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Merge branch 'next' into ed_mac_halt_bug

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This commit is contained in:
Edouard Lafargue 2011-10-03 23:05:52 +02:00
commit c06c08e831
171 changed files with 8794 additions and 5521 deletions
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28
HISTORY.txt
View File

@ -1,5 +1,33 @@
Short summary of changes. For a complete list see the git log.
2011-09-12
Max rate now ONLY applies to attitude and axis lock mode. Manual rate is the
only term that limits the rate mode now (and in axis lock when you push stick
only manual rate applies). Also integrals are reset when unused.
2011-09-09
Some large updates to the input system. Now multiple receivers can be
connected at once. A wizard was added for configuring the input channels. A
specific collective pitch channel was added.
2011-09-04
Improvements to the failsafe handling code for inputs. PWM power off is now
detected properly. Powering on transmitter for Spektrum Satellite no longer
causes a glitch on servos.
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).

10
MILESTONES.txt
View File

@ -137,6 +137,16 @@ 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 CopterControl Return to Base Fixed Wing
C: Eric Price (Corvus Corax)
D: AUgust 2011

12
Makefile
View File

@ -183,13 +183,13 @@ qt_sdk_clean:
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/package8734/public/arm-none-eabi/arm-2011.03-42-arm-none-eabi-i686-pc-linux-gnu.tar.bz2
arm_sdk_install: ARM_SDK_URL := https://sourcery.mentor.com/sgpp/lite/arm/portal/package8736/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)
arm_sdk_install: arm_sdk_clean
# download the source only if it's newer than what we already have
$(V1) wget -N -P "$(DL_DIR)" "$(ARM_SDK_URL)"
$(V1) wget --no-check-certificate -N -P "$(DL_DIR)" "$(ARM_SDK_URL)"
# binary only release so just extract it
$(V1) tar -C $(TOOLS_DIR) -xjf "$(DL_DIR)/$(ARM_SDK_FILE)"
@ -202,8 +202,8 @@ arm_sdk_clean:
OPENOCD_DIR := $(TOOLS_DIR)/openocd
.PHONY: openocd_install
openocd_install: OPENOCD_URL := http://sourceforge.net/projects/openocd/files/openocd/0.4.0/openocd-0.4.0.tar.bz2/download
openocd_install: OPENOCD_FILE := openocd-0.4.0.tar.bz2
openocd_install: OPENOCD_URL := http://sourceforge.net/projects/openocd/files/openocd/0.5.0/openocd-0.5.0.tar.bz2/download
openocd_install: OPENOCD_FILE := openocd-0.5.0.tar.bz2
# order-only prereq on directory existance:
openocd_install: | $(DL_DIR) $(TOOLS_DIR)
openocd_install: openocd_clean
@ -218,8 +218,8 @@ openocd_install: openocd_clean
# build and install
$(V1) mkdir -p "$(OPENOCD_DIR)"
$(V1) ( \
cd $(DL_DIR)/openocd-build/openocd-0.4.0 ; \
./configure --prefix="$(OPENOCD_DIR)" --enable-ft2232_libftdi ; \
cd $(DL_DIR)/openocd-build/openocd-0.5.0 ; \
./configure --prefix="$(OPENOCD_DIR)" --enable-ft2232_libftdi --enable-buspirate; \
$(MAKE) ; \
$(MAKE) install ; \
)

2
flight/AHRS/Makefile
View File

@ -355,7 +355,7 @@ $(OUTDIR)/$(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)))
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf

2
flight/Bootloaders/BootloaderUpdater/Makefile
View File

@ -258,7 +258,9 @@ CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame
CFLAGS += -fomit-frame-pointer
ifeq ($(CODE_SOURCERY), YES)
CFLAGS += -fpromote-loop-indices
endif
CFLAGS += -Wall
CFLAGS += -Werror

2
flight/Bootloaders/CopterControl/Makefile
View File

@ -300,7 +300,9 @@ CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame
CFLAGS += -fomit-frame-pointer
ifeq ($(CODE_SOURCERY), YES)
CFLAGS += -fpromote-loop-indices
endif
CFLAGS += -Wall
CFLAGS += -Werror

2
flight/Bootloaders/OpenPilot/Makefile
View File

@ -306,7 +306,9 @@ CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame
CFLAGS += -fomit-frame-pointer
ifeq ($(CODE_SOURCERY), YES)
CFLAGS += -fpromote-loop-indices
endif
CFLAGS += -Wall
CFLAGS += -Werror

2
flight/Bootloaders/PipXtreme/Makefile
View File

@ -301,7 +301,9 @@ CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame
CFLAGS += -fomit-frame-pointer
ifeq ($(CODE_SOURCERY), YES)
CFLAGS += -fpromote-loop-indices
endif
CFLAGS += -Wall
CFLAGS += -Werror

37
flight/CopterControl/Makefile
View File

@ -37,6 +37,9 @@ OUTDIR := $(TOP)/build/$(TARGET)
# 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
@ -62,7 +65,9 @@ endif
FLASH_TOOL = OPENOCD
# List of modules to include
MODULES = Telemetry Attitude Stabilization Actuator ManualControl FirmwareIAP
MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP CameraStab
# Telemetry must be last to grab the optional modules
MODULES += Telemetry
# Paths
OPSYSTEM = ./System
@ -125,7 +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
@ -153,21 +157,22 @@ 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
SRC += $(OPUAVSYNTHDIR)/camerastabsettings.c
SRC += $(OPUAVSYNTHDIR)/cameradesired.c
SRC += $(OPUAVSYNTHDIR)/hwsettings.c
#${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)/gcsreceiver.c
SRC += $(OPUAVSYNTHDIR)/receiveractivity.c
SRC += $(OPUAVSYNTHDIR)/taskinfo.c
SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
SRC += $(OPUAVSYNTHDIR)/ratedesired.c
endif
## PIOS Hardware (STM32F10x)
@ -189,6 +194,7 @@ SRC += $(PIOSSTM32F10X)/pios_gpio.c
SRC += $(PIOSSTM32F10X)/pios_exti.c
SRC += $(PIOSSTM32F10X)/pios_rtc.c
SRC += $(PIOSSTM32F10X)/pios_wdg.c
SRC += $(PIOSSTM32F10X)/pios_tim.c
# PIOS USB related files (seperated to make code maintenance more easy)
@ -207,6 +213,7 @@ SRC += $(PIOSCOMMON)/pios_i2c_esc.c
SRC += $(PIOSCOMMON)/pios_iap.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/pios_rcvr.c
SRC += $(PIOSCOMMON)/pios_gcsrcvr.c
SRC += $(PIOSCOMMON)/printf-stdarg.c
## Libraries for flight calculations
SRC += $(FLIGHTLIB)/fifo_buffer.c
@ -417,6 +424,10 @@ ifeq ($(DEBUG),YES)
CFLAGS = -DDEBUG
endif
ifeq ($(DIAGNOSTICS),YES)
CFLAGS = -DDIAGNOSTICS
endif
CFLAGS += -g$(DEBUGF)
CFLAGS += -O$(OPT)
CFLAGS += -mcpu=$(MCU)
@ -425,14 +436,16 @@ CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
#CFLAGS += -fno-cprop-registers -fno-defer-pop -fno-guess-branch-probability -fno-section-anchors
#CFLAGS += -fno-if-conversion -fno-if-conversion2 -fno-ipa-pure-const -fno-ipa-reference -fno-merge-constants
#CFLAGS += -fno-split-wide-types -fno-tree-ccp -fno-tree-ch -fno-tree-copy-prop -fno-tree-copyrename
#CFLAGS += -fno-split-wide-types -fno-tree-ccp -fno-tree-ch -fno-tree-copy-prop -fno-tree-copyrename
#CFLAGS += -fno-tree-dce -fno-tree-dominator-opts -fno-tree-dse -fno-tree-fre -fno-tree-sink -fno-tree-sra
#CFLAGS += -fno-tree-ter
#CFLAGS += -g$(DEBUGF) -DDEBUG
CFLAGS += -mapcs-frame
CFLAGS += -fomit-frame-pointer
ifeq ($(CODE_SOURCERY), YES)
CFLAGS += -fpromote-loop-indices
endif
CFLAGS += -Wall
CFLAGS += -Werror
@ -504,7 +517,7 @@ endif
endif
# Generate code for PyMite
#$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py)
#$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py)
# @echo $(MSG_PYMITEINIT) $(call toprel, $@)
# @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
# @$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
@ -542,7 +555,7 @@ $(OUTDIR)/$(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)))
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf

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

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

204
flight/CopterControl/System/coptercontrol.c
View File

@ -1,97 +1,107 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @brief These files are the core system files of OpenPilot.
* They are the ground layer just above PiOS. In practice, OpenPilot actually starts
* in the main() function of openpilot.c
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @brief This is where the OP firmware starts. Those files also define the compile-time
* options of the firmware.
* @{
* @file openpilot.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Sets up and runs main OpenPilot tasks.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* OpenPilot Includes */
#include "openpilot.h"
#include "uavobjectsinit.h"
#include "systemmod.h"
/* Task Priorities */
#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
/* Global Variables */
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void Stack_Change(void);
/**
* OpenPilot Main function:
*
* Initialize PiOS<BR>
* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
* Start FreeRTOS Scheduler (vTaskStartScheduler) (Now handled by caller)
* If something goes wrong, blink LED1 and LED2 every 100ms
*
*/
int main()
{
/* NOTE: Do NOT modify the following start-up sequence */
/* Any new initialization functions should be added in OpenPilotInit() */
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
/* Architecture dependant Hardware and
* core subsystem initialisation
* (see pios_board.c for your arch)
* */
PIOS_Board_Init();
/* Initialize modules */
MODULE_INITIALISE_ALL
/* swap the stack to use the IRQ stack */
Stack_Change();
/* Start the FreeRTOS scheduler which should never returns.*/
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* Do some indication to user that something bad just happened */
PIOS_LED_Off(LED1); \
for(;;) { \
PIOS_LED_Toggle(LED1); \
PIOS_DELAY_WaitmS(100); \
};
return 0;
}
/**
* @}
* @}
*/
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @brief These files are the core system files of OpenPilot.
* They are the ground layer just above PiOS. In practice, OpenPilot actually starts
* in the main() function of openpilot.c
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @brief This is where the OP firmware starts. Those files also define the compile-time
* options of the firmware.
* @{
* @file openpilot.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Sets up and runs main OpenPilot tasks.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* OpenPilot Includes */
#include "openpilot.h"
#include "uavobjectsinit.h"
#include "hwsettings.h"
#include "camerastab.h"
#include "systemmod.h"
/* Task Priorities */
#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
/* Global Variables */
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void Stack_Change(void);
/**
* OpenPilot Main function:
*
* Initialize PiOS<BR>
* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
* Start FreeRTOS Scheduler (vTaskStartScheduler) (Now handled by caller)
* If something goes wrong, blink LED1 and LED2 every 100ms
*
*/
int main()
{
/* NOTE: Do NOT modify the following start-up sequence */
/* Any new initialization functions should be added in OpenPilotInit() */
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
/* Architecture dependant Hardware and
* core subsystem initialisation
* (see pios_board.c for your arch)
* */
PIOS_Board_Init();
/* Initialize modules */
MODULE_INITIALISE_ALL
/* Optional module initialization. This code might want to go somewhere else as
* it grows */
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
if(optionalModules[HWSETTINGS_OPTIONALMODULES_CAMERASTABILIZATION] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
CameraStabInitialize();
}
/* swap the stack to use the IRQ stack */
Stack_Change();
/* Start the FreeRTOS scheduler which should never returns.*/
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* Do some indication to user that something bad just happened */
PIOS_LED_Off(LED1); \
for(;;) { \
PIOS_LED_Toggle(LED1); \
PIOS_DELAY_WaitmS(100); \
};
return 0;
}
/**
* @}
* @}
*/

10
flight/CopterControl/System/inc/FreeRTOSConfig.h
View File

@ -26,6 +26,7 @@
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 1
#define configUSE_TICK_HOOK 0
#define configUSE_MALLOC_FAILED_HOOK 1
#define configCPU_CLOCK_HZ ( ( unsigned long ) 72000000 )
#define configTICK_RATE_HZ ( ( portTickType ) 1000 )
#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 )
@ -39,7 +40,6 @@
#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. */
@ -76,7 +76,9 @@ NVIC value of 255. */
#endif
/* 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()\
@ -85,7 +87,9 @@ do {\
(*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */\
} while(0)
#define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004)/* DWT_CYCCNT */
//#endif
#else
#define configCHECK_FOR_STACK_OVERFLOW 1
#endif
/**

3
flight/CopterControl/System/inc/pios_config.h
View File

@ -48,8 +48,9 @@
/* Supported receiver interfaces */
#define PIOS_INCLUDE_SPEKTRUM
#define PIOS_INCLUDE_SBUS
//#define PIOS_INCLUDE_PPM
#define PIOS_INCLUDE_PPM
#define PIOS_INCLUDE_PWM
#define PIOS_INCLUDE_GCSRCVR
/* Supported USART-based PIOS modules */
#define PIOS_INCLUDE_TELEMETRY_RF

562
flight/CopterControl/System/pios_board.c
View File

@ -32,6 +32,7 @@
#include <uavobjectsinit.h>
#include <hwsettings.h>
#include <manualcontrolsettings.h>
#include <gcsreceiver.h>
#if defined(PIOS_INCLUDE_SPI)
@ -195,6 +196,220 @@ void PIOS_ADC_handler() {
PIOS_ADC_DMA_Handler();
}
#include "pios_tim_priv.h"
static const TIM_TimeBaseInitTypeDef tim_1_2_3_4_time_base = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
.TIM_RepetitionCounter = 0x0000,
};
static const struct pios_tim_clock_cfg tim_1_cfg = {
.timer = TIM1,
.time_base_init = &tim_1_2_3_4_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM1_CC_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
static const struct pios_tim_clock_cfg tim_2_cfg = {
.timer = TIM2,
.time_base_init = &tim_1_2_3_4_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
static const struct pios_tim_clock_cfg tim_3_cfg = {
.timer = TIM3,
.time_base_init = &tim_1_2_3_4_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
static const struct pios_tim_clock_cfg tim_4_cfg = {
.timer = TIM4,
.time_base_init = &tim_1_2_3_4_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = {
{
.timer = TIM4,
.timer_chan = TIM_Channel_1,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Mode = GPIO_Mode_IPD,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
{
.timer = TIM3,
.timer_chan = TIM_Channel_2,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_5,
.GPIO_Mode = GPIO_Mode_IPD,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
.remap = GPIO_PartialRemap_TIM3,
},
{
.timer = TIM3,
.timer_chan = TIM_Channel_3,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_0,
.GPIO_Mode = GPIO_Mode_IPD,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
{
.timer = TIM3,
.timer_chan = TIM_Channel_4,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_1,
.GPIO_Mode = GPIO_Mode_IPD,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
{
.timer = TIM2,
.timer_chan = TIM_Channel_1,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_0,
.GPIO_Mode = GPIO_Mode_IPD,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
{
.timer = TIM2,
.timer_chan = TIM_Channel_2,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_1,
.GPIO_Mode = GPIO_Mode_IPD,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
};
static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
{
.timer = TIM4,
.timer_chan = TIM_Channel_4,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
{
.timer = TIM4,
.timer_chan = TIM_Channel_3,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_8,
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
{
.timer = TIM4,
.timer_chan = TIM_Channel_2,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
{
.timer = TIM1,
.timer_chan = TIM_Channel_1,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_8,
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
{
.timer = TIM3,
.timer_chan = TIM_Channel_1,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_4,
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
.remap = GPIO_PartialRemap_TIM3,
},
{
.timer = TIM2,
.timer_chan = TIM_Channel_3,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_2,
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
};
#if defined(PIOS_INCLUDE_USART)
#include "pios_usart_priv.h"
@ -564,121 +779,40 @@ void PIOS_RTC_IRQ_Handler (void)
* Servo outputs
*/
#include <pios_servo_priv.h>
static const struct pios_servo_channel pios_servo_channels[] = {
{
.timer = TIM4,
.port = GPIOB,
.channel = TIM_Channel_4,
.pin = GPIO_Pin_9,
},
{
.timer = TIM4,
.port = GPIOB,
.channel = TIM_Channel_3,
.pin = GPIO_Pin_8,
},
{
.timer = TIM4,
.port = GPIOB,
.channel = TIM_Channel_2,
.pin = GPIO_Pin_7,
},
{
.timer = TIM1,
.port = GPIOA,
.channel = TIM_Channel_1,
.pin = GPIO_Pin_8,
},
{ /* needs to remap to alternative function */
.timer = TIM3,
.port = GPIOB,
.channel = TIM_Channel_1,
.pin = GPIO_Pin_4,
},
{
.timer = TIM2,
.port = GPIOA,
.channel = TIM_Channel_3,
.pin = GPIO_Pin_2,
},
};
const struct pios_servo_cfg pios_servo_cfg = {
.tim_base_init = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
.TIM_RepetitionCounter = 0x0000,
},
.tim_oc_init = {
.TIM_OCMode = TIM_OCMode_PWM1,
.TIM_OutputState = TIM_OutputState_Enable,
.TIM_OutputNState = TIM_OutputNState_Disable,
.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
.TIM_OCPolarity = TIM_OCPolarity_High,
.TIM_OCNPolarity = TIM_OCPolarity_High,
.TIM_OCIdleState = TIM_OCIdleState_Reset,
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
},
.gpio_init = {
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
.remap = GPIO_PartialRemap_TIM3,
.channels = pios_servo_channels,
.num_channels = NELEMENTS(pios_servo_channels),
.channels = pios_tim_servoport_all_pins,
.num_channels = NELEMENTS(pios_tim_servoport_all_pins),
};
#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,
/* Use only the first channel for ppm */
.channels = &pios_tim_rcvrport_all_channels[0],
.num_channels = 1,
};
void PIOS_TIM4_irq_handler()
{
PIOS_PPM_irq_handler();
}
#endif /* PIOS_INCLUDE_PPM */
/*
@ -687,98 +821,16 @@ void PIOS_TIM4_irq_handler()
#if defined(PIOS_INCLUDE_PWM)
#include <pios_pwm_priv.h>
static const struct pios_pwm_channel pios_pwm_channels[] = {
{
.timer = TIM4,
.port = GPIOB,
.ccr = TIM_IT_CC1,
.channel = TIM_Channel_1,
.pin = GPIO_Pin_6,
},
{
.timer = TIM3,
.port = GPIOB,
.ccr = TIM_IT_CC2,
.channel = TIM_Channel_2,
.pin = GPIO_Pin_5,
},
{
.timer = TIM3,
.port = GPIOB,
.ccr = TIM_IT_CC3,
.channel = TIM_Channel_3,
.pin = GPIO_Pin_0
},
{
.timer = TIM3,
.port = GPIOB,
.ccr = TIM_IT_CC4,
.channel = TIM_Channel_4,
.pin = GPIO_Pin_1,
},
{
.timer = TIM2,
.port = GPIOA,
.ccr = TIM_IT_CC1,
.channel = TIM_Channel_1,
.pin = GPIO_Pin_0,
},
{
.timer = TIM2,
.port = GPIOA,
.ccr = TIM_IT_CC2,
.channel = TIM_Channel_2,
.pin = GPIO_Pin_1,
},
};
void TIM2_IRQHandler();
void TIM3_IRQHandler();
void TIM4_IRQHandler();
void TIM2_IRQHandler() __attribute__ ((alias ("PIOS_TIM2_irq_handler")));
void TIM3_IRQHandler() __attribute__ ((alias ("PIOS_TIM3_irq_handler")));
void TIM4_IRQHandler() __attribute__ ((alias ("PIOS_TIM4_irq_handler")));
const struct pios_pwm_cfg pios_pwm_cfg = {
.tim_base_init = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = 0xFFFF,
.TIM_RepetitionCounter = 0x0000,
},
.tim_ic_init = {
.TIM_ICPolarity = TIM_ICPolarity_Rising,
.TIM_ICSelection = TIM_ICSelection_DirectTI,
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
.TIM_ICFilter = 0x0,
.TIM_ICFilter = 0x0,
},
.gpio_init = {
.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,
},
},
.channels = pios_pwm_channels,
.num_channels = NELEMENTS(pios_pwm_channels),
.channels = pios_tim_rcvrport_all_channels,
.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels),
};
void PIOS_TIM2_irq_handler()
{
PIOS_PWM_irq_handler(TIM2);
}
void PIOS_TIM3_irq_handler()
{
PIOS_PWM_irq_handler(TIM3);
}
void PIOS_TIM4_irq_handler()
{
PIOS_PWM_irq_handler(TIM4);
}
#endif
#if defined(PIOS_INCLUDE_I2C)
@ -856,11 +908,19 @@ void PIOS_I2C_main_adapter_er_irq_handler(void)
#endif /* PIOS_INCLUDE_I2C */
#if defined(PIOS_INCLUDE_GCSRCVR)
#include "pios_gcsrcvr_priv.h"
#endif /* PIOS_INCLUDE_GCSRCVR */
#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;
/* One slot per selectable receiver group.
* eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS
* NOTE: No slot in this map for NONE.
*/
uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
#endif /* PIOS_INCLUDE_RCVR */
#if defined(PIOS_INCLUDE_USB_HID)
@ -907,8 +967,9 @@ void PIOS_Board_Init(void) {
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
UAVObjectsInitializeAll();
HwSettingsInitialize();
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
PIOS_RTC_Init(&pios_rtc_main_cfg);
@ -920,7 +981,15 @@ void PIOS_Board_Init(void) {
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Set up pulse timers */
PIOS_TIM_InitClock(&tim_1_cfg);
PIOS_TIM_InitClock(&tim_2_cfg);
PIOS_TIM_InitClock(&tim_3_cfg);
PIOS_TIM_InitClock(&tim_4_cfg);
/* Configure the main IO port */
uint8_t hwsettings_DSMxBind;
HwSettingsDSMxBindGet(&hwsettings_DSMxBind);
uint8_t hwsettings_cc_mainport;
HwSettingsCC_MainPortGet(&hwsettings_cc_mainport);
@ -959,6 +1028,13 @@ void PIOS_Board_Init(void) {
if (PIOS_SBUS_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
uint32_t pios_sbus_rcvr_id;
if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
}
#endif /* PIOS_INCLUDE_SBUS */
break;
@ -980,7 +1056,8 @@ void PIOS_Board_Init(void) {
}
#endif /* PIOS_INCLUDE_GPS */
break;
case HWSETTINGS_CC_MAINPORT_SPEKTRUM:
case HWSETTINGS_CC_MAINPORT_SPEKTRUM1:
case HWSETTINGS_CC_MAINPORT_SPEKTRUM2:
#if defined(PIOS_INCLUDE_SPEKTRUM)
{
uint32_t pios_usart_spektrum_id;
@ -989,9 +1066,19 @@ void PIOS_Board_Init(void) {
}
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)) {
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, 0)) {
PIOS_Assert(0);
}
uint32_t pios_spektrum_rcvr_id;
if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) {
PIOS_Assert(0);
}
if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM1) {
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id;
} else {
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2] = pios_spektrum_rcvr_id;
}
}
#endif /* PIOS_INCLUDE_SPEKTRUM */
break;
@ -1042,7 +1129,8 @@ void PIOS_Board_Init(void) {
}
#endif /* PIOS_INCLUDE_GPS */
break;
case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM:
case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM1:
case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM2:
#if defined(PIOS_INCLUDE_SPEKTRUM)
{
uint32_t pios_usart_spektrum_id;
@ -1051,9 +1139,19 @@ void PIOS_Board_Init(void) {
}
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)) {
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, hwsettings_DSMxBind)) {
PIOS_Assert(0);
}
uint32_t pios_spektrum_rcvr_id;
if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) {
PIOS_Assert(0);
}
if (hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM1) {
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id;
} else {
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2] = pios_spektrum_rcvr_id;
}
}
#endif /* PIOS_INCLUDE_SPEKTRUM */
break;
@ -1070,83 +1168,61 @@ void PIOS_Board_Init(void) {
break;
}
/* Configure the selected receiver */
uint8_t manualcontrolsettings_inputmode;
ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode);
/* Configure the rcvr port */
uint8_t hwsettings_rcvrport;
HwSettingsCC_RcvrPortGet(&hwsettings_rcvrport);
switch (manualcontrolsettings_inputmode) {
case MANUALCONTROLSETTINGS_INPUTMODE_PWM:
switch (hwsettings_rcvrport) {
case HWSETTINGS_CC_RCVRPORT_DISABLED:
break;
case HWSETTINGS_CC_RCVRPORT_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++;
{
uint32_t pios_pwm_id;
PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);
uint32_t pios_pwm_rcvr_id;
if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
}
#endif /* PIOS_INCLUDE_PWM */
break;
case MANUALCONTROLSETTINGS_INPUTMODE_PPM:
case HWSETTINGS_CC_RCVRPORT_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++;
{
uint32_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
uint32_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
}
#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;
}
#if defined(PIOS_INCLUDE_GCSRCVR)
GCSReceiverInitialize();
PIOS_GCSRCVR_Init();
uint32_t pios_gcsrcvr_rcvr_id;
if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, 0)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
#endif /* PIOS_INCLUDE_GCSRCVR */
/* Remap AFIO pin */
GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);
PIOS_Servo_Init();
#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
PIOS_Servo_Init(&pios_servo_cfg);
#else
PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif /* PIOS_DEBUG_ENABLE_DEBUG_PINS */
PIOS_ADC_Init();
PIOS_GPIO_Init();

