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Code Issues Releases Activity

Roll back changes on the revo target

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This commit is contained in:
James Cotton 2012-08-25 17:32:01 -05:00
parent 76bdb190d8
commit b95a78cde5
5 changed files with 1 additions and 221 deletions
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34
flight/PiOS/Boards/STM32F4xx_Revolution.h
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@ -28,12 +28,10 @@
#ifndef STM3210E_INS_H_
#define STM3210E_INS_H_
#include <stdbool.h>
#define DEBUG_LEVEL 2
#define DEBUG_PRINTF(level, ...) {if(level <= DEBUG_LEVEL && pios_com_aux_id > 0) { PIOS_COM_SendFormattedStringNonBlocking(pios_com_aux_id, __VA_ARGS__); }}
//------------------------
// Timers and Channels Used
//------------------------
@ -135,26 +133,6 @@ extern uint32_t pios_com_vcp_id;
#define PIOS_COM_BRIDGE (pios_com_bridge_id)
#define PIOS_COM_VCP (pios_com_vcp_id)
#define PIOS_COM_DEBUG PIOS_COM_AUX
#if defined(PIOS_INCLUDE_RFM22B)
#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 512
#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 512
extern uint32_t pios_com_rfm22b_id;
#define PIOS_COM_RADIO (pios_com_rfm22b_id)
extern uint32_t pios_spi_rfm22b_id;
#define PIOS_RFM22_SPI_PORT (pios_spi_rfm22b_id)
#endif /* PIOS_INCLUDE_RFM22B */
//-------------------------
// Packet Handler
//-------------------------
#if defined(PIOS_INCLUDE_PACKET_HANDLER)
extern uint32_t pios_packet_handler;
#define PIOS_PACKET_HANDLER (pios_packet_handler)
#define PIOS_PH_MAX_PACKET 255
#define PIOS_PH_WIN_SIZE 3
#define PIOS_PH_MAX_CONNECTIONS 1
#define RS_ECC_NPARITY 4
#endif /* PIOS_INCLUDE_PACKET_HANDLER */
//------------------------
// TELEMETRY
@ -285,16 +263,6 @@ extern uint32_t pios_packet_handler;
#define PIOS_USB_ENABLED 1 /* Should remove all references to this */
#define PIOS_USB_HID_MAX_DEVS 1
//-------------------------
// RFM22
//-------------------------
#if defined(PIOS_INCLUDE_RFM22B)
extern uint32_t pios_rfm22b_id;
#define RFM22_EXT_INT_USE
#endif /* PIOS_INCLUDE_RFM22B */
#endif /* STM3210E_INS_H_ */
/**
* @}

9
flight/Revolution/Makefile
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@ -57,7 +57,6 @@ MODULES += AltitudeHold VtolPathFollower FixedWingPathFollower PathPlanner
MODULES += CameraStab
MODULES += OveroSync
MODULES += Telemetry
MODULES += Radio
PYMODULES =
#FlightPlan
@ -73,7 +72,6 @@ PIOSINC = $(PIOS)/inc
OPMODULEDIR = ../Modules
FLIGHTLIB = ../Libraries
FLIGHTLIBINC = ../Libraries/inc
RSCODEINC = $(FLIGHTLIB)/rscode
PIOSSTM32F4XX = $(PIOS)/STM32F4xx
PIOSCOMMON = $(PIOS)/Common
PIOSBOARDS = $(PIOS)/Boards
@ -143,11 +141,6 @@ SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(FLIGHTLIB)/WorldMagModel.c
SRC += $(FLIGHTLIB)/insgps13state.c
SRC += $(FLIGHTLIB)/taskmonitor.c
SRC += $(FLIGHTLIB)/packet_handler.c
## The Reed-Solomon FEC library
SRC += $(FLIGHTLIB)/rscode/rs.c
SRC += $(FLIGHTLIB)/rscode/berlekamp.c
SRC += $(FLIGHTLIB)/rscode/galois.c
## PIOS Hardware (STM32F4xx)
include $(PIOS)/STM32F4xx/library.mk
@ -169,7 +162,6 @@ SRC += $(PIOSCOMMON)/printf-stdarg.c
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
SRC += $(PIOSCOMMON)/pios_usb_util.c
SRC += $(PIOSCOMMON)/pios_rfm22b.c
include ./UAVObjects.inc
SRC += $(UAVOBJSRC)
@ -211,7 +203,6 @@ EXTRAINCDIRS += $(OPUAVOBJ)
EXTRAINCDIRS += $(OPUAVOBJINC)
EXTRAINCDIRS += $(UAVOBJSYNTHDIR)
EXTRAINCDIRS += $(FLIGHTLIBINC)
EXTRAINCDIRS += $(RSCODEINC)
EXTRAINCDIRS += $(PIOSSTM32F4XX)
EXTRAINCDIRS += $(PIOSCOMMON)
EXTRAINCDIRS += $(PIOSBOARDS)

