask(void *parameters)
|
||||
|
||||
AttitudeRawData attitudeRaw;
|
||||
AttitudeRawGet(&attitudeRaw);
|
||||
updateSensors(&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];
|
||||
@ -178,9 +231,12 @@ static void updateSensors(AttitudeRawData * attitudeRaw)
|
||||
// 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;
|
||||
@ -226,25 +282,27 @@ static void updateSensors(AttitudeRawData * attitudeRaw)
|
||||
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];
|
||||
|
||||
// Because most crafts wont get enough information from gravity to zero yaw gyro
|
||||
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;
|
||||
|
||||
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
|
||||
@ -270,9 +328,10 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
|
||||
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
|
||||
@ -295,6 +354,13 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
|
||||
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
|
||||
@ -304,6 +370,15 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
|
||||
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);
|
||||
|
||||
@ -326,11 +401,16 @@ static void settingsUpdatedCb(UAVObjEvent * objEv) {
|
||||
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) {
|
||||
|
||||
@ -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
141
flight/Modules/CameraStab/camerastab.c
Normal 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;
|
||||
}
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
@ -1,13 +1,14 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotModules OpenPilot Modules
|
||||
* @{
|
||||
* @addtogroup BatteryModule Battery Module
|
||||
* @{
|
||||
*
|
||||
* @file uavobjectsinit.c
|
||||
* @file battery.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Initialize all objects.
|
||||
* Automatically generated by the UAVObjectGenerator.
|
||||
* @brief Module to read the battery Voltage and Current periodically and set alarms appropriately.
|
||||
*
|
||||
* @note This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
@ -26,20 +27,16 @@
|
||||
* 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
|
||||
|
||||
/**
|
||||
* 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)();
|
||||
}
|
||||
@ -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)
|
||||
|
||||
@ -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();
|
||||
|
||||
@ -31,6 +31,7 @@
|
||||
|
||||
#include "openpilot.h"
|
||||
#include "pm.h"
|
||||
#include "flightplan.h"
|
||||
#include "flightplanstatus.h"
|
||||
#include "flightplancontrol.h"
|
||||
#include "flightplansettings.h"
|
||||
@ -53,6 +54,20 @@ static void objectUpdatedCb(UAVObjEvent * ev);
|
||||
// External variables (temporary, TODO: this will be loaded from the SD card)
|
||||
extern unsigned char usrlib_img[];
|
||||
|
||||
/**
|
||||
* Module initialization
|
||||
*/
|
||||
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
|
||||
*/
|
||||
@ -60,6 +75,10 @@ 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
|
||||
*/
|
||||
|
||||
@ -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;
|
||||
|
||||
@ -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 == '$'))
|
||||
|
||||
@ -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;
|
||||
|
||||
@ -27,5 +27,5 @@
|
||||
#define EXAMPLEMODPERIODIC_H
|
||||
|
||||
int32_t ExampleModPeriodicInitialize();
|
||||
|
||||
int32_t GuidanceInitialize(void);
|
||||
#endif // EXAMPLEMODPERIODIC_H
|
||||
|
||||
@ -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
|
||||
|
||||
@ -42,6 +42,7 @@
|
||||
#include "stabilizationdesired.h"
|
||||
#include "flighttelemetrystats.h"
|
||||
#include "flightstatus.h"
|
||||
#include "accessorydesired.h"
|
||||
|
||||
// Private constants
|
||||
#if defined(PIOS_MANUAL_STACK_SIZE)
|
||||
@ -86,76 +87,41 @@ 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 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;
|
||||
// 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);
|
||||
|
||||
AccessoryDesiredInitialize();
|
||||
ManualControlCommandInitialize();
|
||||
FlightStatusInitialize();
|
||||
StabilizationDesiredInitialize();
|
||||
|
||||
ManualControlSettingsInitialize();
|
||||
|
||||
return 0;
|
||||
}
|
||||
MODULE_INITCALL(ManualControlInitialize, ManualControlStart)
|
||||
|
||||
/**
|
||||
* Module task
|
||||
@ -170,6 +136,11 @@ static void manualControlTask(void *parameters)
|
||||
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);
|
||||
@ -203,17 +174,13 @@ static void manualControlTask(void *parameters)
|
||||
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
|
||||
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]);
|
||||
}
|
||||
|
||||
@ -266,10 +233,26 @@ static void manualControlTask(void *parameters)
|
||||
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;
|
||||
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);
|
||||
@ -350,17 +333,23 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
|
||||
|
||||
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_ATTITUDE) ? fmod(cmd->Yaw * 180.0, 360) :
|
||||
(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;
|
||||
|
||||
@ -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
|
||||
@ -86,12 +93,31 @@ static float bound(float val);
|
||||
static void ZeroPids(void);
|
||||
static void SettingsUpdatedCb(UAVObjEvent * ev);
|
||||
|
||||
/**
|
||||
* Module initialization
|
||||
*/
|
||||
int32_t StabilizationStart()
|
||||
{
|
||||
// Initialize variables
|
||||
|
||||
// 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));
|
||||
@ -103,13 +129,12 @@ int32_t StabilizationInitialize()
|
||||
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_INITCALL(StabilizationInitialize, StabilizationStart)
|
||||
|
||||
/**
|
||||
* Module task
|
||||
*/
|
||||
@ -125,7 +150,6 @@ static void stabilizationTask(void* parameters)
|
||||
RateDesiredData rateDesired;
|
||||
AttitudeActualData attitudeActual;
|
||||
AttitudeRawData attitudeRaw;
|
||||
SystemSettingsData systemSettings;
|
||||
FlightStatusData flightStatus;
|
||||
|
||||
SettingsUpdatedCb((UAVObjEvent *) NULL);
|
||||
@ -153,8 +177,10 @@ static void stabilizationTask(void* parameters)
|
||||
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.