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

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

5
flight/CopterControl/System/taskmonitor.c
View File

@ -46,7 +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;
}
@ -73,6 +76,7 @@ int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle)
*/
void TaskMonitorUpdateAll(void)
{
#if defined(DIAGNOSTICS)
TaskInfoData data;
int n;
@ -123,4 +127,5 @@ void TaskMonitorUpdateAll(void)
// Done
xSemaphoreGiveRecursive(lock);
#endif
}

2
flight/INS/Makefile
View File

@ -363,7 +363,7 @@ $(OUTDIR)/$(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)))
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf

2
flight/Libraries/ahrs_comm_objects.c
View File

@ -24,6 +24,7 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#include "ahrs_spi_comm.h"
#include "pios_debug.h"
@ -79,6 +80,7 @@ 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();\

9
flight/Modules/AHRSComms/ahrs_comms.c
View File

@ -52,6 +52,8 @@
#include "ahrs_comms.h"
#include "ahrs_spi_comm.h"
#include "ahrsstatus.h"
#include "ahrscalibration.h"
// Private constants
#define STACK_SIZE configMINIMAL_STACK_SIZE-128
@ -71,7 +73,7 @@ static void ahrscommsTask(void *parameters);
*/
int32_t AHRSCommsStart(void)
{
// Start main task
// Start main task
xTaskCreate(ahrscommsTask, (signed char *)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_AHRSCOMMS, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_AHRS);
@ -85,6 +87,11 @@ int32_t AHRSCommsStart(void)
*/
int32_t AHRSCommsInitialize(void)
{
AhrsStatusInitialize();
AHRSCalibrationInitialize();
AttitudeRawInitialize();
VelocityActualInitialize();
PositionActualInitialize();
return 0;
}

138
flight/Modules/Actuator/actuator.c
View File

@ -41,7 +41,8 @@
#include "flightstatus.h"
#include "mixersettings.h"
#include "mixerstatus.h"
#include "cameradesired.h"
#include "manualcontrolcommand.h"
// Private constants
#define MAX_QUEUE_SIZE 2
@ -73,7 +74,7 @@ static void actuatorTask(void* parameters);
static void actuator_update_rate(UAVObjEvent *);
static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral);
static void setFailsafe();
static float MixerCurve(const float throttle, const float* curve);
static float MixerCurve(const float throttle, const float* curve, uint8_t elements);
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,
@ -108,9 +109,17 @@ 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);
@ -160,7 +169,7 @@ static void actuatorTask(void* parameters)
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1)
{
{
PIOS_WDG_UpdateFlag(PIOS_WDG_ACTUATOR);
// Wait until the ActuatorDesired object is updated, if a timeout then go to failsafe
@ -177,11 +186,13 @@ static void actuatorTask(void* parameters)
lastSysTime = thisSysTime;
FlightStatusGet(&flightStatus);
MixerStatusGet(&mixerStatus);
MixerSettingsGet (&mixerSettings);
ActuatorDesiredGet(&desired);
ActuatorCommandGet(&command);
#if defined(DIAGNOSTICS)
MixerStatusGet(&mixerStatus);
#endif
ActuatorSettingsMotorsSpinWhileArmedGet(&MotorsSpinWhileArmed);
ActuatorSettingsChannelMaxGet(ChannelMax);
ActuatorSettingsChannelMinGet(ChannelMin);
@ -196,7 +207,7 @@ static void actuatorTask(void* parameters)
nMixers ++;
}
}
if((nMixers < 2) && !ActuatorCommandReadOnly(dummy)) //Nothing can fly with less than two mixers.
if((nMixers < 2) && !ActuatorCommandReadOnly(dummy)) //Nothing can fly with less than two mixers.
{
setFailsafe(); // So that channels like PWM buzzer keep working
continue;
@ -207,23 +218,30 @@ static void actuatorTask(void* parameters)
bool armed = flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED;
bool positiveThrottle = desired.Throttle >= 0.00;
bool spinWhileArmed = MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE;
float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1,MIXERSETTINGS_THROTTLECURVE1_NUMELEM);
float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1);
//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);
curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2,MIXERSETTINGS_THROTTLECURVE2_NUMELEM);
break;
case MIXERSETTINGS_CURVE2SOURCE_ROLL:
curve2 = MixerCurve(desired.Roll,mixerSettings.ThrottleCurve2);
curve2 = MixerCurve(desired.Roll,mixerSettings.ThrottleCurve2,MIXERSETTINGS_THROTTLECURVE2_NUMELEM);
break;
case MIXERSETTINGS_CURVE2SOURCE_PITCH:
curve2 = MixerCurve(desired.Pitch,mixerSettings.ThrottleCurve2);
curve2 = MixerCurve(desired.Pitch,mixerSettings.ThrottleCurve2,
MIXERSETTINGS_THROTTLECURVE2_NUMELEM);
break;
case MIXERSETTINGS_CURVE2SOURCE_YAW:
curve2 = MixerCurve(desired.Yaw,mixerSettings.ThrottleCurve2);
curve2 = MixerCurve(desired.Yaw,mixerSettings.ThrottleCurve2,MIXERSETTINGS_THROTTLECURVE2_NUMELEM);
break;
case MIXERSETTINGS_CURVE2SOURCE_COLLECTIVE:
ManualControlCommandCollectiveGet(&curve2);
curve2 = MixerCurve(curve2,mixerSettings.ThrottleCurve2,
MIXERSETTINGS_THROTTLECURVE2_NUMELEM);
break;
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY0:
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY1:
@ -232,12 +250,12 @@ static void actuatorTask(void* parameters)
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;
curve2 = MixerCurve(accessory.AccessoryVal,mixerSettings.ThrottleCurve2,MIXERSETTINGS_THROTTLECURVE2_NUMELEM);
else
curve2 = 0;
break;
}
for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
{
if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_DISABLED) {
@ -246,53 +264,82 @@ static void actuatorTask(void* parameters)
command.Channel[ct] = 0;
continue;
}
status[ct] = ProcessMixer(ct, curve1, curve2, &mixerSettings, &desired, dT);
if((mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) || (mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_SERVO))
status[ct] = ProcessMixer(ct, curve1, curve2, &mixerSettings, &desired, dT);
else
status[ct] = -1;
// Motors have additional protection for when to be on
if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) {
if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) {
// If not armed or motors aren't meant to spin all the time
if( !armed ||
(!spinWhileArmed && !positiveThrottle))
{
filterAccumulator[ct] = 0;
lastResult[ct] = 0;
lastResult[ct] = 0;
status[ct] = -1; //force min throttle
}
// If armed meant to keep spinning,
}
// If armed meant to keep spinning,
else if ((spinWhileArmed && !positiveThrottle) ||
(status[ct] < 0) )
status[ct] = 0;
status[ct] = 0;
}
// If an accessory channel is selected for direct bypass mode
// In this configuration the accessory channel is scaled and mapped
// directly to output. Note: THERE IS NO SAFETY CHECK HERE FOR ARMING
// these also will not be updated in failsafe mode. I'm not sure what
// 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_ACCESSORY2))
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;
if(1000*dT > command.MaxUpdateTime)
command.MaxUpdateTime = 1000*dT;
// Update output object
ActuatorCommandSet(&command);
// Update in case read only (eg. during servo configuration)
@ -300,7 +347,7 @@ static void actuatorTask(void* parameters)
// Update servo outputs
bool success = true;
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
{
success &= set_channel(n, command.Channel[n]);
@ -309,7 +356,7 @@ static void actuatorTask(void* parameters)
if(!success) {
command.NumFailedUpdates++;
ActuatorCommandSet(&command);
AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
}
}
@ -383,12 +430,9 @@ float ProcessMixer(const int index, const float curve1, const float curve2,
*Interpolate a throttle curve. Throttle input should be in the range 0 to 1.
*Output is in the range 0 to 1.
*/
#define MIXER_CURVE_ENTRIES 5
static float MixerCurve(const float throttle, const float* curve)
static float MixerCurve(const float throttle, const float* curve, uint8_t elements)
{
float scale = throttle * MIXER_CURVE_ENTRIES;
float scale = throttle * (elements - 1);
int idx1 = scale;
scale -= (float)idx1; //remainder
if(curve[0] < -1)
@ -401,12 +445,12 @@ static float MixerCurve(const float throttle, const float* curve)
scale = 0;
}
int idx2 = idx1 + 1;
if(idx2 >= MIXER_CURVE_ENTRIES)
if(idx2 >= elements)
{
idx2 = MIXER_CURVE_ENTRIES -1; //clamp to highest entry in table
if(idx1 >= MIXER_CURVE_ENTRIES)
idx2 = elements -1; //clamp to highest entry in table
if(idx1 >= elements)
{
idx1 = MIXER_CURVE_ENTRIES -1;
idx1 = elements -1;
}
}
return((curve[idx1] * (1 - scale)) + (curve[idx2] * scale));
@ -463,7 +507,7 @@ static void setFailsafe()
// Reset ActuatorCommand to safe values
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
{
if(mixers[n].type == MIXERSETTINGS_MIXER1TYPE_MOTOR)
{
Channel[n] = ChannelMin[n];
@ -510,10 +554,10 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value) {
}
#else
static bool set_channel(uint8_t mixer_channel, uint16_t value) {
ActuatorSettingsData settings;
ActuatorSettingsGet(&settings);
switch(settings.ChannelType[mixer_channel]) {
case ACTUATORSETTINGS_CHANNELTYPE_PWMALARMBUZZER: {
// This is for buzzers that take a PWM input
@ -565,7 +609,7 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value) {
PIOS_Servo_Set(settings.ChannelAddr[mixer_channel], value);
return true;
#if defined(PIOS_INCLUDE_I2C_ESC)
case ACTUATORSETTINGS_CHANNELTYPE_MK:
case ACTUATORSETTINGS_CHANNELTYPE_MK:
return PIOS_SetMKSpeed(settings.ChannelAddr[mixer_channel],value);
case ACTUATORSETTINGS_CHANNELTYPE_ASTEC4:
return PIOS_SetAstec4Speed(settings.ChannelAddr[mixer_channel],value);
@ -573,10 +617,10 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value) {
#endif
default:
return false;
}
}
return false;
}
#endif

6
flight/Modules/Altitude/altitude.c
View File

@ -69,6 +69,12 @@ static void altitudeTask(void *parameters);
*/
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);

4
flight/Modules/Attitude/attitude.c
View File

@ -112,6 +112,10 @@ int32_t AttitudeStart(void)
*/
int32_t AttitudeInitialize(void)
{
AttitudeActualInitialize();
AttitudeRawInitialize();
AttitudeSettingsInitialize();
// Initialize quaternion
AttitudeActualData attitude;
AttitudeActualGet(&attitude);

3
flight/Modules/Battery/battery.c
View File

@ -79,6 +79,9 @@ MODULE_INITCALL(BatteryInitialize, 0)
int32_t BatteryInitialize(void)
{
BatteryStateInitialze();
BatterySettingsInitialize();
static UAVObjEvent ev;
memset(&ev,0,sizeof(UAVObjEvent));

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

@ -0,0 +1,141 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup CameraStab Camera Stabilization Module
* @brief Camera stabilization module
* Updates accessory outputs with values appropriate for camera stabilization
* @{
*
* @file camerastab.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Stabilize camera against the roll pitch and yaw of aircraft
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/**
* Output object: Accessory
*
* This module will periodically calculate the output values for stabilizing the camera
*
* UAVObjects are automatically generated by the UAVObjectGenerator from
* the object definition XML file.
*
* Modules have no API, all communication to other modules is done through UAVObjects.
* However modules may use the API exposed by shared libraries.
* See the OpenPilot wiki for more details.
* http://www.openpilot.org/OpenPilot_Application_Architecture
*
*/
#include "openpilot.h"
#include "accessorydesired.h"
#include "attitudeactual.h"
#include "camerastabsettings.h"
#include "cameradesired.h"
//
// Configuration
//
#define SAMPLE_PERIOD_MS 10
// Private types
// Private variables
// Private functions
static void attitudeUpdated(UAVObjEvent* ev);
static float bound(float val);
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t CameraStabInitialize(void)
{
static UAVObjEvent ev;
ev.obj = AttitudeActualHandle();
ev.instId = 0;
ev.event = 0;
CameraStabSettingsInitialize();
CameraDesiredInitialize();
EventPeriodicCallbackCreate(&ev, attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
return 0;
}
static void attitudeUpdated(UAVObjEvent* ev)
{
if (ev->obj != AttitudeActualHandle())
return;
float attitude;
float output;
AccessoryDesiredData accessory;
CameraStabSettingsData cameraStab;
CameraStabSettingsGet(&cameraStab);
// Read any input channels
float inputs[3] = {0,0,0};
if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_ROLL] != CAMERASTABSETTINGS_INPUTS_NONE) {
if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_ROLL] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0)
inputs[0] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_ROLL];
}
if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_PITCH] != CAMERASTABSETTINGS_INPUTS_NONE) {
if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_PITCH] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0)
inputs[1] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_PITCH];
}
if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_YAW] != CAMERASTABSETTINGS_INPUTS_NONE) {
if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_YAW] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0)
inputs[2] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_YAW];
}
// Set output channels
AttitudeActualRollGet(&attitude);
output = bound((attitude + inputs[0]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL]);
CameraDesiredRollSet(&output);
AttitudeActualPitchGet(&attitude);
output = bound((attitude + inputs[1]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH]);
CameraDesiredPitchSet(&output);
AttitudeActualYawGet(&attitude);
output = bound((attitude + inputs[2]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW]);
CameraDesiredYawSet(&output);
}
float bound(float val)
{
return (val > 1) ? 1 :
(val < -1) ? -1 :
val;
}
/**
* @}
*/
/**
* @}
*/

30
flight/Modules/GPS/inc/GTOP_BIN.h → flight/Modules/CameraStab/inc/camerastab.h
View File

@ -1,14 +1,14 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup GSPModule GPS Module
* @brief Process GPS information
* @{
* @{
* @addtogroup BatteryModule Battery Module
* @{
*
* @file GTOP_BIN.h
* @file battery.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief GPS module, handles GPS and NMEA stream
* @brief Module to read the battery Voltage and Current periodically and set alarms appropriately.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
@ -27,16 +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
#ifndef GTOP_BIN_H
#define GTOP_BIN_H
#include "openpilot.h"
#include <stdint.h>
#include "gps_mode.h"
int32_t CameraStabInitialize(void);
#ifdef ENABLE_GPS_BINARY_GTOP
extern int GTOP_BIN_update_position(uint8_t b, volatile uint32_t *chksum_errors, volatile uint32_t *parsing_errors);
extern void GTOP_BIN_init(void);
#endif
#endif // BATTERY_H
#endif
/**
* @}
* @}
*/

3
flight/Modules/FirmwareIAP/firmwareiap.c
View File

@ -91,6 +91,9 @@ static void resetTask(UAVObjEvent *);
MODULE_INITCALL(FirmwareIAPInitialize, 0)
int32_t FirmwareIAPInitialize()
{
FirmwareIAPObjInitialize();
const struct pios_board_info * bdinfo = &pios_board_info_blob;
data.BoardType= bdinfo->board_type;

6
flight/Modules/FlightPlan/flightplan.c
View File

@ -74,7 +74,11 @@ int32_t FlightPlanStart()
int32_t FlightPlanInitialize()
{
taskHandle = NULL;
FlightPlanStatusInitialize();
FlightPlanControlInitialize();
FlightPlanSettingsInitialize();
// Listen for object updates
FlightPlanControlConnectCallback(&objectUpdatedCb);