2
flight/Revolution/System/inc/pios_config.h
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@ -73,8 +73,6 @@
#define PIOS_INCLUDE_COM_AUX
#define PIOS_INCLUDE_COM_AUXSBUS
#define PIOS_INCLUDE_COM_FLEXI
#define PIOS_INCLUDE_RFM22B
#define PIOS_INCLUDE_PACKET_HANDLER
#define PIOS_INCLUDE_GPS
#define PIOS_INCLUDE_GPS_NMEA_PARSER

2
flight/Revolution/UAVObjects.inc
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@ -91,8 +91,6 @@ UAVOBJSRCFILENAMES += altitudeholdsettings
UAVOBJSRCFILENAMES += altitudeholddesired
UAVOBJSRCFILENAMES += waypoint
UAVOBJSRCFILENAMES += waypointactive
UAVOBJSRCFILENAMES += pipxsettings
UAVOBJSRCFILENAMES += pipxstatus
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

175
flight/board_hw_defs/revolution/board_hw_defs.c
View File

@ -447,181 +447,6 @@ void PIOS_SPI_flash_irq_handler(void)
}
#endif /* PIOS_FLASH_ON_ACCEL */
#if defined(PIOS_INCLUDE_RFM22B)
#include <pios_rfm22b_priv.h>
/* SPI3 Interface
* - Used for RFM22B radio
*/
void PIOS_SPI_rfm22b_irq_handler(void);
void DMA1_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_rfm22b_irq_handler")));
void DMA1_Stream5_IRQHandler(void) __attribute__((alias("PIOS_SPI_rfm22b_irq_handler")));
static const struct pios_spi_cfg pios_spi_rfm22b_cfg = {
.regs = SPI3,
.remap = GPIO_AF_SPI3,
.init = {
//.SPI_Mode = SPI_Mode_Slave,
.SPI_Mode = SPI_Mode_Master,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
.SPI_DataSize = SPI_DataSize_8b,
//.SPI_NSS = SPI_NSS_Hard,
.SPI_NSS = SPI_NSS_Soft,
.SPI_FirstBit = SPI_FirstBit_MSB,
//.SPI_CRCPolynomial = 7,
.SPI_CRCPolynomial = 0,
//.SPI_CPOL = SPI_CPOL_High,
.SPI_CPOL = SPI_CPOL_Low,
//.SPI_CPHA = SPI_CPHA_2Edge,
.SPI_CPHA = SPI_CPHA_1Edge,
//.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256,
},
.use_crc = false,
.dma = {
.irq = {
// Note this is the stream ID that triggers interrupts (in this case TX)
.flags = (DMA_IT_TCIF7),
//.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
.init = {
.NVIC_IRQChannel = DMA1_Stream7_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA1_Stream0,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR),
.DMA_DIR = DMA_DIR_PeripheralToMemory,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
//.DMA_Mode = DMA_Mode_Circular,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
//TODO: Enable FIFO
.DMA_FIFOMode = DMA_FIFOMode_Disable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
.tx = {
.channel = DMA1_Stream7,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR),
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
//.DMA_Mode = DMA_Mode_Circular,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_FIFOMode = DMA_FIFOMode_Disable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
},
.sclk = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.miso = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.mosi = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.slave_count = 1,
.ssel = { {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
} },
};
uint32_t pios_spi_rfm22b_id;
void PIOS_SPI_rfm22b_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_rfm22b_id);
}
static const struct pios_exti_cfg pios_exti_rfm22b_cfg __exti_config = {
.vector = PIOS_RFM22_EXT_Int,
.line = EXTI_Line0,
.pin = {
.gpio = GPIOD,
.init = {
.GPIO_Pin = GPIO_Pin_0,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_IN,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.irq = {
.init = {
.NVIC_IRQChannel = EXTI0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.exti = {
.init = {
.EXTI_Line = EXTI_Line0, // matches above GPIO pin
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Falling,
.EXTI_LineCmd = ENABLE,
},
},
};
struct pios_rfm22b_cfg pios_rfm22b_cfg = {
.spi_cfg = &pios_spi_rfm22b_cfg,
.exti_cfg = &pios_exti_rfm22b_cfg,
.frequencyHz = 434000000,
.minFrequencyHz = 434000000 - 2000000,
.maxFrequencyHz = 434000000 + 2000000,
.RFXtalCap = 0x7f,
.maxRFBandwidth = 128000,
.maxTxPower = RFM22_tx_pwr_txpow_7, // +20dBm .. 100mW
};
#endif /* PIOS_INCLUDE_RFM22B */
#endif /* PIOS_INCLUDE_SPI */
#if defined(PIOS_OVERO_SPI)