|
||||
@ -193,48 +219,84 @@ static void stabilizationTask(void* parameters)
|
||||
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)
|
||||
{
|
||||
if(rateDesiredAxis[ct] > settings.MaximumRate[ct])
|
||||
rateDesiredAxis[ct] = settings.MaximumRate[ct];
|
||||
}else
|
||||
{
|
||||
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;
|
||||
}
|
||||
@ -274,7 +336,8 @@ static void stabilizationTask(void* parameters)
|
||||
}
|
||||
|
||||
if(flightStatus.Armed != FLIGHTSTATUS_ARMED_ARMED ||
|
||||
!shouldUpdate || (stabDesired.Throttle < 0))
|
||||
(lowThrottleZeroIntegral && stabDesired.Throttle < 0) ||
|
||||
!shouldUpdate)
|
||||
{
|
||||
ZeroPids();
|
||||
}
|
||||
@ -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;
|
||||
}
|
||||
|
||||
|
||||
@ -329,13 +394,60 @@ 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);
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -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;
|
||||
@ -124,9 +150,10 @@ static void systemTask(void *parameters)
|
||||
|
||||
// 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);
|
||||
|
||||
@ -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);
|
||||
@ -85,34 +87,11 @@ 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(®isterObject);
|
||||
|
||||
// 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);
|
||||
@ -131,6 +110,46 @@ int32_t TelemetryInitialize(void)
|
||||
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;
|
||||
}
|
||||
|
||||
if (inputPort) {
|
||||
// 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
|
||||
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;
|
||||
}
|
||||
|
||||
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);
|
||||
|
||||
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);
|
||||
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);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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)
|
||||
|
||||
@ -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
|
||||
|
||||
@ -45,10 +45,8 @@ static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
|
||||
*/
|
||||
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;
|
||||
}
|
||||
|
||||
|
||||
@ -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
|
||||
|
||||
/**
|
||||
* @}
|
||||
|
||||
@ -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
|
||||
|
||||
/**
|
||||
|
||||
@ -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
|
||||
|
||||
|
||||
@ -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"
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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_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_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_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,
|
||||
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,
|
||||
},
|
||||
},
|
||||
.remap = 0,
|
||||
.irq = {
|
||||
.handler = TIM6_IRQHandler,
|
||||
.init = {
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.timer = TIM6,
|
||||
.port = GPIOA,
|
||||
.ccr = TIM_IT_Update,
|
||||
.pin = GPIO_Pin_10,
|
||||
};
|
||||
|
||||
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 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_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);
|
||||
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 */
|
||||
|
||||
#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);
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) {
|
||||
PIOS_DEBUG_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)
|
||||
#if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
|
||||
#error More receiver inputs than available devices
|
||||
#endif
|
||||
PIOS_PWM_Init();
|
||||
#endif
|
||||
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 */
|
||||
|
||||
#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();
|
||||
|
||||
@ -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();
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
|
||||
@ -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
|
||||
}
|
||||
|
||||
@ -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) )
|
||||
|
||||
@ -1,5 +1,10 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @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.
|
||||
@ -27,29 +32,34 @@
|
||||
#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);
|
||||
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)(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);
|
||||
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 */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
x
Reference in New Issue
Block a user