267
flight/Modules/GPS/GPS.c
View File

@ -35,17 +35,12 @@
#include <stdbool.h>
#ifdef ENABLE_GPS_BINARY_GTOP
#include "GTOP_BIN.h"
#endif
#if defined(ENABLE_GPS_ONESENTENCE_GTOP) || defined(ENABLE_GPS_NMEA)
#include "NMEA.h"
#endif
#include "NMEA.h"
#include "gpsposition.h"
#include "homelocation.h"
#include "gpstime.h"
#include "gpssatellites.h"
#include "WorldMagModel.h"
#include "CoordinateConversions.h"
@ -62,25 +57,16 @@ 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_THRESHOLD //
#define GPS_TIMEOUT_MS 500
#define GPS_COMMAND_RESEND_TIMEOUT_MS 2000
#define NMEA_MAX_PACKET_LENGTH 96 // 82 max NMEA msg size plus 12 margin (because some vendors add custom crap) plus CR plus Linefeed
// same as in COM buffer
#ifdef PIOS_GPS_SETS_HOMELOCATION
// Unfortunately need a good size stack for the WMM calculation
#ifdef ENABLE_GPS_BINARY_GTOP
#define STACK_SIZE_BYTES 800
#else
#define STACK_SIZE_BYTES 800
#endif
#define STACK_SIZE_BYTES 800
#else
#ifdef ENABLE_GPS_BINARY_GTOP
#define STACK_SIZE_BYTES 440
#else
#define STACK_SIZE_BYTES 440
#endif
#define STACK_SIZE_BYTES 650
#endif
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
@ -92,9 +78,7 @@ static uint32_t gpsPort;
static xTaskHandle gpsTaskHandle;
#ifndef ENABLE_GPS_BINARY_GTOP
static char gps_rx_buffer[128];
#endif
static char* gps_rx_buffer;
static uint32_t timeOfLastCommandMs;
static uint32_t timeOfLastUpdateMs;
@ -124,9 +108,19 @@ int32_t GPSStart(void)
*/
int32_t GPSInitialize(void)
{
GPSPositionInitialize();
GPSTimeInitialize();
GPSSatellitesInitialize();
#ifdef PIOS_GPS_SETS_HOMELOCATION
HomeLocationInitialize();
#endif
// TODO: Get gps settings object
gpsPort = PIOS_COM_GPS;
gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH);
PIOS_Assert(gps_rx_buffer);
return 0;
}
MODULE_INITCALL(GPSInitialize, GPSStart)
@ -142,45 +136,11 @@ static void gpsTask(void *parameters)
uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;;
GPSPositionData GpsData;
#ifdef ENABLE_GPS_BINARY_GTOP
GTOP_BIN_init();
#else
uint8_t rx_count = 0;
bool start_flag = false;
bool found_cr = false;
int32_t gpsRxOverflow = 0;
#endif
#ifdef FULL_COLD_RESTART
// tell the GPS to do a FULL COLD restart
PIOS_COM_SendStringNonBlocking(gpsPort, "$PMTK104*37\r\n");
timeOfLastCommandMs = timeNowMs;
while (timeNowMs - timeOfLastCommandMs < 300) // delay for 300ms to let the GPS sort itself out
{
vTaskDelay(xDelay); // Block task until next update
timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;;
}
#endif
#ifdef DISABLE_GPS_THRESHOLD
PIOS_COM_SendStringNonBlocking(gpsPort, "$PMTK397,0*23\r\n");
#endif
#ifdef ENABLE_GPS_BINARY_GTOP
// switch to GTOP binary mode
PIOS_COM_SendStringNonBlocking(gpsPort ,"$PGCMD,21,1*6F\r\n");
#endif
#ifdef ENABLE_GPS_ONESENTENCE_GTOP
// switch to single sentence mode
PIOS_COM_SendStringNonBlocking(gpsPort, "$PGCMD,21,2*6C\r\n");
#endif
#ifdef ENABLE_GPS_NMEA
// switch to NMEA mode
PIOS_COM_SendStringNonBlocking(gpsPort, "$PGCMD,21,3*6D\r\n");
#endif
numUpdates = 0;
numChecksumErrors = 0;
numParsingErrors = 0;
@ -191,108 +151,87 @@ static void gpsTask(void *parameters)
// Loop forever
while (1)
{
#ifdef ENABLE_GPS_BINARY_GTOP
// GTOP BINARY GPS mode
uint8_t c;
// NMEA or SINGLE-SENTENCE GPS mode
while (PIOS_COM_ReceiveBufferUsed(gpsPort) > 0)
// This blocks the task until there is something on the buffer
while (PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, xDelay) > 0)
{
// detect start while acquiring stream
if (!start_flag && (c == '$'))
{
uint8_t c;
PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, 0);
start_flag = true;
found_cr = false;
rx_count = 0;
}
else
if (!start_flag)
continue;
if (rx_count >= NMEA_MAX_PACKET_LENGTH)
{
// The buffer is already full and we haven't found a valid NMEA sentence.
// Flush the buffer and note the overflow event.
gpsRxOverflow++;
start_flag = false;
found_cr = false;
rx_count = 0;
}
else
{
gps_rx_buffer[rx_count] = c;
rx_count++;
}
// look for ending '\r\n' sequence
if (!found_cr && (c == '\r') )
found_cr = true;
else
if (found_cr && (c != '\n') )
found_cr = false; // false end flag
else
if (found_cr && (c == '\n') )
{
// The NMEA functions require a zero-terminated string
// As we detected \r\n, the string as for sure 2 bytes long, we will also strip the \r\n
gps_rx_buffer[rx_count-2] = 0;
if (GTOP_BIN_update_position(c, &numChecksumErrors, &numParsingErrors) >= 0)
{
numUpdates++;
// prepare to parse next sentence
start_flag = false;
found_cr = false;
rx_count = 0;
// Our rxBuffer must look like this now:
// [0] = '$'
// ... = zero or more bytes of sentence payload
// [end_pos - 1] = '\r'
// [end_pos] = '\n'
//
// Prepare to consume the sentence from the buffer
// Validate the checksum over the sentence
if (!NMEA_checksum(&gps_rx_buffer[1]))
{ // Invalid checksum. May indicate dropped characters on Rx.
//PIOS_DEBUG_PinHigh(2);
++numChecksumErrors;
//PIOS_DEBUG_PinLow(2);
}
else
{ // Valid checksum, use this packet to update the GPS position
if (!NMEA_update_position(&gps_rx_buffer[1])) {
//PIOS_DEBUG_PinHigh(2);
++numParsingErrors;
//PIOS_DEBUG_PinLow(2);
}
else
++numUpdates;
timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
timeOfLastUpdateMs = timeNowMs;
timeOfLastCommandMs = timeNowMs;
}
}
#else
// NMEA or SINGLE-SENTENCE GPS mode
// This blocks the task until there is something on the buffer
while (PIOS_COM_ReceiveBufferUsed(gpsPort) > 0)
{
uint8_t c;
PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, 0);
// detect start while acquiring stream
if (!start_flag && (c == '$'))
{
start_flag = true;
found_cr = false;
rx_count = 0;
}
else
if (!start_flag)
continue;
if (rx_count >= sizeof(gps_rx_buffer))
{
// The buffer is already full and we haven't found a valid NMEA sentence.
// Flush the buffer and note the overflow event.
gpsRxOverflow++;
start_flag = false;
found_cr = false;
rx_count = 0;
}
else
{
gps_rx_buffer[rx_count] = c;
rx_count++;
}
// look for ending '\r\n' sequence
if (!found_cr && (c == '\r') )
found_cr = true;
else
if (found_cr && (c != '\n') )
found_cr = false; // false end flag
else
if (found_cr && (c == '\n') )
{
// The NMEA functions require a zero-terminated string
// As we detected \r\n, the string as for sure 2 bytes long, we will also strip the \r\n
gps_rx_buffer[rx_count-2] = 0;
// prepare to parse next sentence
start_flag = false;
found_cr = false;
rx_count = 0;
// Our rxBuffer must look like this now:
// [0] = '$'
// ... = zero or more bytes of sentence payload
// [end_pos - 1] = '\r'
// [end_pos] = '\n'
//
// Prepare to consume the sentence from the buffer
// Validate the checksum over the sentence
if (!NMEA_checksum(&gps_rx_buffer[1]))
{ // Invalid checksum. May indicate dropped characters on Rx.
//PIOS_DEBUG_PinHigh(2);
++numChecksumErrors;
//PIOS_DEBUG_PinLow(2);
}
else
{ // Valid checksum, use this packet to update the GPS position
if (!NMEA_update_position(&gps_rx_buffer[1])) {
//PIOS_DEBUG_PinHigh(2);
++numParsingErrors;
//PIOS_DEBUG_PinLow(2);
}
else
++numUpdates;
timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
timeOfLastUpdateMs = timeNowMs;
timeOfLastCommandMs = timeNowMs;
}
}
}
#endif
}
// Check for GPS timeout
timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
@ -305,30 +244,6 @@ static void gpsTask(void *parameters)
GPSPositionSet(&GpsData);
AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_ERROR);
if ((timeNowMs - timeOfLastCommandMs) >= GPS_COMMAND_RESEND_TIMEOUT_MS)
{ // resend the command .. just incase the gps has only just been plugged in or the gps did not get our last command
timeOfLastCommandMs = timeNowMs;
#ifdef ENABLE_GPS_BINARY_GTOP
GTOP_BIN_init();
// switch to binary mode
PIOS_COM_SendStringNonBlocking(gpsPort,"$PGCMD,21,1*6F\r\n");
#endif
#ifdef ENABLE_GPS_ONESENTENCE_GTOP
// switch to single sentence mode
PIOS_COM_SendStringNonBlocking(gpsPort,"$PGCMD,21,2*6C\r\n");
#endif
#ifdef ENABLE_GPS_NMEA
// switch to NMEA mode
PIOS_COM_SendStringNonBlocking(gpsPort,"$PGCMD,21,3*6D\r\n");
#endif
#ifdef DISABLE_GPS_TRESHOLD
PIOS_COM_SendStringNonBlocking(gpsPort,"$PMTK397,0*23\r\n");
#endif
}
}
else
{ // we appear to be receiving GPS sentences OK, we've had an update
@ -354,8 +269,6 @@ static void gpsTask(void *parameters)
AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL);
}
// Block task until next update
vTaskDelay(xDelay);
}
}

262
flight/Modules/GPS/GTOP_BIN.c
View File

@ -1,262 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup GSPModule GPS Module
* @brief Process GPS information
* @{
*
* @file GTOP_BIN.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief GPS module, handles GPS and NMEA stream
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "pios.h"
#include "GTOP_BIN.h"
#include "gpsposition.h"
#include "gpstime.h"
#include "gpssatellites.h"
#include <string.h> // memmove
#ifdef ENABLE_GPS_BINARY_GTOP
// ************
// the structure of the binary packet
typedef struct
{
uint32_t utc_time;
int32_t latitude;
uint8_t ns_indicator;
int32_t longitude;
uint8_t ew_indicator;
uint8_t fix_quality;
uint8_t satellites_used;
uint16_t hdop;
int32_t msl_altitude;
int32_t geoidal_seperation;
uint8_t fix_type;
int32_t course_over_ground;
int32_t speed_over_ground;
uint8_t day;
uint8_t month;
uint16_t year;
} __attribute__((__packed__)) t_gps_bin_packet_data;
typedef struct
{
uint16_t header;
t_gps_bin_packet_data data;
uint8_t asterisk;
uint8_t checksum;
uint16_t end_word;
} __attribute__((__packed__)) t_gps_bin_packet;
// ************
// buffer that holds the incoming binary packet
static uint8_t gps_rx_buffer[sizeof(t_gps_bin_packet)] __attribute__ ((aligned(4)));
// number of bytes currently in the rx buffer
static int16_t gps_rx_buffer_wr = 0;
// ************
// endian swapping functions
static uint16_t swap2Bytes(uint16_t data)
{
return (((data >> 8) & 0x00ff) |
((data << 8) & 0xff00));
}
static uint32_t swap4Bytes(uint32_t data)
{
return (((data >> 24) & 0x000000ff) |
((data >> 8) & 0x0000ff00) |
((data << 8) & 0x00ff0000) |
((data << 24) & 0xff000000));
}
// ************
/**
* Parses a complete binary packet and update the GPSPosition and GPSTime UAVObjects
*
* param[in] .. b = a new received byte from the GPS
*
* return '0' if we have found a valid binary packet
* return <0 if any errors were encountered with the packet or no packet found
*/
int GTOP_BIN_update_position(uint8_t b, volatile uint32_t *chksum_errors, volatile uint32_t *parsing_errors)
{
if (gps_rx_buffer_wr >= sizeof(gps_rx_buffer))
{ // make room for the new byte .. this will actually never get executed, just here as a safe guard really
memmove(gps_rx_buffer, gps_rx_buffer + 1, sizeof(gps_rx_buffer) - 1);
gps_rx_buffer_wr = sizeof(gps_rx_buffer) - 1;
}
// add the new byte into the buffer
gps_rx_buffer[gps_rx_buffer_wr++] = b;
int16_t i = 0;
while (gps_rx_buffer_wr > 0)
{
t_gps_bin_packet *rx_packet = (t_gps_bin_packet *)(gps_rx_buffer + i);
// scan for the start of a binary packet (the header bytes)
while (gps_rx_buffer_wr - i >= sizeof(rx_packet->header))
{
if (rx_packet->header == 0x2404)
break; // found a valid header marker
rx_packet = (t_gps_bin_packet *)(gps_rx_buffer + ++i);
}
// remove unwanted bytes before the start of the packet header
if (i > 0)
{
gps_rx_buffer_wr -= i;
if (gps_rx_buffer_wr > 0)
memmove(gps_rx_buffer, gps_rx_buffer + i, gps_rx_buffer_wr);
i = 0;
}
if (gps_rx_buffer_wr < sizeof(t_gps_bin_packet))
break; // not yet enough bytes for a complete binary packet
// we have enough bytes for a complete binary packet
// check to see if certain parameters in the binary packet are valid
if (rx_packet->header != 0x2404 ||
rx_packet->end_word != 0x0A0D ||
rx_packet->asterisk != 0x2A ||
(rx_packet->data.ns_indicator != 1 && rx_packet->data.ns_indicator != 2) ||
(rx_packet->data.ew_indicator != 1 && rx_packet->data.ew_indicator != 2) ||
(rx_packet->data.fix_quality > 2) ||
(rx_packet->data.fix_type < 1 || rx_packet->data.fix_type > 3) )
{ // invalid packet
if (parsing_errors) *parsing_errors++;
i++;
continue;
}
{ // check the checksum is valid
uint8_t *p = (uint8_t *)&rx_packet->data;
uint8_t checksum = 0;
for (int i = 0; i < sizeof(t_gps_bin_packet_data); i++)
checksum ^= *p++;
if (checksum != rx_packet->checksum)
{ // checksum error
if (chksum_errors) *chksum_errors++;
i++;
continue;
}
}
// we now have a valid complete binary packet, update the GpsData and GpsTime objects
// correct the endian order of the parameters
rx_packet->data.utc_time = swap4Bytes(rx_packet->data.utc_time);
rx_packet->data.latitude = swap4Bytes(rx_packet->data.latitude);
rx_packet->data.longitude = swap4Bytes(rx_packet->data.longitude);
rx_packet->data.hdop = swap2Bytes(rx_packet->data.hdop);
rx_packet->data.msl_altitude = swap4Bytes(rx_packet->data.msl_altitude);
rx_packet->data.geoidal_seperation = swap4Bytes(rx_packet->data.geoidal_seperation);
rx_packet->data.course_over_ground = swap4Bytes(rx_packet->data.course_over_ground);
rx_packet->data.speed_over_ground = swap4Bytes(rx_packet->data.speed_over_ground);
rx_packet->data.year = swap2Bytes(rx_packet->data.year);
// set the gps time object
GPSTimeData GpsTime;
// GPSTimeGet(&GpsTime);
uint32_t utc_time = rx_packet->data.utc_time / 1000;
GpsTime.Second = utc_time % 100; // seconds
GpsTime.Minute = (utc_time / 100) % 100; // minutes
GpsTime.Hour = utc_time / 10000; // hours
GpsTime.Day = rx_packet->data.day; // day
GpsTime.Month = rx_packet->data.month; // month
GpsTime.Year = rx_packet->data.year; // year
GPSTimeSet(&GpsTime);
// set the gps position object
GPSPositionData GpsData;
// GPSPositionGet(&GpsData);
switch (rx_packet->data.fix_type)
{
case 1: GpsData.Status = GPSPOSITION_STATUS_NOFIX; break;
case 2: GpsData.Status = GPSPOSITION_STATUS_FIX2D; break;
case 3: GpsData.Status = GPSPOSITION_STATUS_FIX3D; break;
default: GpsData.Status = GPSPOSITION_STATUS_NOGPS; break;
}
GpsData.Latitude = rx_packet->data.latitude * (rx_packet->data.ns_indicator == 1 ? +1 : -1) * 10; // degrees * 10e6
GpsData.Longitude = rx_packet->data.longitude * (rx_packet->data.ew_indicator == 1 ? +1 : -1) * 10; // degrees * 10e6
GpsData.Altitude = (float)rx_packet->data.msl_altitude / 1000; // meters
GpsData.GeoidSeparation = (float)rx_packet->data.geoidal_seperation / 1000; // meters
GpsData.Heading = (float)rx_packet->data.course_over_ground / 1000; // degrees
GpsData.Groundspeed = (float)rx_packet->data.speed_over_ground / 3600; // m/s
GpsData.Satellites = rx_packet->data.satellites_used; //
GpsData.PDOP = 99.99; // not available in binary mode
GpsData.HDOP = (float)rx_packet->data.hdop / 100; //
GpsData.VDOP = 99.99; // not available in binary mode
GPSPositionSet(&GpsData);
// set the number of satellites
// GPSSatellitesData SattelliteData;
//// GPSSatellitesGet(&SattelliteData);
// memset(&SattelliteData, 0, sizeof(SattelliteData));
// SattelliteData.SatsInView = rx_packet->data.satellites_used; //
// GPSSatellitesSet(&SattelliteData);
// remove the spent binary packet from the buffer
gps_rx_buffer_wr -= sizeof(t_gps_bin_packet);
if (gps_rx_buffer_wr > 0)
memmove(gps_rx_buffer, gps_rx_buffer + sizeof(t_gps_bin_packet), gps_rx_buffer_wr);
return 0; // found a valid packet
}
return -1; // no valid packet found
}
// ************
void GTOP_BIN_init(void)
{
gps_rx_buffer_wr = 0;
}
// ************
#endif // ENABLE_GPS_BINARY_GTOP

171
flight/Modules/GPS/NMEA.c
View File

@ -40,8 +40,6 @@
#if defined(ENABLE_GPS_NMEA) || defined(ENABLE_GPS_ONESENTENCE_GTOP)
// Debugging
#ifdef ENABLE_DEBUG_MSG
//#define DEBUG_MSG_IN ///< define to display the incoming NMEA messages
@ -54,7 +52,6 @@
//#define NMEA_DEBUG_GSA ///< define to enable debug of GSA messages
//#define NMEA_DEBUG_GSV ///< define to enable debug of GSV messages
//#define NMEA_DEBUG_ZDA ///< define to enable debug of ZDA messages
//#define NMEA_DEBUG_PGTOP ///< define to enable debug of PGTOP messages
#define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(DEBUG_PORT, format, ## __VA_ARGS__)
#else
#define DEBUG_MSG(format, ...)
@ -69,56 +66,45 @@ struct nmea_parser {
uint32_t cnt;
};
#ifdef ENABLE_GPS_NMEA
static bool nmeaProcessGPGGA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPVTG(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPGSA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPZDA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPGSV(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
#endif
static bool nmeaProcessGPGGA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPVTG(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPGSA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPZDA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPGSV(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessPGTOP(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static struct nmea_parser nmea_parsers[] = {
#ifdef ENABLE_GPS_NMEA
{
.prefix = "GPGGA",
.handler = nmeaProcessGPGGA,
.cnt = 0,
},
{
.prefix = "GPVTG",
.handler = nmeaProcessGPVTG,
.cnt = 0,
},
{
.prefix = "GPGSA",
.handler = nmeaProcessGPGSA,
.cnt = 0,
},
{
.prefix = "GPRMC",
.handler = nmeaProcessGPRMC,
.cnt = 0,
},
{
.prefix = "GPZDA",
.handler = nmeaProcessGPZDA,
.cnt = 0,
},
{
.prefix = "GPGSV",
.handler = nmeaProcessGPGSV,
.cnt = 0,
},
#endif
{
.prefix = "PGTOP",
.handler = nmeaProcessPGTOP,
.cnt = 0,
},
static struct nmea_parser nmea_parsers[] = {
{
.prefix = "GPGGA",
.handler = nmeaProcessGPGGA,
.cnt = 0,
},
{
.prefix = "GPVTG",
.handler = nmeaProcessGPVTG,
.cnt = 0,
},
{
.prefix = "GPGSA",
.handler = nmeaProcessGPGSA,
.cnt = 0,
},
{
.prefix = "GPRMC",
.handler = nmeaProcessGPRMC,
.cnt = 0,
},
{
.prefix = "GPZDA",
.handler = nmeaProcessGPZDA,
.cnt = 0,
},
{
.prefix = "GPGSV",
.handler = nmeaProcessGPGSV,
.cnt = 0,
},
};
static struct nmea_parser *NMEA_find_parser_by_prefix(const char *prefix)
@ -229,7 +215,6 @@ static float NMEA_real_to_float(char *nmea_real)
return (((float)whole) + fract * pow(10, -fract_units));
}
#ifdef ENABLE_GPS_NMEA
/*
* Parse a field in the format:
* DD[D]MM.mmmm[mm]
@ -287,7 +272,6 @@ static bool NMEA_latlon_to_fixed_point(int32_t * latlon, char *nmea_latlon, bool
return true;
}
#endif // ENABLE_GPS_NMEA
/**
@ -376,7 +360,6 @@ bool NMEA_update_position(char *nmea_sentence)
return true;
}
#ifdef ENABLE_GPS_NMEA
/**
* Parse an NMEA GPGGA sentence and update the given UAVObject
@ -675,83 +658,3 @@ static bool nmeaProcessGPGSA(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
return true;
}
#endif // ENABLE_GPS_NMEA
/**
* Parse an NMEA PGTOP sentence and update the given UAVObject
* \param[in] A pointer to a GPSPosition UAVObject to be updated.
* \param[in] An NMEA sentence with a valid checksum
*/
static bool nmeaProcessPGTOP(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam)
{
if (nbParam != 17)
return false;
GPSTimeData gpst;
GPSTimeGet(&gpst);
*gpsDataUpdated = true;
// get UTC time [hhmmss.sss]
float hms = NMEA_real_to_float(param[1]);
gpst.Second = (int)hms % 100;
gpst.Minute = (((int)hms - gpst.Second) / 100) % 100;
gpst.Hour = (int)hms / 10000;
// get latitude decimal degrees
GpsData->Latitude = NMEA_real_to_float(param[2])*1e7;
if (param[3][0] == 'S')
GpsData->Latitude = -GpsData->Latitude;
// get longitude decimal degrees
GpsData->Longitude = NMEA_real_to_float(param[4])*1e7;
if (param[5][0] == 'W')
GpsData->Longitude = -GpsData->Longitude;
// get number of satellites used in GPS solution
GpsData->Satellites = atoi(param[7]);
// next field: HDOP
GpsData->HDOP = NMEA_real_to_float(param[8]);
// get altitude (in meters mm.m)
GpsData->Altitude = NMEA_real_to_float(param[9]);
// next field: geoid separation
GpsData->GeoidSeparation = NMEA_real_to_float(param[10]);
// Mode: 1=Fix not available, 2=2D, 3=3D
switch (atoi(param[11])) {
case 1:
GpsData->Status = GPSPOSITION_STATUS_NOFIX;
break;
case 2:
GpsData->Status = GPSPOSITION_STATUS_FIX2D;
break;
case 3:
GpsData->Status = GPSPOSITION_STATUS_FIX3D;
break;
default:
/* Unhandled */
return false;
break;
}
// get course over ground in degrees [ddd.dd]
GpsData->Heading = NMEA_real_to_float(param[12]);
// get speed in km/h
GpsData->Groundspeed = NMEA_real_to_float(param[13]);
// to m/s
GpsData->Groundspeed /= 3.6;
gpst.Day = atoi(param[14]);
gpst.Month = atoi(param[15]);
gpst.Year = atoi(param[16]);
GPSTimeSet(&gpst);
return true;
}
#endif // #if defined(ENABLE_GPS_NMEA) || defined(ENABLE_GPS_ONESENTENCE_GTOP)

2
flight/Modules/GPS/inc/GPS.h
View File

@ -34,8 +34,6 @@
#ifndef GPS_H
#define GPS_H
#include "gps_mode.h"
int32_t GPSInitialize(void);
#endif // GPS_H

7
flight/Modules/GPS/inc/NMEA.h
View File

@ -33,11 +33,8 @@
#include <stdbool.h>
#include <stdint.h>
#include "gps_mode.h"
#if defined(ENABLE_GPS_NMEA) || defined(ENABLE_GPS_ONESENTENCE_GTOP)
extern bool NMEA_update_position(char *nmea_sentence);
extern bool NMEA_checksum(char *nmea_sentence);
#endif
extern bool NMEA_update_position(char *nmea_sentence);
extern bool NMEA_checksum(char *nmea_sentence);
#endif /* NMEA_H */

58
flight/Modules/GPS/inc/gps_mode.h
View File

@ -1,58 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup GSPModule GPS Module
* @brief Process GPS information
* @{
*
* @file gps_mode.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Include file of the GPS module.
* As with all modules only the initialize function is exposed all other
* interactions with the module take place through the event queue and
* objects.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef GPS_MODE_H
#define GPS_MODE_H
// ****************
// you MUST have one of these uncommented - and ONLY one
//#define ENABLE_GPS_BINARY_GTOP // uncomment this if we are using GTOP BINARY mode
//#define ENABLE_GPS_ONESENTENCE_GTOP // uncomment this if we are using GTOP SINGLE SENTENCE mode
#define ENABLE_GPS_NMEA // uncomment this if we are using NMEA mode
// ****************
// make sure they have defined a protocol to use
#if !defined(ENABLE_GPS_BINARY_GTOP) && !defined(ENABLE_GPS_ONESENTENCE_GTOP) && !defined(ENABLE_GPS_NMEA)
#error YOU MUST SELECT THE DESIRED GPS PROTOCOL IN gps_mode.h!
#endif
// ****************
#endif
/**
* @}
* @}
*/

6
flight/Modules/Guidance/guidance.c
View File

@ -97,6 +97,12 @@ int32_t GuidanceStart()
*/
int32_t GuidanceInitialize()
{
GuidanceSettingsInitialize();
PositionDesiredInitialize();
NedAccelInitialize();
VelocityDesiredInitialize();
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));

7
flight/Modules/ManualControl/inc/manualcontrol.h
View File

@ -105,4 +105,11 @@ int32_t ManualControlInitialize();
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) \
)
#define assumptions_channelcount ( \
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM ) && \
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELNUMBER_NUMELEM ) && \
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELMIN_NUMELEM ) && \
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELMAX_NUMELEM ) && \
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELNEUTRAL_NUMELEM ) )
#endif // MANUALCONTROL_H

332
flight/Modules/ManualControl/manualcontrol.c
View File

@ -43,6 +43,7 @@
#include "flighttelemetrystats.h"
#include "flightstatus.h"
#include "accessorydesired.h"
#include "receiveractivity.h"
// Private constants
#if defined(PIOS_MANUAL_STACK_SIZE)
@ -80,6 +81,7 @@ static void updateActuatorDesired(ManualControlCommandData * cmd);
static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
static void processFlightMode(ManualControlSettingsData * settings, float flightMode);
static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
static void setArmedIfChanged(uint8_t val);
static void manualControlTask(void *parameters);
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral);
@ -87,20 +89,30 @@ static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time)
static bool okToArm(void);
static bool validInputRange(int16_t min, int16_t max, uint16_t value);
#define assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode)
#define RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP 12
#define RCVR_ACTIVITY_MONITOR_MIN_RANGE 10
struct rcvr_activity_fsm {
ManualControlSettingsChannelGroupsOptions group;
uint16_t prev[RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP];
uint8_t sample_count;
};
static struct rcvr_activity_fsm activity_fsm;
static void resetRcvrActivity(struct rcvr_activity_fsm * fsm);
static bool updateRcvrActivity(struct rcvr_activity_fsm * fsm);
#define assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode && assumptions_channelcount)
/**
* Module initialization
* Module starting
*/
int32_t ManualControlStart()
{
/* Check the assumptions about uavobject enum's are correct */
if(!assumptions)
return -1;
// Start main task
xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_MANUAL);
return 0;
}
@ -110,6 +122,17 @@ int32_t ManualControlStart()
int32_t ManualControlInitialize()
{
/* Check the assumptions about uavobject enum's are correct */
if(!assumptions)
return -1;
AccessoryDesiredInitialize();
ManualControlCommandInitialize();
FlightStatusInitialize();
StabilizationDesiredInitialize();
ReceiverActivityInitialize();
ManualControlSettingsInitialize();
return 0;
}
MODULE_INITCALL(ManualControlInitialize, ManualControlStart)
@ -138,10 +161,14 @@ static void manualControlTask(void *parameters)
flightStatus.Armed = FLIGHTSTATUS_ARMED_DISARMED;
armState = ARM_STATE_DISARMED;
/* Initialize the RcvrActivty FSM */
portTickType lastActivityTime = xTaskGetTickCount();
resetRcvrActivity(&activity_fsm);
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1) {
float scaledChannel[MANUALCONTROLCOMMAND_CHANNEL_NUMELEM];
float scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM];
// Wait until next update
vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS);
@ -150,6 +177,18 @@ static void manualControlTask(void *parameters)
// Read settings
ManualControlSettingsGet(&settings);
/* Update channel activity monitor */
if (flightStatus.Armed == ARM_STATE_DISARMED) {
if (updateRcvrActivity(&activity_fsm)) {
/* Reset the aging timer because activity was detected */
lastActivityTime = lastSysTime;
}
}
if (timeDifferenceMs(lastActivityTime, lastSysTime) > 5000) {
resetRcvrActivity(&activity_fsm);
lastActivityTime = lastSysTime;
}
if (ManualControlCommandReadOnly(&cmd)) {
FlightTelemetryStatsData flightTelemStats;
FlightTelemetryStatsGet(&flightTelemStats);
@ -164,34 +203,64 @@ static void manualControlTask(void *parameters)
if (!ManualControlCommandReadOnly(&cmd)) {
bool valid_input_detected = true;
// Read channel values in us
for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) {
if (pios_rcvr_channel_to_id_map[n].id) {
cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_channel_to_id_map[n].id,
pios_rcvr_channel_to_id_map[n].channel);
for (uint8_t n = 0;
n < MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM && n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM;
++n) {
extern uint32_t pios_rcvr_group_map[];
if (settings.ChannelGroups[n] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
cmd.Channel[n] = PIOS_RCVR_INVALID;
} else {
cmd.Channel[n] = -1;
cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_group_map[settings.ChannelGroups[n]],
settings.ChannelNumber[n]);
}
scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]);
// If a channel has timed out this is not valid data and we shouldn't update anything
// until we decide to go to failsafe
if(cmd.Channel[n] == PIOS_RCVR_TIMEOUT)
valid_input_detected = false;
else
scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]);
}
// Check settings, if error raise alarm
if (settings.Roll >= MANUALCONTROLSETTINGS_ROLL_NONE ||
settings.Pitch >= MANUALCONTROLSETTINGS_PITCH_NONE ||
settings.Yaw >= MANUALCONTROLSETTINGS_YAW_NONE ||
settings.Throttle >= MANUALCONTROLSETTINGS_THROTTLE_NONE ||
settings.FlightMode >= MANUALCONTROLSETTINGS_FLIGHTMODE_NONE) {
if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
// Check all channel mappings are valid
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == (uint16_t) PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == (uint16_t) PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == (uint16_t) PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == (uint16_t) PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t) PIOS_RCVR_INVALID ||
// Check the driver is exists
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == (uint16_t) PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == (uint16_t) PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == (uint16_t) PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == (uint16_t) PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t) PIOS_RCVR_NODRIVER) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
ManualControlCommandSet(&cmd);
// Need to do this here since we don't process armed status. Since this shouldn't happen in flight (changed config)
// immediately disarm
setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
continue;
}
// decide if we have valid manual input or not
bool valid_input_detected = validInputRange(settings.ChannelMin[settings.Throttle], settings.ChannelMax[settings.Throttle], cmd.Channel[settings.Throttle]) &&
validInputRange(settings.ChannelMin[settings.Roll], settings.ChannelMax[settings.Roll], cmd.Channel[settings.Roll]) &&
validInputRange(settings.ChannelMin[settings.Yaw], settings.ChannelMax[settings.Yaw], cmd.Channel[settings.Yaw]) &&
validInputRange(settings.ChannelMin[settings.Pitch], settings.ChannelMax[settings.Pitch], cmd.Channel[settings.Pitch]);
valid_input_detected &= validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE]) &&
validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL]) &&
validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW]) &&
validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH]);
// Implement hysteresis loop on connection status
if (valid_input_detected && (++connected_count > 10)) {
@ -209,55 +278,88 @@ static void manualControlTask(void *parameters)
cmd.Roll = 0;
cmd.Yaw = 0;
cmd.Pitch = 0;
cmd.Collective = 0;
//cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO; // don't do until AUTO implemented and functioning
// Important: Throttle < 0 will reset Stabilization coefficients among other things. Either change this,
// or leave throttle at IDLE speed or above when going into AUTO-failsafe.
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
ManualControlCommandSet(&cmd);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
// Scale channels to -1 -> +1 range
cmd.Roll = scaledChannel[settings.Roll];
cmd.Pitch = scaledChannel[settings.Pitch];
cmd.Yaw = scaledChannel[settings.Yaw];
cmd.Throttle = scaledChannel[settings.Throttle];
flightMode = scaledChannel[settings.FlightMode];
AccessoryDesiredData accessory;
// Set Accessory 0
if(settings.Accessory0 != MANUALCONTROLSETTINGS_ACCESSORY0_NONE) {
accessory.AccessoryVal = scaledChannel[settings.Accessory0];
if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0] !=
MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = 0;
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 (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1] !=
MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = 0;
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];
// Set Accessory 2
if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2] !=
MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = 0;
if(AccessoryDesiredInstSet(2, &accessory) != 0)
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
} else {
AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
// Scale channels to -1 -> +1 range
cmd.Roll = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL];
cmd.Pitch = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH];
cmd.Yaw = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW];
cmd.Throttle = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE];
flightMode = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE];
if(cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_INVALID &&
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_NODRIVER &&
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_TIMEOUT)
cmd.Collective = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE];
AccessoryDesiredData accessory;
// Set Accessory 0
if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0] !=
MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0];
if(AccessoryDesiredInstSet(0, &accessory) != 0)
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
// Set Accessory 1
if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1] !=
MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1];
if(AccessoryDesiredInstSet(1, &accessory) != 0)
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
// Set Accessory 2
if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2] !=
MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2];
if(AccessoryDesiredInstSet(2, &accessory) != 0)
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
processFlightMode(&settings, flightMode);
processArm(&cmd, &settings);
// Update cmd object
ManualControlCommandSet(&cmd);
}
// Process arming outside conditional so system will disarm when disconnected
processArm(&cmd, &settings);
// Update cmd object
ManualControlCommandSet(&cmd);
} else {
ManualControlCommandGet(&cmd); /* Under GCS control */
}
FlightStatusGet(&flightStatus);
// Depending on the mode update the Stabilization or Actuator objects
@ -279,6 +381,145 @@ static void manualControlTask(void *parameters)
}
}
static void resetRcvrActivity(struct rcvr_activity_fsm * fsm)
{
ReceiverActivityData data;
bool updated = false;
/* Clear all channel activity flags */
ReceiverActivityGet(&data);
if (data.ActiveGroup != RECEIVERACTIVITY_ACTIVEGROUP_NONE &&
data.ActiveChannel != 255) {
data.ActiveGroup = RECEIVERACTIVITY_ACTIVEGROUP_NONE;
data.ActiveChannel = 255;
updated = true;
}
if (updated) {
ReceiverActivitySet(&data);
}
/* Reset the FSM state */
fsm->group = 0;
fsm->sample_count = 0;
}
static void updateRcvrActivitySample(uint32_t rcvr_id, uint16_t samples[], uint8_t max_channels) {
for (uint8_t channel = 1; channel <= max_channels; channel++) {
// Subtract 1 because channels are 1 indexed
samples[channel - 1] = PIOS_RCVR_Read(rcvr_id, channel);
}
}
static bool updateRcvrActivityCompare(uint32_t rcvr_id, struct rcvr_activity_fsm * fsm)
{
bool activity_updated = false;
/* Compare the current value to the previous sampled value */
for (uint8_t channel = 1;
channel <= RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP;
channel++) {
uint16_t delta;
uint16_t prev = fsm->prev[channel - 1]; // Subtract 1 because channels are 1 indexed
uint16_t curr = PIOS_RCVR_Read(rcvr_id, channel);
if (curr > prev) {
delta = curr - prev;
} else {
delta = prev - curr;
}
if (delta > RCVR_ACTIVITY_MONITOR_MIN_RANGE) {
/* Mark this channel as active */
ReceiverActivityActiveGroupOptions group;
/* Don't assume manualcontrolsettings and receiveractivity are in the same order. */
switch (fsm->group) {
case MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM:
group = RECEIVERACTIVITY_ACTIVEGROUP_PWM;
break;
case MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM:
group = RECEIVERACTIVITY_ACTIVEGROUP_PPM;
break;
case MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1:
group = RECEIVERACTIVITY_ACTIVEGROUP_SPEKTRUM1;
break;
case MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2:
group = RECEIVERACTIVITY_ACTIVEGROUP_SPEKTRUM2;
break;
case MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS:
group = RECEIVERACTIVITY_ACTIVEGROUP_SBUS;
break;
case MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS:
group = RECEIVERACTIVITY_ACTIVEGROUP_GCS;
break;
default:
PIOS_Assert(0);
break;
}
ReceiverActivityActiveGroupSet(&group);
ReceiverActivityActiveChannelSet(&channel);
activity_updated = true;
}
}
return (activity_updated);
}
static bool updateRcvrActivity(struct rcvr_activity_fsm * fsm)
{
bool activity_updated = false;
if (fsm->group >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
/* We're out of range, reset things */
resetRcvrActivity(fsm);
}
extern uint32_t pios_rcvr_group_map[];
if (!pios_rcvr_group_map[fsm->group]) {
/* Unbound group, skip it */
goto group_completed;
}
if (fsm->sample_count == 0) {
/* Take a sample of each channel in this group */
updateRcvrActivitySample(pios_rcvr_group_map[fsm->group],
fsm->prev,
NELEMENTS(fsm->prev));
fsm->sample_count++;
return (false);
}
/* Compare with previous sample */
activity_updated = updateRcvrActivityCompare(pios_rcvr_group_map[fsm->group], fsm);
group_completed:
/* Reset the sample counter */
fsm->sample_count = 0;
/* Find the next active group, but limit search so we can't loop forever here */
for (uint8_t i = 0; i < MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE; i++) {
/* Move to the next group */
fsm->group++;
if (fsm->group >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
/* Wrap back to the first group */
fsm->group = 0;
}
if (pios_rcvr_group_map[fsm->group]) {
/*
* Found an active group, take a sample here to avoid an
* extra 20ms delay in the main thread so we can speed up
* this algorithm.
*/
updateRcvrActivitySample(pios_rcvr_group_map[fsm->group],
fsm->prev,
NELEMENTS(fsm->prev));
fsm->sample_count++;
break;
}
}
return (activity_updated);
}
static void updateActuatorDesired(ManualControlCommandData * cmd)
{
ActuatorDesiredData actuator;
@ -440,7 +681,7 @@ static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData
} else {
// Not really needed since this function not called when disconnected
if (cmd->Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE)
return;
lowThrottle = true;
// The throttle is not low, in case we where arming or disarming, abort
if (!lowThrottle) {
@ -584,4 +825,3 @@ bool validInputRange(int16_t min, int16_t max, uint16_t value)
* @}
* @}
*/

43
flight/Modules/Stabilization/stabilization.c
View File

@ -40,8 +40,6 @@
#include "attitudeactual.h"
#include "attituderaw.h"
#include "flightstatus.h"
#include "systemsettings.h"
#include "ahrssettings.h"
#include "manualcontrol.h" // Just to get a macro
#include "CoordinateConversions.h"
@ -115,6 +113,11 @@ int32_t StabilizationStart()
int32_t StabilizationInitialize()
{
// Initialize variables
StabilizationSettingsInitialize();
ActuatorDesiredInitialize();
#if defined(DIAGNOSTICS)
RateDesiredInitialize();
#endif
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
@ -147,7 +150,6 @@ static void stabilizationTask(void* parameters)
RateDesiredData rateDesired;
AttitudeActualData attitudeActual;
AttitudeRawData attitudeRaw;
SystemSettingsData systemSettings;
FlightStatusData flightStatus;
SettingsUpdatedCb((UAVObjEvent *) NULL);
@ -175,8 +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.
@ -231,6 +235,9 @@ static void stabilizationTask(void* parameters)
{
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
rateDesiredAxis[i] = attitudeDesiredAxis[i];
// Zero attitude and axis lock accumulators
pids[PID_ROLL + i].iAccumulator = 0;
axis_lock_accum[i] = 0;
break;
@ -245,11 +252,20 @@ static void stabilizationTask(void* parameters)
rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
// Zero attitude and axis lock accumulators
pids[PID_ROLL + i].iAccumulator = 0;
axis_lock_accum[i] = 0;
break;
}
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i]);
if(rateDesiredAxis[i] > settings.MaximumRate[i])
rateDesiredAxis[i] = settings.MaximumRate[i];
else if(rateDesiredAxis[i] < -settings.MaximumRate[i])
rateDesiredAxis[i] = -settings.MaximumRate[i];
axis_lock_accum[i] = 0;
break;
@ -268,21 +284,24 @@ static void stabilizationTask(void* parameters)
rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i]);
}
if(rateDesiredAxis[i] > settings.MaximumRate[i])
rateDesiredAxis[i] = settings.MaximumRate[i];
else if(rateDesiredAxis[i] < -settings.MaximumRate[i])
rateDesiredAxis[i] = -settings.MaximumRate[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(rateDesiredAxis[ct] > settings.MaximumRate[ct])
rateDesiredAxis[ct] = settings.MaximumRate[ct];
else if(rateDesiredAxis[ct] < -settings.MaximumRate[ct])
rateDesiredAxis[ct] = -settings.MaximumRate[ct];
switch(stabDesired.StabilizationMode[ct])
{
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
@ -300,14 +319,20 @@ static void stabilizationTask(void* parameters)
case ROLL:
actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
shouldUpdate = 1;
pids[PID_RATE_ROLL].iAccumulator = 0;
pids[PID_ROLL].iAccumulator = 0;
break;
case PITCH:
actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
shouldUpdate = 1;
pids[PID_RATE_PITCH].iAccumulator = 0;
pids[PID_PITCH].iAccumulator = 0;
break;
case YAW:
actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
shouldUpdate = 1;
pids[PID_RATE_YAW].iAccumulator = 0;
pids[PID_YAW].iAccumulator = 0;
break;
}
break;

71
flight/Modules/System/systemmod.c
View File

@ -43,7 +43,9 @@
#include "objectpersistence.h"
#include "flightstatus.h"
#include "systemstats.h"
#include "systemsettings.h"
#include "i2cstats.h"
#include "taskinfo.h"
#include "watchdogstatus.h"
#include "taskmonitor.h"
#include "pios_config.h"
@ -73,16 +75,18 @@
static uint32_t idleCounter;
static uint32_t idleCounterClear;
static xTaskHandle systemTaskHandle;
static int32_t stackOverflow;
static bool stackOverflow;
static bool mallocFailed;
// 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
/**
* Create the module task.
* \returns 0 on success or -1 if initialization failed
@ -90,7 +94,8 @@ static void systemTask(void *parameters);
int32_t SystemModStart(void)
{
// Initialize vars
stackOverflow = 0;
stackOverflow = false;
mallocFailed = false;
// Create system task
xTaskCreate(systemTask, (signed char *)"System", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &systemTaskHandle);
// Register task
@ -106,6 +111,16 @@ int32_t SystemModStart(void)
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;
@ -137,9 +152,10 @@ static void systemTask(void *parameters)
// Update the system alarms
updateSystemAlarms();
#if defined(DIAGNOSTICS)
updateI2Cstats();
updateWDGstats();
#endif
// Update the task status object
TaskMonitorUpdateAll();
@ -230,6 +246,11 @@ static void objectUpdatedCb(UAVObjEvent * ev)
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
retval = UAVObjDeleteMetaobjects();
}
} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_FULLERASE) {
retval = -1;
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
retval = PIOS_FLASHFS_Format();
#endif
}
if(retval == 0) {
objper.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
@ -241,9 +262,7 @@ 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)
@ -263,7 +282,6 @@ static void updateI2Cstats()
I2CStatsSet(&i2cStats);
#endif
}
#endif
static void updateWDGstats()
{
@ -272,6 +290,8 @@ static void updateWDGstats()
watchdogStatus.ActiveFlags = PIOS_WDG_GetActiveFlags();
WatchdogStatusSet(&watchdogStatus);
}
#endif
/**
* Called periodically to update the system stats
@ -399,12 +419,19 @@ static void updateSystemAlarms()
}
// Check for stack overflow
if (stackOverflow == 1) {
if (stackOverflow) {
AlarmsSet(SYSTEMALARMS_ALARM_STACKOVERFLOW, SYSTEMALARMS_ALARM_CRITICAL);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_STACKOVERFLOW);
}
// Check for malloc failures
if (mallocFailed) {
AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY);
}
#if defined(PIOS_INCLUDE_SDCARD)
// Check for SD card
if (PIOS_SDCARD_IsMounted() == 0) {
@ -443,9 +470,29 @@ void vApplicationIdleHook(void)
/**
* Called by the RTOS when a stack overflow is detected.
*/
#define DEBUG_STACK_OVERFLOW 0
void vApplicationStackOverflowHook(xTaskHandle * pxTask, signed portCHAR * pcTaskName)
{
stackOverflow = 1;
stackOverflow = true;
#if DEBUG_STACK_OVERFLOW
static volatile bool wait_here = true;
while(wait_here);
wait_here = true;
#endif
}
/**
* Called by the RTOS when a malloc call fails.
*/
#define DEBUG_MALLOC_FAILURES 0
void vApplicationMallocFailedHook(void)
{
mallocFailed = true;
#if DEBUG_MALLOC_FAILURES
static volatile bool wait_here = true;
while(wait_here);
wait_here = true;
#endif
}
/**

41
flight/Modules/Telemetry/telemetry.c
View File

@ -67,6 +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);
@ -88,7 +89,13 @@ static void updateSettings();
*/
int32_t TelemetryStart(void)
{
// Process all registered objects and connect queue for updates
UAVObjIterate(&registerObject);
// Listen to objects of interest
GCSTelemetryStatsConnectQueue(priorityQueue);
TelemetrySettingsConnectQueue(priorityQueue);
// Start telemetry tasks
xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
@ -111,6 +118,10 @@ int32_t TelemetryStart(void)
int32_t TelemetryInitialize(void)
{
UAVObjEvent ev;
FlightTelemetryStatsInitialize();
GCSTelemetryStatsInitialize();
TelemetrySettingsInitialize();
// Initialize vars
timeOfLastObjectUpdate = 0;
@ -120,25 +131,19 @@ int32_t TelemetryInitialize(void)
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
priorityQueue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
#endif
// Get telemetry settings object
// Get telemetry settings object
updateSettings();
// Initialise UAVTalk
UAVTalkInitialize(&transmitData);
// Process all registered objects and connect queue for updates
UAVObjIterate(&registerObject);
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);
// Listen to objects of interest
GCSTelemetryStatsConnectQueue(priorityQueue);
TelemetrySettingsConnectQueue(priorityQueue);
return 0;
}
@ -235,7 +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
@ -246,7 +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
@ -326,7 +331,7 @@ static void telemetryRxTask(void *parameters)
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(serial_data[i]);
UAVTalkProcessInputStream(uavTalkCon,serial_data[i]);
}
}
} else {
@ -426,8 +431,8 @@ static void updateTelemetryStats()
uint32_t timeNow;
// Get stats
UAVTalkGetStats(&utalkStats);
UAVTalkResetStats();
UAVTalkGetStats(uavTalkCon, &utalkStats);
UAVTalkResetStats(uavTalkCon);
// Get object data
FlightTelemetryStatsGet(&flightStats);

7
flight/OpenPilot/Makefile
View File

@ -135,7 +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
@ -165,6 +164,7 @@ SRC += $(PIOSSTM32F10X)/pios_ppm.c
SRC += $(PIOSSTM32F10X)/pios_pwm.c
SRC += $(PIOSSTM32F10X)/pios_spektrum.c
SRC += $(PIOSSTM32F10X)/pios_sbus.c
SRC += $(PIOSSTM32F10X)/pios_tim.c
SRC += $(PIOSSTM32F10X)/pios_debug.c
SRC += $(PIOSSTM32F10X)/pios_gpio.c
SRC += $(PIOSSTM32F10X)/pios_exti.c
@ -388,6 +388,9 @@ ifeq ($(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)
@ -512,7 +515,7 @@ $(OUTDIR)/$(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)))
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf

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

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

9
flight/OpenPilot/System/inc/FreeRTOSConfig.h
View File

@ -26,6 +26,7 @@
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 1
#define configUSE_TICK_HOOK 0
#define configUSE_MALLOC_FAILED_HOOK 1
#define configCPU_CLOCK_HZ ( ( unsigned long ) 72000000 )
#define configTICK_RATE_HZ ( ( portTickType ) 1000 )
#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 )
@ -39,7 +40,7 @@
#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. */
@ -72,7 +73,9 @@ 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()\
@ -81,6 +84,8 @@ do {\
(*(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)

3
flight/OpenPilot/System/inc/pios_config.h
View File

@ -47,7 +47,7 @@
#define PIOS_INCLUDE_SPEKTRUM
//#define PIOS_INCLUDE_SBUS
#define PIOS_INCLUDE_PWM
//#define PIOS_INCLUDE_PPM
#define PIOS_INCLUDE_PPM
#define PIOS_INCLUDE_TELEMETRY_RF
@ -60,6 +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

1
flight/OpenPilot/System/inc/pios_config_posix.h
View File

@ -36,6 +36,7 @@
#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

652
flight/OpenPilot/System/pios_board.c
View File

@ -30,6 +30,7 @@
#include <pios.h>
#include <openpilot.h>
#include <uavobjectsinit.h>
#include <hwsettings.h>
#include "manualcontrolsettings.h"
//#define I2C_DEBUG_PIN 0
@ -301,6 +302,89 @@ void PIOS_ADC_handler() {
PIOS_ADC_DMA_Handler();
}
#include "pios_tim_priv.h"
static const TIM_TimeBaseInitTypeDef tim_4_8_time_base = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
.TIM_RepetitionCounter = 0x0000,
};
static const struct pios_tim_clock_cfg tim_4_cfg = {
.timer = TIM4,
.time_base_init = &tim_4_8_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
static const struct pios_tim_clock_cfg tim_8_cfg = {
.timer = TIM8,
.time_base_init = &tim_4_8_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM8_CC_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
static const TIM_TimeBaseInitTypeDef tim_1_3_5_time_base = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = 0xFFFF,
.TIM_RepetitionCounter = 0x0000,
};
static const struct pios_tim_clock_cfg tim_1_cfg = {
.timer = TIM1,
.time_base_init = &tim_1_3_5_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM1_CC_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
static const struct pios_tim_clock_cfg tim_3_cfg = {
.timer = TIM3,
.time_base_init = &tim_1_3_5_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
static const struct pios_tim_clock_cfg tim_5_cfg = {
.timer = TIM5,
.time_base_init = &tim_1_3_5_time_base,
.irq = {
.init = {
.NVIC_IRQChannel = TIM5_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
#if defined(PIOS_INCLUDE_USART)
#include "pios_usart_priv.h"
@ -496,7 +580,6 @@ static const struct pios_usart_cfg pios_usart_spektrum_cfg = {
},
};
#include <pios_spektrum_priv.h>
static const struct pios_spektrum_cfg pios_spektrum_cfg = {
.bind = {
.gpio = GPIOA,
@ -535,65 +618,106 @@ static const struct pios_spektrum_cfg pios_spektrum_cfg = {
* Pios servo configuration structures
*/
#include <pios_servo_priv.h>
static const struct pios_servo_channel pios_servo_channels[] = {
static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
{
.timer = TIM4,
.port = GPIOB,
.channel = TIM_Channel_1,
.pin = GPIO_Pin_6,
.timer_chan = TIM_Channel_1,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
{
.timer = TIM4,
.port = GPIOB,
.channel = TIM_Channel_2,
.pin = GPIO_Pin_7,
.timer_chan = TIM_Channel_2,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
{
.timer = TIM4,
.port = GPIOB,
.channel = TIM_Channel_3,
.pin = GPIO_Pin_8,
.timer_chan = TIM_Channel_3,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_8,
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
{
.timer = TIM4,
.port = GPIOB,
.channel = TIM_Channel_4,
.pin = GPIO_Pin_9,
.timer_chan = TIM_Channel_4,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
{
.timer = TIM8,
.port = GPIOC,
.channel = TIM_Channel_1,
.pin = GPIO_Pin_6,
.timer_chan = TIM_Channel_1,
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
{
.timer = TIM8,
.port = GPIOC,
.channel = TIM_Channel_2,
.pin = GPIO_Pin_7,
.timer_chan = TIM_Channel_2,
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
{
.timer = TIM8,
.port = GPIOC,
.channel = TIM_Channel_3,
.pin = GPIO_Pin_8,
.timer_chan = TIM_Channel_3,
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_8,
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
{
.timer = TIM8,
.port = GPIOC,
.channel = TIM_Channel_4,
.pin = GPIO_Pin_9,
.timer_chan = TIM_Channel_4,
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
};
const struct pios_servo_cfg pios_servo_cfg = {
.tim_base_init = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
.TIM_RepetitionCounter = 0x0000,
},
.tim_oc_init = {
.TIM_OCMode = TIM_OCMode_PWM1,
.TIM_OutputState = TIM_OutputState_Enable,
@ -604,127 +728,127 @@ const struct pios_servo_cfg pios_servo_cfg = {
.TIM_OCIdleState = TIM_OCIdleState_Reset,
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
},
.gpio_init = {
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
.remap = 0,
.channels = pios_servo_channels,
.num_channels = NELEMENTS(pios_servo_channels),
.channels = pios_tim_servoport_all_pins,
.num_channels = NELEMENTS(pios_tim_servoport_all_pins),
};
/*
* PWM Inputs
*/
#if defined(PIOS_INCLUDE_PWM)
#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM)
#include <pios_pwm_priv.h>
static const struct pios_pwm_channel pios_pwm_channels[] = {
static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = {
{
.timer = TIM1,
.port = GPIOA,
.ccr = TIM_IT_CC2,
.channel = TIM_Channel_2,
.pin = GPIO_Pin_9,
},
.timer_chan = TIM_Channel_2,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Mode = GPIO_Mode_IPD,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
{
.timer = TIM1,
.port = GPIOA,
.ccr = TIM_IT_CC3,
.channel = TIM_Channel_3,
.pin = GPIO_Pin_10,
.timer_chan = TIM_Channel_3,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Mode = GPIO_Mode_IPD,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
{
.timer = TIM5,
.port = GPIOA,
.ccr = TIM_IT_CC1,
.channel = TIM_Channel_1,
.pin = GPIO_Pin_0
.timer_chan = TIM_Channel_1,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_0,
.GPIO_Mode = GPIO_Mode_IPD,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
{
.timer = TIM1,
.port = GPIOA,
.ccr = TIM_IT_CC1,
.channel = TIM_Channel_1,
.pin = GPIO_Pin_8,
.timer_chan = TIM_Channel_1,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_8,
.GPIO_Mode = GPIO_Mode_IPD,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
{
.timer = TIM3,
.port = GPIOB,
.ccr = TIM_IT_CC4,
.channel = TIM_Channel_4,
.pin = GPIO_Pin_1,
.timer_chan = TIM_Channel_4,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_1,
.GPIO_Mode = GPIO_Mode_IPD,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
{
.timer = TIM3,
.port = GPIOB,
.ccr = TIM_IT_CC3,
.channel = TIM_Channel_3,
.pin = GPIO_Pin_0,
.timer_chan = TIM_Channel_3,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_0,
.GPIO_Mode = GPIO_Mode_IPD,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
{
.timer = TIM3,
.port = GPIOB,
.ccr = TIM_IT_CC1,
.channel = TIM_Channel_1,
.pin = GPIO_Pin_4,
.timer_chan = TIM_Channel_1,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_4,
.GPIO_Mode = GPIO_Mode_IPD,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
.remap = GPIO_PartialRemap_TIM3,
},
{
.timer = TIM3,
.port = GPIOB,
.ccr = TIM_IT_CC2,
.channel = TIM_Channel_2,
.pin = GPIO_Pin_5,
.timer_chan = TIM_Channel_2,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_5,
.GPIO_Mode = GPIO_Mode_IPD,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
.remap = GPIO_PartialRemap_TIM3,
},
};
void TIM1_CC_IRQHandler();
void TIM3_IRQHandler();
void TIM5_IRQHandler();
void TIM1_CC_IRQHandler() __attribute__ ((alias ("PIOS_TIM1_CC_irq_handler")));
void TIM3_IRQHandler() __attribute__ ((alias ("PIOS_TIM3_irq_handler")));
void TIM5_IRQHandler() __attribute__ ((alias ("PIOS_TIM5_irq_handler")));
const struct pios_pwm_cfg pios_pwm_cfg = {
.tim_base_init = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = 0xFFFF,
.TIM_RepetitionCounter = 0x0000,
},
.tim_ic_init = {
.TIM_ICPolarity = TIM_ICPolarity_Rising,
.TIM_ICSelection = TIM_ICSelection_DirectTI,
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
.TIM_ICFilter = 0x0,
},
.gpio_init = {
.GPIO_Mode = GPIO_Mode_IPD,
.GPIO_Speed = GPIO_Speed_2MHz,
},
.remap = GPIO_PartialRemap_TIM3,
.irq = {
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.channels = pios_pwm_channels,
.num_channels = NELEMENTS(pios_pwm_channels),
.channels = pios_tim_rcvrport_all_channels,
.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels),
};
void PIOS_TIM1_CC_irq_handler()
{
PIOS_PWM_irq_handler(TIM1);
}
void PIOS_TIM3_irq_handler()
{
PIOS_PWM_irq_handler(TIM3);
}
void PIOS_TIM5_irq_handler()
{
PIOS_PWM_irq_handler(TIM5);
}
#endif
/*
@ -732,42 +856,7 @@ void PIOS_TIM5_irq_handler()
*/
#if defined(PIOS_INCLUDE_PPM)
#include <pios_ppm_priv.h>
void TIM6_IRQHandler();
void TIM6_IRQHandler() __attribute__ ((alias ("PIOS_TIM6_irq_handler")));
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,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = ((1000000 / 25) - 1), /* 25 Hz */
.TIM_RepetitionCounter = 0x0000,
},
.irq = {
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.timer = TIM6,
.ccr = TIM_IT_Update,
};
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")));
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,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = 0xFFFF,
.TIM_RepetitionCounter = 0x0000,
},
.tim_ic_init = {
.TIM_ICPolarity = TIM_ICPolarity_Rising,
.TIM_ICSelection = TIM_ICSelection_DirectTI,
@ -775,30 +864,11 @@ static const struct pios_ppm_cfg pios_ppm_cfg = {
.TIM_ICFilter = 0x0,
.TIM_Channel = TIM_Channel_2,
},
.gpio_init = {
.GPIO_Mode = GPIO_Mode_IPD,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Pin = GPIO_Pin_9,
},
.remap = 0,
.irq = {
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
.NVIC_IRQChannel = TIM1_CC_IRQn,
},
},
.timer = TIM1,
.port = GPIOA,
.ccr = TIM_IT_CC2,
/* Use only the first channel for ppm */
.channels = &pios_tim_rcvrport_all_channels[0],
.num_channels = 1,
};
void PIOS_TIM1_CC_irq_handler(void)
{
PIOS_PPM_irq_handler();
}
#endif //PPM
#if defined(PIOS_INCLUDE_I2C)
@ -964,8 +1034,12 @@ static const struct stm32_gpio pios_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;
/* One slot per selectable receiver group.
* eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS
* NOTE: No slot in this map for NONE.
*/
uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
#endif /* PIOS_INCLUDE_RCVR */
#if defined(PIOS_INCLUDE_USB_HID)
@ -1003,8 +1077,9 @@ void PIOS_Board_Init(void) {
/* Remap AFIO pin */
//GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);
/* Debug services */
PIOS_DEBUG_Init();
#ifdef PIOS_DEBUG_ENABLE_DEBUG_PINS
PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif /* PIOS_DEBUG_ENABLE_DEBUG_PINS */
/* Delay system */
PIOS_DELAY_Init();
@ -1023,7 +1098,8 @@ void PIOS_Board_Init(void) {
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
UAVObjectsInitializeAll();
HwSettingsInitialize();
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
@ -1036,6 +1112,14 @@ void PIOS_Board_Init(void) {
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Set up pulse timers */
PIOS_TIM_InitClock(&tim_1_cfg);
PIOS_TIM_InitClock(&tim_3_cfg);
PIOS_TIM_InitClock(&tim_5_cfg);
PIOS_TIM_InitClock(&tim_4_cfg);
PIOS_TIM_InitClock(&tim_8_cfg);
/* Prepare the AHRS Comms upper layer protocol */
AhrsInitComms();
@ -1047,126 +1131,128 @@ void PIOS_Board_Init(void) {
/* Bind the AHRS comms layer to the AHRS SPI link */
AhrsConnect(pios_spi_ahrs_id);
/* Initialize the PiOS library */
#if defined(PIOS_INCLUDE_COM)
/* Configure the main IO port */
uint8_t hwsettings_op_mainport;
HwSettingsOP_MainPortGet(&hwsettings_op_mainport);
switch (hwsettings_op_mainport) {
case HWSETTINGS_OP_MAINPORT_DISABLED:
break;
case HWSETTINGS_OP_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_cfg)) {
PIOS_Assert(0);
}
{
uint32_t pios_usart_telem_rf_id;
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_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_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);
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_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);
}
break;
}
#endif /* PIOS_INCLUDE_GPS */
#endif
PIOS_Servo_Init();
/* Configure the flexi port */
uint8_t hwsettings_op_flexiport;
HwSettingsOP_FlexiPortGet(&hwsettings_op_flexiport);
switch (hwsettings_op_flexiport) {
case HWSETTINGS_OP_FLEXIPORT_DISABLED:
break;
case HWSETTINGS_OP_FLEXIPORT_GPS:
#if defined(PIOS_INCLUDE_GPS)
{
uint32_t pios_usart_gps_id;
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
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;
}
#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
PIOS_Servo_Init(&pios_servo_cfg);
#endif /* PIOS_DEBUG_ENABLE_DEBUG_PINS */
PIOS_ADC_Init();
PIOS_GPIO_Init();
/* Configure the selected receiver */
uint8_t manualcontrolsettings_inputmode;
ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode);
/* Configure the rcvr port */
uint8_t hwsettings_rcvrport;
HwSettingsOP_RcvrPortGet(&hwsettings_rcvrport);
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();
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)
#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:
switch (hwsettings_rcvrport) {
case HWSETTINGS_OP_RCVRPORT_DISABLED:
break;
case HWSETTINGS_OP_RCVRPORT_DEBUG:
/* Not supported yet */
break;
case HWSETTINGS_OP_RCVRPORT_SPEKTRUM1:
#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++;
}
{
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, pios_spektrum_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id;
}
#endif
break;
case MANUALCONTROLSETTINGS_INPUTMODE_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
#error SBUS NOT ON OP YET
#endif /* PIOS_INCLUDE_SBUS */
break;
break;
case HWSETTINGS_OP_RCVRPORT_PWM:
#if defined(PIOS_INCLUDE_PWM)
{
uint32_t pios_pwm_id;
PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);
uint32_t pios_pwm_rcvr_id;
if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
}
#endif /* PIOS_INCLUDE_PWM */
break;
case HWSETTINGS_OP_RCVRPORT_PPM:
#if defined(PIOS_INCLUDE_PPM)
{
uint32_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
uint32_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
}
#endif /* PIOS_INCLUDE_PPM */
break;
}
#if defined(PIOS_INCLUDE_USB_HID)

13
flight/OpenPilot/System/pios_board_posix.c
View File

@ -29,6 +29,11 @@
#include <openpilot.h>
#include <uavobjectsinit.h>
#include "attituderaw.h"
#include "attitudeactual.h"
#include "positionactual.h"
#include "velocityactual.h"
#include "pios_rcvr_priv.h"
struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
@ -66,6 +71,7 @@ const struct pios_udp_cfg pios_udp_aux_cfg = {
#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
/*
* Board specific number of devices.
@ -154,7 +160,7 @@ void PIOS_Board_Init(void) {
#if defined(PIOS_INCLUDE_GPS)
{
uint32_t pios_udp_gps_id;
if (PIOS_USART_Init(&pios_udp_gps_id, &pios_udp_gps_cfg)) {
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);
@ -168,6 +174,11 @@ void PIOS_Board_Init(void) {
#endif /* PIOS_INCLUDE_GPS */
#endif
// Initialize these here as posix has no AHRSComms
AttitudeRawInitialize();
AttitudeActualInitialize();
VelocityActualInitialize();
PositionActualInitialize();
}

5
flight/OpenPilot/System/taskmonitor.c
View File

@ -46,7 +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;
}
@ -91,6 +94,7 @@ int32_t TaskMonitorRemove(TaskInfoRunningElem task)
*/
void TaskMonitorUpdateAll(void)
{
#if defined(DIAGNOSTICS)
TaskInfoData data;
int n;
@ -142,4 +146,5 @@ void TaskMonitorUpdateAll(void)
// Done
xSemaphoreGiveRecursive(lock);
#endif
}

4
flight/OpenPilot/UAVObjects.inc
View File

@ -69,6 +69,10 @@ UAVOBJSRCFILENAMES += velocityactual
UAVOBJSRCFILENAMES += velocitydesired
UAVOBJSRCFILENAMES += watchdogstatus
UAVOBJSRCFILENAMES += flightstatus
UAVOBJSRCFILENAMES += hwsettings
UAVOBJSRCFILENAMES += receiveractivity
UAVOBJSRCFILENAMES += cameradesired
UAVOBJSRCFILENAMES += camerastabsettings
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

1
flight/PiOS.posix/inc/pios_initcall.h
View File

@ -51,7 +51,6 @@ extern initmodule_t __module_initcall_start[], __module_initcall_end[];
extern void InitModules();
extern void StartModules();
#define UAVOBJ_INITCALL(fn)
#define MODULE_INITCALL(ifn, sfn)
#define MODULE_TASKCREATE_ALL { \

11
flight/PiOS.posix/posix/pios_debug.c
View File

@ -79,8 +79,15 @@ void PIOS_DEBUG_Panic(const char *msg)
PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_DEBUG, "\r%s @0x%x\r", msg, lr);
#endif
// Stay put
while (1) ;
// tell the user whats going on on commandline too
fprintf(stderr,"CRITICAL ERROR: %s\n",msg);
// this helps debugging: causing a div by zero allows a backtrace
// and/or ends execution
int b = 0;
int a = (2/b);
b=a;
}
/**

3
flight/PiOS.posix/posix/pios_udp.c
View File

@ -64,6 +64,7 @@ static pios_udp_dev * find_udp_dev_by_id (uint8_t udp)
{
if (udp >= pios_udp_num_devices) {
/* Undefined UDP port for this board (see pios_board.c) */
PIOS_Assert(0);
return NULL;
}
@ -154,6 +155,8 @@ int32_t PIOS_UDP_Init(uint32_t * udp_id, const struct pios_udp_cfg * cfg)
printf("udp dev %i - socket %i opened - result %i\n",pios_udp_num_devices-1,udp_dev->socket,res);
*udp_id = pios_udp_num_devices-1;
return res;
}

3
flight/PiOS.win32/inc/pios_initcall.h
View File

@ -38,8 +38,7 @@
* and we cannot define a linker script for each of them atm
*/
#define UAVOBJ_INITCALL(fn)
#define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags)
#define MODULE_INITCALL(ifn, sfn)
#define MODULE_TASKCREATE_ALL

10
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
View File

@ -206,22 +206,25 @@ extern uint32_t pios_com_telem_usb_id;
// PIOS_RCVR
// See also pios_board.c
//------------------------
#define PIOS_RCVR_MAX_DEVS 1
#define PIOS_RCVR_MAX_DEVS 3
#define PIOS_RCVR_MAX_CHANNELS 12
//-------------------------
// Receiver PPM input
//-------------------------
#define PIOS_PPM_MAX_DEVS 1
#define PIOS_PPM_NUM_INPUTS 12
//-------------------------
// Receiver PWM input
//-------------------------
#define PIOS_PWM_MAX_DEVS 1
#define PIOS_PWM_NUM_INPUTS 6
//-------------------------
// Receiver SPEKTRUM input
//-------------------------
#define PIOS_SPEKTRUM_MAX_DEVS 2
#define PIOS_SPEKTRUM_NUM_INPUTS 12
//-------------------------
@ -230,6 +233,11 @@ extern uint32_t pios_com_telem_usb_id;
#define PIOS_SERVO_UPDATE_HZ 50
#define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
//--------------------------
// Timer controller settings
//--------------------------
#define PIOS_TIM_MAX_DEVS 3
//-------------------------
// GPIO
//-------------------------

8
flight/PiOS/Boards/STM3210E_OP.h
View File

@ -185,16 +185,19 @@ extern uint32_t pios_com_aux_id;
//-------------------------
// Receiver PPM input
//-------------------------
#define PIOS_PPM_MAX_DEVS 1
#define PIOS_PPM_NUM_INPUTS 12
//-------------------------
// Receiver PWM input
//-------------------------
#define PIOS_PWM_MAX_DEVS 1
#define PIOS_PWM_NUM_INPUTS 8
//-------------------------
// Receiver SPEKTRUM input
//-------------------------
#define PIOS_SPEKTRUM_MAX_DEVS 1
#define PIOS_SPEKTRUM_NUM_INPUTS 12
//-------------------------
@ -203,6 +206,11 @@ extern uint32_t pios_com_aux_id;
#define PIOS_SERVO_UPDATE_HZ 50
#define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
//--------------------------
// Timer controller settings
//--------------------------
#define PIOS_TIM_MAX_DEVS 3
//-------------------------
// ADC
// PIOS_ADC_PinGet(0) = Temperature Sensor (On-board)

4
flight/PiOS/Common/pios_com.c
View File

@ -67,12 +67,12 @@ static bool PIOS_COM_validate(struct pios_com_dev * com_dev)
return (com_dev && (com_dev->magic == PIOS_COM_DEV_MAGIC));
}
#if defined(PIOS_INCLUDE_FREERTOS) && 0
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_com_dev * PIOS_COM_alloc(void)
{
struct pios_com_dev * com_dev;
com_dev = (struct pios_com_dev *)malloc(sizeof(*com_dev));
com_dev = (struct pios_com_dev *)pvPortMalloc(sizeof(*com_dev));
if (!com_dev) return (NULL);
com_dev->magic = PIOS_COM_DEV_MAGIC;

13
flight/PiOS/Common/pios_flashfs_objlist.c
View File

@ -116,6 +116,19 @@ int32_t PIOS_FLASHFS_Init()
return 0;
}
/**
* @brief Erase the whole flash chip and create the file system
* @return 0 if successful, -1 if not
*/
int32_t PIOS_FLASHFS_Format()
{
if(PIOS_Flash_W25X_EraseChip() != 0)
return -1;
if(PIOS_FLASHFS_ClearObjectTableHeader() != 0)
return -1;
return 0;
}
/**
* @brief Erase the headers for all objects in the flash chip
* @return 0 if successful, -1 if not

75
flight/PiOS/Common/pios_gcsrcvr.c Normal file
View File

@ -0,0 +1,75 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_GCSRCVR GCS Receiver Input Functions
* @brief Code to read the channels within the GCS Receiver UAVObject
* @{
*
* @file pios_gcsrcvr.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief GCS Input functions (STM32 dependent)
* @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
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_GCSRCVR)
#include "pios_gcsrcvr_priv.h"
static GCSReceiverData gcsreceiverdata;
/* Provide a RCVR driver */
static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel);
const struct pios_rcvr_driver pios_gcsrcvr_rcvr_driver = {
.read = PIOS_GCSRCVR_Get,
};
static void gcsreceiver_updated(UAVObjEvent * ev)
{
if (ev->obj == GCSReceiverHandle()) {
GCSReceiverGet(&gcsreceiverdata);
}
}
void PIOS_GCSRCVR_Init(void)
{
/* Register uavobj callback */
GCSReceiverConnectCallback (gcsreceiver_updated);
}
static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel)
{
if (channel >= GCSRECEIVER_CHANNEL_NUMELEM) {
/* channel is out of range */
return -1;
}
return (gcsreceiverdata.Channel[channel]);
}
#endif /* PIOS_INCLUDE_GCSRCVR */
/**
* @}
* @}
*/

22
flight/PiOS/Common/pios_rcvr.c
View File

@ -20,12 +20,12 @@ static bool PIOS_RCVR_validate(struct pios_rcvr_dev * rcvr_dev)
return (rcvr_dev->magic == PIOS_RCVR_DEV_MAGIC);
}
#if defined(PIOS_INCLUDE_FREERTOS) && 0
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
{
struct pios_rcvr_dev * rcvr_dev;
rcvr_dev = (struct pios_rcvr_dev *)malloc(sizeof(*rcvr_dev));
rcvr_dev = (struct pios_rcvr_dev *)pvPortMalloc(sizeof(*rcvr_dev));
if (!rcvr_dev) return (NULL);
rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
@ -76,8 +76,26 @@ out_fail:
return(-1);
}
/**
* @brief Reads an input channel from the appropriate driver
* @param[in] rcvr_id driver to read from
* @param[in] channel channel to read
* @returns Unitless input value
* @retval PIOS_RCVR_TIMEOUT indicates a failsafe or timeout from that channel
* @retval PIOS_RCVR_INVALID invalid channel for this driver (usually out of range supported)
* @retval PIOS_RCVR_NODRIVER driver was not initialized
*/
int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel)
{
// Publicly facing API uses channel 1 for first channel
if(channel == 0)
return PIOS_RCVR_INVALID;
else
channel--;
if (rcvr_id == 0)
return PIOS_RCVR_NODRIVER;
struct pios_rcvr_dev * rcvr_dev = (struct pios_rcvr_dev *)rcvr_id;
if (!PIOS_RCVR_validate(rcvr_dev)) {

12
flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h
View File

@ -1025,12 +1025,12 @@ typedef struct
*/
void TIM_DeInit(TIM_TypeDef* TIMx);
void TIM_TimeBaseInit(TIM_TypeDef* TIMx, TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct);
void TIM_OC1Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct);
void TIM_OC2Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct);
void TIM_OC3Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct);
void TIM_OC4Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct);
void TIM_ICInit(TIM_TypeDef* TIMx, TIM_ICInitTypeDef* TIM_ICInitStruct);
void TIM_TimeBaseInit(TIM_TypeDef* TIMx, const TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct);
void TIM_OC1Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct);
void TIM_OC2Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct);
void TIM_OC3Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct);
void TIM_OC4Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct);
void TIM_ICInit(TIM_TypeDef* TIMx, const TIM_ICInitTypeDef* TIM_ICInitStruct);
void TIM_PWMIConfig(TIM_TypeDef* TIMx, TIM_ICInitTypeDef* TIM_ICInitStruct);
void TIM_BDTRConfig(TIM_TypeDef* TIMx, TIM_BDTRInitTypeDef *TIM_BDTRInitStruct);
void TIM_TimeBaseStructInit(TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct);

12
flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c
View File

@ -221,7 +221,7 @@ void TIM_DeInit(TIM_TypeDef* TIMx)
* structure that contains the configuration information for the specified TIM peripheral.
* @retval None
*/
void TIM_TimeBaseInit(TIM_TypeDef* TIMx, TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct)
void TIM_TimeBaseInit(TIM_TypeDef* TIMx, const TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct)
{
uint16_t tmpcr1 = 0;
@ -274,7 +274,7 @@ void TIM_TimeBaseInit(TIM_TypeDef* TIMx, TIM_TimeBaseInitTypeDef* TIM_TimeBaseIn
* that contains the configuration information for the specified TIM peripheral.
* @retval None
*/
void TIM_OC1Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct)
void TIM_OC1Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct)
{
uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0;
@ -357,7 +357,7 @@ void TIM_OC1Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct)
* that contains the configuration information for the specified TIM peripheral.
* @retval None
*/
void TIM_OC2Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct)
void TIM_OC2Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct)
{
uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0;
@ -439,7 +439,7 @@ void TIM_OC2Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct)
* that contains the configuration information for the specified TIM peripheral.
* @retval None
*/
void TIM_OC3Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct)
void TIM_OC3Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct)
{
uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0;
@ -518,7 +518,7 @@ void TIM_OC3Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct)
* that contains the configuration information for the specified TIM peripheral.
* @retval None
*/
void TIM_OC4Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct)
void TIM_OC4Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct)
{
uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0;
@ -582,7 +582,7 @@ void TIM_OC4Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct)
* that contains the configuration information for the specified TIM peripheral.
* @retval None
*/
void TIM_ICInit(TIM_TypeDef* TIMx, TIM_ICInitTypeDef* TIM_ICInitStruct)
void TIM_ICInit(TIM_TypeDef* TIMx, const TIM_ICInitTypeDef* TIM_ICInitStruct)
{
/* Check the parameters */
assert_param(IS_TIM_CHANNEL(TIM_ICInitStruct->TIM_Channel));

10
flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_BL_sections.ld
View File

@ -18,16 +18,6 @@ SECTIONS
*(.rodata .rodata* .gnu.linkonce.r.*)
} > BL_FLASH
/* init sections */
.initcalluavobj.init :
{
. = ALIGN(4);
__uavobj_initcall_start = .;
KEEP(*(.initcalluavobj.init))
. = ALIGN(4);
__uavobj_initcall_end = .;
} > BL_FLASH
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)

12
flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld
View File

@ -1,5 +1,5 @@
/* This is the size of the stack for all FreeRTOS IRQs */
_irq_stack_size = 0x180;
_irq_stack_size = 0x1A0;
/* This is the size of the stack for early init: life span is until scheduler starts */
_init_stack_size = 0x100;
@ -22,16 +22,6 @@ SECTIONS
*(.rodata .rodata* .gnu.linkonce.r.*)
} > FLASH
/* init sections */
.initcalluavobj.init :
{
. = ALIGN(4);
__uavobj_initcall_start = .;
KEEP(*(.initcalluavobj.init))
. = ALIGN(4);
__uavobj_initcall_end = .;
} >FLASH
/* module sections */
.initcallmodule.init :
{

10
flight/PiOS/STM32F10x/link_STM3210E_INS_BL_sections.ld
View File

@ -207,16 +207,6 @@ SECTIONS
} > BL_FLASH
/* init sections */
.initcalluavobj.init :
{
. = ALIGN(4);
__uavobj_initcall_start = .;
KEEP(*(.initcalluavobj.init))
. = ALIGN(4);
__uavobj_initcall_end = .;
} > BL_FLASH
/* the program code is stored in the .text section, which goes to Flash */
.text :
{

10
flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld
View File

@ -206,16 +206,6 @@ SECTIONS
. = ALIGN(4);
} > FLASH
/* init sections */
.initcalluavobj.init :
{
. = ALIGN(4);
__uavobj_initcall_start = .;
KEEP(*(.initcalluavobj.init))
. = ALIGN(4);
__uavobj_initcall_end = .;
} > FLASH
/* the program code is stored in the .text section, which goes to Flash */
.text :

11
flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld
View File

@ -179,17 +179,6 @@ SECTIONS
. = ALIGN(4);
} > BL_FLASH
/* init sections */
.initcalluavobj.init :
{
. = ALIGN(4);
__uavobj_initcall_start = .;
KEEP(*(.initcalluavobj.init))
. = ALIGN(4);
__uavobj_initcall_end = .;
} > BL_FLASH
/* the program code is stored in the .text section, which goes to Flash */
.text :
{

15
flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld
View File

@ -1,7 +1,7 @@
/* This is the size of the stack for early init and for all FreeRTOS IRQs */
_irq_stack_size = 0x400;
_irq_stack_size = 0x800;
/* This is the size of the stack for early init: life span is until scheduler starts */
_init_stack_size = 0x400;
_init_stack_size = 0x800;
/* Check valid alignment for VTOR */
ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
@ -181,17 +181,6 @@ SECTIONS
*(.flashtext) /* Startup code */
. = ALIGN(4);
} >FLASH
/* init sections */
.initcalluavobj.init :
{
. = ALIGN(4);
__uavobj_initcall_start = .;
KEEP(*(.initcalluavobj.init))
. = ALIGN(4);
__uavobj_initcall_end = .;
} >FLASH
/* module sections */
.initcallmodule.init :

105
flight/PiOS/STM32F10x/pios_debug.c
View File

@ -34,39 +34,41 @@
// Global variables
const char *PIOS_DEBUG_AssertMsg = "ASSERT FAILED";
#include <pios_servo_priv.h>
extern const struct pios_servo_channel pios_servo_channels[];
#define PIOS_SERVO_GPIO_PORT_1TO4 pios_servo_channels[0].port
#define PIOS_SERVO_GPIO_PORT_5TO8 pios_servo_channels[4].port
#define PIOS_SERVO_GPIO_PIN_1 pios_servo_channels[0].pin
#define PIOS_SERVO_GPIO_PIN_2 pios_servo_channels[1].pin
#define PIOS_SERVO_GPIO_PIN_3 pios_servo_channels[2].pin
#define PIOS_SERVO_GPIO_PIN_4 pios_servo_channels[3].pin
#define PIOS_SERVO_GPIO_PIN_5 pios_servo_channels[4].pin
#define PIOS_SERVO_GPIO_PIN_6 pios_servo_channels[5].pin
#define PIOS_SERVO_GPIO_PIN_7 pios_servo_channels[6].pin
#define PIOS_SERVO_GPIO_PIN_8 pios_servo_channels[7].pin
/* Private Function Prototypes */
#ifdef PIOS_ENABLE_DEBUG_PINS
static const struct pios_tim_channel * debug_channels;
static uint8_t debug_num_channels;
#endif /* PIOS_ENABLE_DEBUG_PINS */
/**
* Initialise Debug-features
*/
void PIOS_DEBUG_Init(void)
void PIOS_DEBUG_Init(const struct pios_tim_channel * channels, uint8_t num_channels)
{
#ifdef PIOS_ENABLE_DEBUG_PINS
// Initialise Servo pins as standard output pins
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = PIOS_SERVO_GPIO_PIN_1 | PIOS_SERVO_GPIO_PIN_2 | PIOS_SERVO_GPIO_PIN_3 | PIOS_SERVO_GPIO_PIN_4;
GPIO_Init(PIOS_SERVO_GPIO_PORT_1TO4, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = PIOS_SERVO_GPIO_PIN_5 | PIOS_SERVO_GPIO_PIN_6 | PIOS_SERVO_GPIO_PIN_7 | PIOS_SERVO_GPIO_PIN_8;
GPIO_Init(PIOS_SERVO_GPIO_PORT_5TO8, &GPIO_InitStructure);
PIOS_Assert(channels);
PIOS_Assert(num_channels);
// Drive all pins low
PIOS_SERVO_GPIO_PORT_1TO4->BRR = PIOS_SERVO_GPIO_PIN_1 | PIOS_SERVO_GPIO_PIN_2 | PIOS_SERVO_GPIO_PIN_3 | PIOS_SERVO_GPIO_PIN_4;
PIOS_SERVO_GPIO_PORT_5TO8->BRR = PIOS_SERVO_GPIO_PIN_5 | PIOS_SERVO_GPIO_PIN_6 | PIOS_SERVO_GPIO_PIN_7 | PIOS_SERVO_GPIO_PIN_8;
/* Store away the GPIOs we've been given */
debug_channels = channels;
debug_num_channels = num_channels;
/* Configure the GPIOs we've been given */
for (uint8_t i = 0; i < num_channels; i++) {
const struct pios_tim_channel * chan = &channels[i];
// Initialise pins as standard output pins
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = chan->init->GPIO_Pin;
/* Initialize the GPIO */
GPIO_Init(chan->init->port, &GPIO_InitStructure);
/* Set the pin low */
GPIO_WriteBit(chan->init->port, chan->init->GPIO_Pin, Bit_RESET);
}
#endif // PIOS_ENABLE_DEBUG_PINS
}
@ -74,14 +76,17 @@ void PIOS_DEBUG_Init(void)
* Set debug-pin high
* \param pin 0 for S1 output
*/
void PIOS_DEBUG_PinHigh(uint8_t Pin)
void PIOS_DEBUG_PinHigh(uint8_t pin)
{
#ifdef PIOS_ENABLE_DEBUG_PINS
if (Pin < 4) {
PIOS_SERVO_GPIO_PORT_1TO4->BSRR = (PIOS_SERVO_GPIO_PIN_1 << Pin);
} else if (Pin <= 7) {
PIOS_SERVO_GPIO_PORT_5TO8->BSRR = (PIOS_SERVO_GPIO_PIN_5 << (Pin - 4));
if (!debug_channels || pin >= debug_num_channels) {
return;
}
const struct pios_tim_channel * chan = &debug_channels[pin];
GPIO_WriteBit(chan->init->port, chan->init->GPIO_Pin, Bit_Set);
#endif // PIOS_ENABLE_DEBUG_PINS
}
@ -89,14 +94,17 @@ void PIOS_DEBUG_PinHigh(uint8_t Pin)
* Set debug-pin low
* \param pin 0 for S1 output
*/
void PIOS_DEBUG_PinLow(uint8_t Pin)
void PIOS_DEBUG_PinLow(uint8_t pin)
{
#ifdef PIOS_ENABLE_DEBUG_PINS
if (Pin < 4) {
PIOS_SERVO_GPIO_PORT_1TO4->BRR = (PIOS_SERVO_GPIO_PIN_1 << Pin);
} else if (Pin <= 7) {
PIOS_SERVO_GPIO_PORT_5TO8->BRR = (PIOS_SERVO_GPIO_PIN_5 << (Pin - 4));
if (!debug_channels || pin >= debug_num_channels) {
return;
}
const struct pios_tim_channel * chan = &debug_channels[pin];
GPIO_WriteBit(chan->init->port, chan->init->GPIO_Pin, Bit_RESET);
#endif // PIOS_ENABLE_DEBUG_PINS
}
@ -104,11 +112,22 @@ void PIOS_DEBUG_PinLow(uint8_t Pin)
void PIOS_DEBUG_PinValue8Bit(uint8_t value)
{
#ifdef PIOS_ENABLE_DEBUG_PINS
if (!debug_channels) {
return;
}
uint32_t bsrr_l = ( ((~value)&0x0F)<<(16+6) ) | ((value & 0x0F)<<6);
uint32_t bsrr_h = ( ((~value)&0xF0)<<(16+6-4) ) | ((value & 0xF0)<<(6-4));
PIOS_IRQ_Disable();
PIOS_SERVO_GPIO_PORT_1TO4->BSRR = bsrr_l;
PIOS_SERVO_GPIO_PORT_5TO8->BSRR = bsrr_h;
/*
* This is sketchy since it assumes a particular ordering
* and bitwise layout of the channels provided to the debug code.
*/
debug_channels[0].init.port->BSRR = bsrr_l;
debug_channels[4].init.port->BSRR = bsrr_h;
PIOS_IRQ_Enable();
#endif // PIOS_ENABLE_DEBUG_PINS
}
@ -116,8 +135,16 @@ void PIOS_DEBUG_PinValue8Bit(uint8_t value)
void PIOS_DEBUG_PinValue4BitL(uint8_t value)
{
#ifdef PIOS_ENABLE_DEBUG_PINS
if (!debug_channels) {
return;
}
/*
* This is sketchy since it assumes a particular ordering
* and bitwise layout of the channels provided to the debug code.
*/
uint32_t bsrr_l = ((~(value & 0x0F)<<(16+6))) | ((value & 0x0F)<<6);
PIOS_SERVO_GPIO_PORT_1TO4->BSRR = bsrr_l;
debug_channels[0].init.port->BSRR = bsrr_l;
#endif // PIOS_ENABLE_DEBUG_PINS
}

8
flight/PiOS/STM32F10x/pios_i2c.c
View File

@ -823,12 +823,12 @@ static bool PIOS_I2C_validate(struct pios_i2c_adapter * i2c_adapter)
return (i2c_adapter->magic == PIOS_I2C_DEV_MAGIC);
}
#if defined(PIOS_INCLUDE_FREERTOS) && 0
static struct pios_i2c_dev * PIOS_I2C_alloc(void)
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_i2c_adapter * PIOS_I2C_alloc(void)
{
struct pios_i2c_dev * i2c_adapter;
struct pios_i2c_adapter * i2c_adapter;
i2c_adapter = (struct pios_i2c_adapter *)malloc(sizeof(*i2c_adapter));
i2c_adapter = (struct pios_i2c_adapter *)pvPortMalloc(sizeof(*i2c_adapter));
if (!i2c_adapter) return(NULL);
i2c_adapter->magic = PIOS_I2C_DEV_MAGIC;

418
flight/PiOS/STM32F10x/pios_ppm.c
View File

@ -47,108 +47,139 @@ const struct pios_rcvr_driver pios_ppm_rcvr_driver = {
#define PIOS_PPM_IN_MIN_SYNC_PULSE_US 3800 // microseconds
#define PIOS_PPM_IN_MIN_CHANNEL_PULSE_US 750 // microseconds
#define PIOS_PPM_IN_MAX_CHANNEL_PULSE_US 2250 // microseconds
#define PIOS_PPM_INPUT_INVALID 0
/* Local Variables */
static TIM_ICInitTypeDef TIM_ICInitStructure;
static uint8_t PulseIndex;
static uint32_t PreviousTime;
static uint32_t CurrentTime;
static uint32_t DeltaTime;
static uint32_t CaptureValue[PIOS_PPM_IN_MAX_NUM_CHANNELS];
static uint32_t CaptureValueNewFrame[PIOS_PPM_IN_MAX_NUM_CHANNELS];
static uint32_t LargeCounter;
static int8_t NumChannels;
static int8_t NumChannelsPrevFrame;
static uint8_t NumChannelCounter;
static uint8_t supv_timer = 0;
static bool Tracking;
static bool Fresh;
static void PIOS_PPM_Supervisor(uint32_t ppm_id);
void PIOS_PPM_Init(void)
enum pios_ppm_dev_magic {
PIOS_PPM_DEV_MAGIC = 0xee014d8b,
};
struct pios_ppm_dev {
enum pios_ppm_dev_magic magic;
const struct pios_ppm_cfg * cfg;
uint8_t PulseIndex;
uint32_t PreviousTime;
uint32_t CurrentTime;
uint32_t DeltaTime;
uint32_t CaptureValue[PIOS_PPM_IN_MAX_NUM_CHANNELS];
uint32_t CaptureValueNewFrame[PIOS_PPM_IN_MAX_NUM_CHANNELS];
uint32_t LargeCounter;
int8_t NumChannels;
int8_t NumChannelsPrevFrame;
uint8_t NumChannelCounter;
uint8_t supv_timer;
bool Tracking;
bool Fresh;
};
static bool PIOS_PPM_validate(struct pios_ppm_dev * ppm_dev)
{
/* Flush counter variables */
int32_t i;
return (ppm_dev->magic == PIOS_PPM_DEV_MAGIC);
}
PulseIndex = 0;
PreviousTime = 0;
CurrentTime = 0;
DeltaTime = 0;
LargeCounter = 0;
NumChannels = -1;
NumChannelsPrevFrame = -1;
NumChannelCounter = 0;
Tracking = FALSE;
Fresh = FALSE;
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_ppm_dev * PIOS_PPM_alloc(void)
{
struct pios_ppm_dev * ppm_dev;
for (i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) {
CaptureValue[i] = 0;
CaptureValueNewFrame[i] = 0;
ppm_dev = (struct pios_ppm_dev *)pvPortMalloc(sizeof(*ppm_dev));
if (!ppm_dev) return(NULL);
ppm_dev->magic = PIOS_PPM_DEV_MAGIC;
return(ppm_dev);
}
#else
static struct pios_ppm_dev pios_ppm_devs[PIOS_PPM_MAX_DEVS];
static uint8_t pios_ppm_num_devs;
static struct pios_ppm_dev * PIOS_PPM_alloc(void)
{
struct pios_ppm_dev * ppm_dev;
if (pios_ppm_num_devs >= PIOS_PPM_MAX_DEVS) {
return (NULL);
}
NVIC_InitTypeDef NVIC_InitStructure = pios_ppm_cfg.irq.init;
ppm_dev = &pios_ppm_devs[pios_ppm_num_devs++];
ppm_dev->magic = PIOS_PPM_DEV_MAGIC;
/* Enable appropriate clock to timer module */
switch((int32_t) pios_ppm_cfg.timer) {
case (int32_t)TIM1:
NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
break;
case (int32_t)TIM2:
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
break;
case (int32_t)TIM3:
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
break;
case (int32_t)TIM4:
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
break;
#ifdef STM32F10X_HD
case (int32_t)TIM5:
NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
break;
case (int32_t)TIM6:
NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
break;
case (int32_t)TIM7:
NVIC_InitStructure.NVIC_IRQChannel = TIM7_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE);
break;
case (int32_t)TIM8:
NVIC_InitStructure.NVIC_IRQChannel = TIM8_CC_IRQn;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
break;
return (ppm_dev);
}
#endif
static void PIOS_PPM_tim_overflow_cb (uint32_t id, uint32_t context, uint8_t channel, uint16_t count);
static void PIOS_PPM_tim_edge_cb (uint32_t id, uint32_t context, uint8_t channel, uint16_t count);
const static struct pios_tim_callbacks tim_callbacks = {
.overflow = PIOS_PPM_tim_overflow_cb,
.edge = PIOS_PPM_tim_edge_cb,
};
extern int32_t PIOS_PPM_Init(uint32_t * ppm_id, const struct pios_ppm_cfg * cfg)
{
PIOS_DEBUG_Assert(ppm_id);
PIOS_DEBUG_Assert(cfg);
struct pios_ppm_dev * ppm_dev;
ppm_dev = (struct pios_ppm_dev *) PIOS_PPM_alloc();
if (!ppm_dev) goto out_fail;
/* Bind the configuration to the device instance */
ppm_dev->cfg = cfg;
/* Set up the state variables */
ppm_dev->PulseIndex = 0;
ppm_dev->PreviousTime = 0;
ppm_dev->CurrentTime = 0;
ppm_dev->DeltaTime = 0;
ppm_dev->LargeCounter = 0;
ppm_dev->NumChannels = -1;
ppm_dev->NumChannelsPrevFrame = -1;
ppm_dev->NumChannelCounter = 0;
ppm_dev->Tracking = FALSE;
ppm_dev->Fresh = FALSE;
for (uint8_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) {
/* Flush counter variables */
ppm_dev->CaptureValue[i] = 0;
ppm_dev->CaptureValueNewFrame[i] = 0;
}
/* Enable timer interrupts */
NVIC_Init(&NVIC_InitStructure);
/* Configure input pins */
GPIO_InitTypeDef GPIO_InitStructure = pios_ppm_cfg.gpio_init;
GPIO_Init(pios_ppm_cfg.port, &GPIO_InitStructure);
uint32_t tim_id;
if (PIOS_TIM_InitChannels(&tim_id, cfg->channels, cfg->num_channels, &tim_callbacks, (uint32_t)ppm_dev)) {
return -1;
}
/* Configure timer for input capture */
TIM_ICInitStructure = pios_ppm_cfg.tim_ic_init;
TIM_ICInit(pios_ppm_cfg.timer, &TIM_ICInitStructure);
/* Configure the channels to be in capture/compare mode */
for (uint8_t i = 0; i < cfg->num_channels; i++) {
const struct pios_tim_channel * chan = &cfg->channels[i];
/* Configure timer clocks */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_ppm_cfg.tim_base_init;
TIM_InternalClockConfig(pios_ppm_cfg.timer);
TIM_TimeBaseInit(pios_ppm_cfg.timer, &TIM_TimeBaseStructure);
/* Configure timer for input capture */
TIM_ICInitTypeDef TIM_ICInitStructure = cfg->tim_ic_init;
TIM_ICInitStructure.TIM_Channel = chan->timer_chan;
TIM_ICInit(chan->timer, &TIM_ICInitStructure);
/* Enable the Capture Compare Interrupt Request */
TIM_ITConfig(pios_ppm_cfg.timer, pios_ppm_cfg.ccr | TIM_IT_Update, ENABLE);
/* Enable timers */
TIM_Cmd(pios_ppm_cfg.timer, ENABLE);
/* Enable the Capture Compare Interrupt Request */
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_ITConfig(chan->timer, TIM_IT_CC1 | TIM_IT_Update, ENABLE);
break;
case TIM_Channel_2:
TIM_ITConfig(chan->timer, TIM_IT_CC2 | TIM_IT_Update, ENABLE);
break;
case TIM_Channel_3:
TIM_ITConfig(chan->timer, TIM_IT_CC3 | TIM_IT_Update, ENABLE);
break;
case TIM_Channel_4:
TIM_ITConfig(chan->timer, TIM_IT_CC4 | TIM_IT_Update, ENABLE);
break;
}
}
/* Setup local variable which stays in this scope */
/* Doing this here and using a local variable saves doing it in the ISR */
@ -156,9 +187,16 @@ void PIOS_PPM_Init(void)
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
if (!PIOS_RTC_RegisterTickCallback(PIOS_PPM_Supervisor, 0)) {
if (!PIOS_RTC_RegisterTickCallback(PIOS_PPM_Supervisor, (uint32_t)ppm_dev)) {
PIOS_DEBUG_Assert(0);
}
*ppm_id = (uint32_t)ppm_dev;
return(0);
out_fail:
return(-1);
}
/**
@ -169,142 +207,146 @@ void PIOS_PPM_Init(void)
*/
static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel)
{
/* Return error if channel not available */
if (channel >= PIOS_PPM_IN_MAX_NUM_CHANNELS) {
return -1;
struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)rcvr_id;
if (!PIOS_PPM_validate(ppm_dev)) {
/* Invalid device specified */
return PIOS_RCVR_INVALID;
}
return CaptureValue[channel];
if (channel >= PIOS_PPM_IN_MAX_NUM_CHANNELS) {
/* Channel out of range */
return PIOS_RCVR_INVALID;
}
return ppm_dev->CaptureValue[channel];
}
/**
* Handle TIMx global interrupt request
* Some work and testing still needed, need to detect start of frame and decode pulses
*
*/
void PIOS_PPM_irq_handler(void)
static void PIOS_PPM_tim_overflow_cb (uint32_t tim_id, uint32_t context, uint8_t channel, uint16_t count)
{
/* Timer Overflow Interrupt
* The time between timer overflows must be greater than the PPM
* frame period. If a full frame has not decoded in the between timer
* overflows then capture values should be cleared.
*/
struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)context;
if (TIM_GetITStatus(pios_ppm_cfg.timer, TIM_IT_Update) == SET) {
/* Clear TIMx overflow interrupt pending bit */
TIM_ClearITPendingBit(pios_ppm_cfg.timer, TIM_IT_Update);
/* If sharing a timer with a servo output the ARR register will
be set according to the PWM period. When timer reaches the
ARR value a timer overflow interrupt will fire. We use the
interrupt accumulate a 32-bit timer. */
LargeCounter = LargeCounter + pios_ppm_cfg.timer->ARR;
if (!PIOS_PPM_validate(ppm_dev)) {
/* Invalid device specified */
return;
}
/* Signal edge interrupt */
if (TIM_GetITStatus(pios_ppm_cfg.timer, pios_ppm_cfg.ccr) == SET) {
PreviousTime = CurrentTime;
ppm_dev->LargeCounter += count;
switch((int32_t) pios_ppm_cfg.ccr) {
case (int32_t)TIM_IT_CC1:
CurrentTime = TIM_GetCapture1(pios_ppm_cfg.timer);
break;
case (int32_t)TIM_IT_CC2:
CurrentTime = TIM_GetCapture2(pios_ppm_cfg.timer);
break;
case (int32_t)TIM_IT_CC3:
CurrentTime = TIM_GetCapture3(pios_ppm_cfg.timer);
break;
case (int32_t)TIM_IT_CC4:
CurrentTime = TIM_GetCapture4(pios_ppm_cfg.timer);
break;
return;
}
static void PIOS_PPM_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t chan_idx, uint16_t count)
{
/* Recover our device context */
struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)context;
if (!PIOS_PPM_validate(ppm_dev)) {
/* Invalid device specified */
return;
}
if (chan_idx >= ppm_dev->cfg->num_channels) {
/* Channel out of range */
return;
}
/* Shift the last measurement out */
ppm_dev->PreviousTime = ppm_dev->CurrentTime;
/* Grab the new count */
ppm_dev->CurrentTime = count;
/* Convert to 32-bit timer result */
ppm_dev->CurrentTime += ppm_dev->LargeCounter;
/* Capture computation */
ppm_dev->DeltaTime = ppm_dev->CurrentTime - ppm_dev->PreviousTime;
ppm_dev->PreviousTime = ppm_dev->CurrentTime;
/* Sync pulse detection */
if (ppm_dev->DeltaTime > PIOS_PPM_IN_MIN_SYNC_PULSE_US) {
if (ppm_dev->PulseIndex == ppm_dev->NumChannelsPrevFrame
&& ppm_dev->PulseIndex >= PIOS_PPM_IN_MIN_NUM_CHANNELS
&& ppm_dev->PulseIndex <= PIOS_PPM_IN_MAX_NUM_CHANNELS)
{
/* If we see n simultaneous frames of the same
number of channels we save it as our frame size */
if (ppm_dev->NumChannelCounter < PIOS_PPM_STABLE_CHANNEL_COUNT)
ppm_dev->NumChannelCounter++;
else
ppm_dev->NumChannels = ppm_dev->PulseIndex;
} else {
ppm_dev->NumChannelCounter = 0;
}
/* Clear TIMx Capture compare interrupt pending bit */
TIM_ClearITPendingBit(pios_ppm_cfg.timer, pios_ppm_cfg.ccr);
/* Convert to 32-bit timer result */
CurrentTime = CurrentTime + LargeCounter;
/* Capture computation */
DeltaTime = CurrentTime - PreviousTime;
PreviousTime = CurrentTime;
/* Sync pulse detection */
if (DeltaTime > PIOS_PPM_IN_MIN_SYNC_PULSE_US) {
if (PulseIndex == NumChannelsPrevFrame
&& PulseIndex >= PIOS_PPM_IN_MIN_NUM_CHANNELS
&& PulseIndex <= PIOS_PPM_IN_MAX_NUM_CHANNELS)
{
/* If we see n simultaneous frames of the same
number of channels we save it as our frame size */
if (NumChannelCounter < PIOS_PPM_STABLE_CHANNEL_COUNT)
NumChannelCounter++;
else
NumChannels = PulseIndex;
} else {
NumChannelCounter = 0;
/* Check if the last frame was well formed */
if (ppm_dev->PulseIndex == ppm_dev->NumChannels && ppm_dev->Tracking) {
/* The last frame was well formed */
for (uint32_t i = 0; i < ppm_dev->NumChannels; i++) {
ppm_dev->CaptureValue[i] = ppm_dev->CaptureValueNewFrame[i];
}
/* Check if the last frame was well formed */
if (PulseIndex == NumChannels && Tracking) {
/* The last frame was well formed */
for (uint32_t i = 0; i < NumChannels; i++) {
CaptureValue[i] = CaptureValueNewFrame[i];
}
for (uint32_t i = NumChannels;
i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) {
CaptureValue[i] = PIOS_PPM_INPUT_INVALID;
}
for (uint32_t i = ppm_dev->NumChannels;
i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) {
ppm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
}
}
Fresh = TRUE;
Tracking = TRUE;
NumChannelsPrevFrame = PulseIndex;
PulseIndex = 0;
ppm_dev->Fresh = TRUE;
ppm_dev->Tracking = TRUE;
ppm_dev->NumChannelsPrevFrame = ppm_dev->PulseIndex;
ppm_dev->PulseIndex = 0;
/* We rely on the supervisor to set CaptureValue to invalid
if no valid frame is found otherwise we ride over it */
/* We rely on the supervisor to set CaptureValue to invalid
if no valid frame is found otherwise we ride over it */
} else if (Tracking) {
/* Valid pulse duration 0.75 to 2.5 ms*/
if (DeltaTime > PIOS_PPM_IN_MIN_CHANNEL_PULSE_US
&& DeltaTime < PIOS_PPM_IN_MAX_CHANNEL_PULSE_US
&& PulseIndex < PIOS_PPM_IN_MAX_NUM_CHANNELS) {
CaptureValueNewFrame[PulseIndex] = DeltaTime;
PulseIndex++;
} else {
/* Not a valid pulse duration */
Tracking = FALSE;
for (uint32_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS ; i++) {
CaptureValueNewFrame[i] = PIOS_PPM_INPUT_INVALID;
}
} else if (ppm_dev->Tracking) {
/* Valid pulse duration 0.75 to 2.5 ms*/
if (ppm_dev->DeltaTime > PIOS_PPM_IN_MIN_CHANNEL_PULSE_US
&& ppm_dev->DeltaTime < PIOS_PPM_IN_MAX_CHANNEL_PULSE_US
&& ppm_dev->PulseIndex < PIOS_PPM_IN_MAX_NUM_CHANNELS) {
ppm_dev->CaptureValueNewFrame[ppm_dev->PulseIndex] = ppm_dev->DeltaTime;
ppm_dev->PulseIndex++;
} else {
/* Not a valid pulse duration */
ppm_dev->Tracking = FALSE;
for (uint32_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS ; i++) {
ppm_dev->CaptureValueNewFrame[i] = PIOS_RCVR_TIMEOUT;
}
}
}
}
static void PIOS_PPM_Supervisor(uint32_t ppm_id) {
/* Recover our device context */
struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)ppm_id;
if (!PIOS_PPM_validate(ppm_dev)) {
/* Invalid device specified */
return;
}
/*
* RTC runs at 625Hz so divide down the base rate so
* that this loop runs at 25Hz.
*/
if(++supv_timer < 25) {
if(++(ppm_dev->supv_timer) < 25) {
return;
}
supv_timer = 0;
ppm_dev->supv_timer = 0;
if (!Fresh) {
Tracking = FALSE;
if (!ppm_dev->Fresh) {
ppm_dev->Tracking = FALSE;
for (int32_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS ; i++) {
CaptureValue[i] = PIOS_PPM_INPUT_INVALID;
CaptureValueNewFrame[i] = PIOS_PPM_INPUT_INVALID;
ppm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
ppm_dev->CaptureValueNewFrame[i] = PIOS_RCVR_TIMEOUT;
}
}
Fresh = FALSE;
ppm_dev->Fresh = FALSE;
}
#endif

343
flight/PiOS/STM32F10x/pios_pwm.c
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@ -42,96 +42,131 @@ const struct pios_rcvr_driver pios_pwm_rcvr_driver = {
};
/* Local Variables */
static uint8_t CaptureState[PIOS_PWM_NUM_INPUTS];
static uint16_t RiseValue[PIOS_PWM_NUM_INPUTS];
static uint16_t FallValue[PIOS_PWM_NUM_INPUTS];
static uint32_t CaptureValue[PIOS_PWM_NUM_INPUTS];
/* 100 ms timeout without updates on channels */
const static uint32_t PWM_SUPERVISOR_TIMEOUT = 100000;
static uint32_t CapCounter[PIOS_PWM_NUM_INPUTS];
enum pios_pwm_dev_magic {
PIOS_PWM_DEV_MAGIC = 0xab30293c,
};
struct pios_pwm_dev {
enum pios_pwm_dev_magic magic;
const struct pios_pwm_cfg * cfg;
uint8_t CaptureState[PIOS_PWM_NUM_INPUTS];
uint16_t RiseValue[PIOS_PWM_NUM_INPUTS];
uint16_t FallValue[PIOS_PWM_NUM_INPUTS];
uint32_t CaptureValue[PIOS_PWM_NUM_INPUTS];
uint32_t CapCounter[PIOS_PWM_NUM_INPUTS];
uint32_t us_since_update[PIOS_PWM_NUM_INPUTS];
};
static bool PIOS_PWM_validate(struct pios_pwm_dev * pwm_dev)
{
return (pwm_dev->magic == PIOS_PWM_DEV_MAGIC);
}
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_pwm_dev * PIOS_PWM_alloc(void)
{
struct pios_pwm_dev * pwm_dev;
pwm_dev = (struct pios_pwm_dev *)pvPortMalloc(sizeof(*pwm_dev));
if (!pwm_dev) return(NULL);
pwm_dev->magic = PIOS_PWM_DEV_MAGIC;
return(pwm_dev);
}
#else
static struct pios_pwm_dev pios_pwm_devs[PIOS_PWM_MAX_DEVS];
static uint8_t pios_pwm_num_devs;
static struct pios_pwm_dev * PIOS_PWM_alloc(void)
{
struct pios_pwm_dev * pwm_dev;
if (pios_pwm_num_devs >= PIOS_PWM_MAX_DEVS) {
return (NULL);
}
pwm_dev = &pios_pwm_devs[pios_pwm_num_devs++];
pwm_dev->magic = PIOS_PWM_DEV_MAGIC;
return (pwm_dev);
}
#endif
static void PIOS_PWM_tim_overflow_cb (uint32_t id, uint32_t context, uint8_t channel, uint16_t count);
static void PIOS_PWM_tim_edge_cb (uint32_t id, uint32_t context, uint8_t channel, uint16_t count);
const static struct pios_tim_callbacks tim_callbacks = {
.overflow = PIOS_PWM_tim_overflow_cb,
.edge = PIOS_PWM_tim_edge_cb,
};
/**
* Initialises all the pins
*/
void PIOS_PWM_Init(void)
int32_t PIOS_PWM_Init(uint32_t * pwm_id, const struct pios_pwm_cfg * cfg)
{
for (uint8_t i = 0; i < pios_pwm_cfg.num_channels; i++) {
/* Flush counter variables */
CaptureState[i] = 0;
RiseValue[i] = 0;
FallValue[i] = 0;
CaptureValue[i] = 0;
NVIC_InitTypeDef NVIC_InitStructure = pios_pwm_cfg.irq.init;
GPIO_InitTypeDef GPIO_InitStructure = pios_pwm_cfg.gpio_init;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_pwm_cfg.tim_base_init;
TIM_ICInitTypeDef TIM_ICInitStructure = pios_pwm_cfg.tim_ic_init;
struct pios_pwm_channel channel = pios_pwm_cfg.channels[i];
/* Enable appropriate clock to timer module */
switch((int32_t) channel.timer) {
case (int32_t)TIM1:
NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
break;
case (int32_t)TIM2:
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
break;
case (int32_t)TIM3:
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
break;
case (int32_t)TIM4:
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
break;
#ifdef STM32F10X_HD
case (int32_t)TIM5:
NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
break;
case (int32_t)TIM6:
NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
break;
case (int32_t)TIM7:
NVIC_InitStructure.NVIC_IRQChannel = TIM7_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE);
break;
case (int32_t)TIM8:
NVIC_InitStructure.NVIC_IRQChannel = TIM8_CC_IRQn;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
break;
#endif
}
NVIC_Init(&NVIC_InitStructure);
PIOS_DEBUG_Assert(pwm_id);
PIOS_DEBUG_Assert(cfg);
struct pios_pwm_dev * pwm_dev;
pwm_dev = (struct pios_pwm_dev *) PIOS_PWM_alloc();
if (!pwm_dev) goto out_fail;
/* Bind the configuration to the device instance */
pwm_dev->cfg = cfg;
for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
/* Flush counter variables */
pwm_dev->CaptureState[i] = 0;
pwm_dev->RiseValue[i] = 0;
pwm_dev->FallValue[i] = 0;
pwm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
}
uint32_t tim_id;
if (PIOS_TIM_InitChannels(&tim_id, cfg->channels, cfg->num_channels, &tim_callbacks, (uint32_t)pwm_dev)) {
return -1;
}
/* Configure the channels to be in capture/compare mode */
for (uint8_t i = 0; i < cfg->num_channels; i++) {
const struct pios_tim_channel * chan = &cfg->channels[i];
/* Enable GPIO */
GPIO_InitStructure.GPIO_Pin = channel.pin;
GPIO_Init(channel.port, &GPIO_InitStructure);
/* Configure timer for input capture */
TIM_ICInitStructure.TIM_Channel = channel.channel;
TIM_ICInit(channel.timer, &TIM_ICInitStructure);
/* Configure timer clocks */
TIM_InternalClockConfig(channel.timer);
if(channel.timer->PSC != ((PIOS_MASTER_CLOCK / 1000000) - 1))
TIM_TimeBaseInit(channel.timer, &TIM_TimeBaseStructure);
TIM_ICInitTypeDef TIM_ICInitStructure = cfg->tim_ic_init;
TIM_ICInitStructure.TIM_Channel = chan->timer_chan;
TIM_ICInit(chan->timer, &TIM_ICInitStructure);
/* Enable the Capture Compare Interrupt Request */
TIM_ITConfig(channel.timer, channel.ccr, ENABLE);
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_ITConfig(chan->timer, TIM_IT_CC1, ENABLE);
break;
case TIM_Channel_2:
TIM_ITConfig(chan->timer, TIM_IT_CC2, ENABLE);
break;
case TIM_Channel_3:
TIM_ITConfig(chan->timer, TIM_IT_CC3, ENABLE);
break;
case TIM_Channel_4:
TIM_ITConfig(chan->timer, TIM_IT_CC4, ENABLE);
break;
}
// Need the update event for that timer to detect timeouts
TIM_ITConfig(chan->timer, TIM_IT_Update, ENABLE);
/* Enable timers */
TIM_Cmd(channel.timer, ENABLE);
}
if(pios_pwm_cfg.remap) {
/* Warning, I don't think this will work for multiple remaps at once */
GPIO_PinRemapConfig(pios_pwm_cfg.remap, ENABLE);
}
*pwm_id = (uint32_t) pwm_dev;
return (0);
out_fail:
return (-1);
}
/**
@ -142,75 +177,101 @@ void PIOS_PWM_Init(void)
*/
static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t channel)
{
/* Return error if channel not available */
if (channel >= pios_pwm_cfg.num_channels) {
return -1;
struct pios_pwm_dev * pwm_dev = (struct pios_pwm_dev *)rcvr_id;
if (!PIOS_PWM_validate(pwm_dev)) {
/* Invalid device specified */
return PIOS_RCVR_INVALID;
}
return CaptureValue[channel];
if (channel >= PIOS_PWM_NUM_INPUTS) {
/* Channel out of range */
return PIOS_RCVR_INVALID;
}
return pwm_dev->CaptureValue[channel];
}
void PIOS_PWM_irq_handler(TIM_TypeDef * timer)
static void PIOS_PWM_tim_overflow_cb (uint32_t tim_id, uint32_t context, uint8_t channel, uint16_t count)
{
uint16_t val = 0;
for(uint8_t i = 0; i < pios_pwm_cfg.num_channels; i++) {
struct pios_pwm_channel channel = pios_pwm_cfg.channels[i];
if ((channel.timer == timer) && (TIM_GetITStatus(channel.timer, channel.ccr) == SET)) {
TIM_ClearITPendingBit(channel.timer, channel.ccr);
switch(channel.channel) {
case TIM_Channel_1:
val = TIM_GetCapture1(channel.timer);
break;
case TIM_Channel_2:
val = TIM_GetCapture2(channel.timer);
break;
case TIM_Channel_3:
val = TIM_GetCapture3(channel.timer);
break;
case TIM_Channel_4:
val = TIM_GetCapture4(channel.timer);
break;
}
if (CaptureState[i] == 0) {
RiseValue[i] = val;
} else {
FallValue[i] = val;
}
// flip state machine and capture value here
/* Simple rise or fall state machine */
TIM_ICInitTypeDef TIM_ICInitStructure = pios_pwm_cfg.tim_ic_init;
if (CaptureState[i] == 0) {
/* Switch states */
CaptureState[i] = 1;
/* Switch polarity of input capture */
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
TIM_ICInitStructure.TIM_Channel = channel.channel;
TIM_ICInit(channel.timer, &TIM_ICInitStructure);
} else {
/* Capture computation */
if (FallValue[i] > RiseValue[i]) {
CaptureValue[i] = (FallValue[i] - RiseValue[i]);
} else {
CaptureValue[i] = ((channel.timer->ARR - RiseValue[i]) + FallValue[i]);
}
/* Switch states */
CaptureState[i] = 0;
/* Increase supervisor counter */
CapCounter[i]++;
/* Switch polarity of input capture */
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_Channel = channel.channel;
TIM_ICInit(channel.timer, &TIM_ICInitStructure);
}
}
struct pios_pwm_dev * pwm_dev = (struct pios_pwm_dev *)context;
if (!PIOS_PWM_validate(pwm_dev)) {
/* Invalid device specified */
return;
}
if (channel >= pwm_dev->cfg->num_channels) {
/* Channel out of range */
return;
}
pwm_dev->us_since_update[channel] += count;
if(pwm_dev->us_since_update[channel] >= PWM_SUPERVISOR_TIMEOUT) {
pwm_dev->CaptureState[channel] = 0;
pwm_dev->RiseValue[channel] = 0;
pwm_dev->FallValue[channel] = 0;
pwm_dev->CaptureValue[channel] = PIOS_RCVR_TIMEOUT;
pwm_dev->us_since_update[channel] = 0;
}
return;
}
static void PIOS_PWM_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t chan_idx, uint16_t count)
{
/* Recover our device context */
struct pios_pwm_dev * pwm_dev = (struct pios_pwm_dev *)context;
if (!PIOS_PWM_validate(pwm_dev)) {
/* Invalid device specified */
return;
}
if (chan_idx >= pwm_dev->cfg->num_channels) {
/* Channel out of range */
return;
}
const struct pios_tim_channel * chan = &pwm_dev->cfg->channels[chan_idx];
if (pwm_dev->CaptureState[chan_idx] == 0) {
pwm_dev->RiseValue[chan_idx] = count;
pwm_dev->us_since_update[chan_idx] = 0;
} else {
pwm_dev->FallValue[chan_idx] = count;
}
// flip state machine and capture value here
/* Simple rise or fall state machine */
TIM_ICInitTypeDef TIM_ICInitStructure = pwm_dev->cfg->tim_ic_init;
if (pwm_dev->CaptureState[chan_idx] == 0) {
/* Switch states */
pwm_dev->CaptureState[chan_idx] = 1;
/* Switch polarity of input capture */
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
TIM_ICInitStructure.TIM_Channel = chan->timer_chan;
TIM_ICInit(chan->timer, &TIM_ICInitStructure);
} else {
/* Capture computation */
if (pwm_dev->FallValue[chan_idx] > pwm_dev->RiseValue[chan_idx]) {
pwm_dev->CaptureValue[chan_idx] = (pwm_dev->FallValue[chan_idx] - pwm_dev->RiseValue[chan_idx]);
} else {
pwm_dev->CaptureValue[chan_idx] = ((chan->timer->ARR - pwm_dev->RiseValue[chan_idx]) + pwm_dev->FallValue[chan_idx]);
}
/* Switch states */
pwm_dev->CaptureState[chan_idx] = 0;
/* Increase supervisor counter */
pwm_dev->CapCounter[chan_idx]++;
/* Switch polarity of input capture */
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_Channel = chan->timer_chan;
TIM_ICInit(chan->timer, &TIM_ICInitStructure);
}
}
#endif

32
flight/PiOS/STM32F10x/pios_sbus.c
View File

@ -34,8 +34,6 @@
#if defined(PIOS_INCLUDE_SBUS)
/* Global Variables */
/* Provide a RCVR driver */
static int32_t PIOS_SBUS_Get(uint32_t rcvr_id, uint8_t channel);
@ -59,27 +57,23 @@ static void PIOS_SBUS_Supervisor(uint32_t sbus_id);
static void reset_channels(void)
{
for (int i = 0; i < SBUS_NUMBER_OF_CHANNELS; i++) {
channel_data[i] = 0;
channel_data[i] = PIOS_RCVR_TIMEOUT;
}
}
/**
* unroll_channels() function computes channel_data[] from received_data[]
* For efficiency it unrolls first 8 channels without loops. If other
* 8 channels are needed they can be unrolled using the same code
* starting from s[11] instead of s[0]. Two extra digital channels are
* accessible using (s[22] & SBUS_FLAG_DGx) logical expressions.
* For efficiency it unrolls first 8 channels without loops and does the
* same for other 8 channels. Also 2 discrete channels will be set.
*/
static void unroll_channels(void)
{
uint8_t *s = received_data;
uint16_t *d = channel_data;
#if (SBUS_NUMBER_OF_CHANNELS != 8)
#error Current S.Bus code unrolls only first 8 channels
#endif
#define F(v,s) ((v) >> s) & 0x7ff
/* unroll channels 1-8 */
*d++ = F(s[0] | s[1] << 8, 0);
*d++ = F(s[1] | s[2] << 8, 3);
*d++ = F(s[2] | s[3] << 8 | s[4] << 16, 6);
@ -88,6 +82,20 @@ static void unroll_channels(void)
*d++ = F(s[6] | s[7] << 8 | s[8] << 16, 7);
*d++ = F(s[8] | s[9] << 8, 2);
*d++ = F(s[9] | s[10] << 8, 5);
/* unroll channels 9-16 */
*d++ = F(s[11] | s[12] << 8, 0);
*d++ = F(s[12] | s[13] << 8, 3);
*d++ = F(s[13] | s[14] << 8 | s[15] << 16, 6);
*d++ = F(s[15] | s[16] << 8, 1);
*d++ = F(s[16] | s[17] << 8, 4);
*d++ = F(s[17] | s[18] << 8 | s[19] << 16, 7);
*d++ = F(s[19] | s[20] << 8, 2);
*d++ = F(s[20] | s[21] << 8, 5);
/* unroll discrete channels 17 and 18 */
*d++ = (s[22] & SBUS_FLAG_DC1) ? SBUS_VALUE_MAX : SBUS_VALUE_MIN;
*d++ = (s[22] & SBUS_FLAG_DC2) ? SBUS_VALUE_MAX : SBUS_VALUE_MIN;
}
/**
@ -183,7 +191,7 @@ static int32_t PIOS_SBUS_Get(uint32_t rcvr_id, uint8_t channel)
{
/* return error if channel is not available */
if (channel >= SBUS_NUMBER_OF_CHANNELS) {
return -1;
return PIOS_RCVR_INVALID;
}
return channel_data[channel];
}

154
flight/PiOS/STM32F10x/pios_servo.c
View File

@ -31,97 +31,55 @@
/* Project Includes */
#include "pios.h"
#include "pios_servo_priv.h"
#include "pios_tim_priv.h"
/* Private Function Prototypes */
static const struct pios_servo_cfg * servo_cfg;
/**
* Initialise Servos
*/
void PIOS_Servo_Init(void)
int32_t PIOS_Servo_Init(const struct pios_servo_cfg * cfg)
{
#ifndef PIOS_ENABLE_DEBUG_PINS
#if defined(PIOS_INCLUDE_SERVO)
uint32_t tim_id;
if (PIOS_TIM_InitChannels(&tim_id, cfg->channels, cfg->num_channels, NULL, 0)) {
return -1;
}
/* Store away the requested configuration */
servo_cfg = cfg;
for (uint8_t i = 0; i < pios_servo_cfg.num_channels; i++) {
GPIO_InitTypeDef GPIO_InitStructure = pios_servo_cfg.gpio_init;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_servo_cfg.tim_base_init;
TIM_OCInitTypeDef TIM_OCInitStructure = pios_servo_cfg.tim_oc_init;
struct pios_servo_channel channel = pios_servo_cfg.channels[i];
/* Enable appropriate clock to timer module */
switch((int32_t) channel.timer) {
case (int32_t)TIM1:
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
break;
case (int32_t)TIM2:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
break;
case (int32_t)TIM3:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
break;
case (int32_t)TIM4:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
break;
case (int32_t)TIM5:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
break;
case (int32_t)TIM6:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
break;
case (int32_t)TIM7:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE);
break;
case (int32_t)TIM8:
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
break;
}
/* Enable GPIO */
GPIO_InitStructure.GPIO_Pin = channel.pin;
GPIO_Init(channel.port, &GPIO_InitStructure);
/* Enable time base */
TIM_TimeBaseInit(channel.timer, &TIM_TimeBaseStructure);
channel.timer->PSC = (PIOS_MASTER_CLOCK / 1000000) - 1;
/* Configure the channels to be in output compare mode */
for (uint8_t i = 0; i < cfg->num_channels; i++) {
const struct pios_tim_channel * chan = &cfg->channels[i];
/* Set up for output compare function */
switch(channel.channel) {
switch(chan->timer_chan) {
case TIM_Channel_1:
TIM_OC1Init(channel.timer, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(channel.timer, TIM_OCPreload_Enable);
TIM_OC1Init(chan->timer, &cfg->tim_oc_init);
TIM_OC1PreloadConfig(chan->timer, TIM_OCPreload_Enable);
break;
case TIM_Channel_2:
TIM_OC2Init(channel.timer, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(channel.timer, TIM_OCPreload_Enable);
TIM_OC2Init(chan->timer, &cfg->tim_oc_init);
TIM_OC2PreloadConfig(chan->timer, TIM_OCPreload_Enable);
break;
case TIM_Channel_3:
TIM_OC3Init(channel.timer, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(channel.timer, TIM_OCPreload_Enable);
TIM_OC3Init(chan->timer, &cfg->tim_oc_init);
TIM_OC3PreloadConfig(chan->timer, TIM_OCPreload_Enable);
break;
case TIM_Channel_4:
TIM_OC4Init(channel.timer, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(channel.timer, TIM_OCPreload_Enable);
TIM_OC4Init(chan->timer, &cfg->tim_oc_init);
TIM_OC4PreloadConfig(chan->timer, TIM_OCPreload_Enable);
break;
}
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
TIM_ARRPreloadConfig(channel.timer, ENABLE);
TIM_CtrlPWMOutputs(channel.timer, ENABLE);
TIM_Cmd(channel.timer, ENABLE);
TIM_ARRPreloadConfig(chan->timer, ENABLE);
TIM_CtrlPWMOutputs(chan->timer, ENABLE);
TIM_Cmd(chan->timer, ENABLE);
}
if(pios_servo_cfg.remap) {
/* Warning, I don't think this will work for multiple remaps at once */
GPIO_PinRemapConfig(pios_servo_cfg.remap, ENABLE);
}
#endif // PIOS_INCLUDE_SERVO
#endif // PIOS_ENABLE_DEBUG_PINS
return 0;
}
/**
@ -131,31 +89,31 @@ void PIOS_Servo_Init(void)
*/
void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks)
{
#ifndef PIOS_ENABLE_DEBUG_PINS
#if defined(PIOS_INCLUDE_SERVO)
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_servo_cfg.tim_base_init;
if (!servo_cfg) {
return;
}
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = servo_cfg->tim_base_init;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
uint8_t set = 0;
for(uint8_t i = 0; (i < pios_servo_cfg.num_channels) && (set < banks); i++) {
for(uint8_t i = 0; (i < servo_cfg->num_channels) && (set < banks); i++) {
bool new = true;
struct pios_servo_channel channel = pios_servo_cfg.channels[i];
const struct pios_tim_channel * chan = &servo_cfg->channels[i];
/* See if any previous channels use that same timer */
for(uint8_t j = 0; (j < i) && new; j++)
new &= channel.timer != pios_servo_cfg.channels[j].timer;
new &= chan->timer != servo_cfg->channels[j].timer;
if(new) {
TIM_TimeBaseStructure.TIM_Period = ((1000000 / speeds[set]) - 1);
TIM_TimeBaseInit(channel.timer, &TIM_TimeBaseStructure);
TIM_TimeBaseInit(chan->timer, &TIM_TimeBaseStructure);
set++;
}
}
#endif // PIOS_INCLUDE_SERVO
#endif // PIOS_ENABLE_DEBUG_PINS
}
/**
@ -163,29 +121,27 @@ void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks)
* \param[in] Servo Servo number (0-7)
* \param[in] Position Servo position in microseconds
*/
void PIOS_Servo_Set(uint8_t Servo, uint16_t Position)
void PIOS_Servo_Set(uint8_t servo, uint16_t position)
{
#ifndef PIOS_ENABLE_DEBUG_PINS
#if defined(PIOS_INCLUDE_SERVO)
/* Make sure servo exists */
if (Servo < pios_servo_cfg.num_channels && Servo >= 0) {
/* Update the position */
switch(pios_servo_cfg.channels[Servo].channel) {
case TIM_Channel_1:
TIM_SetCompare1(pios_servo_cfg.channels[Servo].timer, Position);
break;
case TIM_Channel_2:
TIM_SetCompare2(pios_servo_cfg.channels[Servo].timer, Position);
break;
case TIM_Channel_3:
TIM_SetCompare3(pios_servo_cfg.channels[Servo].timer, Position);
break;
case TIM_Channel_4:
TIM_SetCompare4(pios_servo_cfg.channels[Servo].timer, Position);
break;
}
if (!servo_cfg || servo >= servo_cfg->num_channels) {
return;
}
/* Update the position */
const struct pios_tim_channel * chan = &servo_cfg->channels[servo];
switch(chan->timer_chan) {
case TIM_Channel_1:
TIM_SetCompare1(chan->timer, position);
break;
case TIM_Channel_2:
TIM_SetCompare2(chan->timer, position);
break;
case TIM_Channel_3:
TIM_SetCompare3(chan->timer, position);
break;
case TIM_Channel_4:
TIM_SetCompare4(chan->timer, position);
break;
}
#endif // PIOS_INCLUDE_SERVO
#endif // PIOS_ENABLE_DEBUG_PINS
}

326
flight/PiOS/STM32F10x/pios_spektrum.c
View File

@ -8,7 +8,6 @@
*
* @file pios_spektrum.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
* @brief USART commands. Inits USARTs, controls USARTs & Interrupt handlers. (STM32 dependent)
* @see The GNU Public License (GPL) Version 3
*
@ -31,10 +30,11 @@
/* Project Includes */
#include "pios.h"
#include "pios_spektrum_priv.h"
#if defined(PIOS_INCLUDE_SPEKTRUM)
#include "pios_spektrum_priv.h"
/**
* @Note Framesyncing:
* The code resets the watchdog timer whenever a single byte is received, so what watchdog code
@ -52,22 +52,80 @@ const struct pios_rcvr_driver pios_spektrum_rcvr_driver = {
.read = PIOS_SPEKTRUM_Get,
};
/* Local Variables */
static uint16_t CaptureValue[PIOS_SPEKTRUM_NUM_INPUTS],CaptureValueTemp[PIOS_SPEKTRUM_NUM_INPUTS];
static uint8_t prev_byte = 0xFF, sync = 0, bytecount = 0, datalength=0, frame_error=0, byte_array[20] = { 0 };
uint8_t sync_of = 0;
uint16_t supv_timer=0;
enum pios_spektrum_dev_magic {
PIOS_SPEKTRUM_DEV_MAGIC = 0xa9b9c9d9,
};
struct pios_spektrum_fsm {
uint16_t channel;
uint16_t CaptureValue[PIOS_SPEKTRUM_NUM_INPUTS];
uint16_t CaptureValueTemp[PIOS_SPEKTRUM_NUM_INPUTS];
uint8_t prev_byte;
uint8_t sync;
uint8_t bytecount;
uint8_t datalength;
uint8_t frame_error;
uint8_t sync_of;
};
struct pios_spektrum_dev {
enum pios_spektrum_dev_magic magic;
const struct pios_spektrum_cfg * cfg;
struct pios_spektrum_fsm fsm;
uint16_t supv_timer;
};
static bool PIOS_SPEKTRUM_validate(struct pios_spektrum_dev * spektrum_dev)
{
return (spektrum_dev->magic == PIOS_SPEKTRUM_DEV_MAGIC);
}
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_spektrum_dev * PIOS_SPEKTRUM_alloc(void)
{
struct pios_spektrum_dev * spektrum_dev;
spektrum_dev = (struct pios_spektrum_dev *)pvPortMalloc(sizeof(*spektrum_dev));
if (!spektrum_dev) return(NULL);
spektrum_dev->magic = PIOS_SPEKTRUM_DEV_MAGIC;
return(spektrum_dev);
}
#else
static struct pios_spektrum_dev pios_spektrum_devs[PIOS_SPEKTRUM_MAX_DEVS];
static uint8_t pios_spektrum_num_devs;
static struct pios_spektrum_dev * PIOS_SPEKTRUM_alloc(void)
{
struct pios_spektrum_dev * spektrum_dev;
if (pios_spektrum_num_devs >= PIOS_SPEKTRUM_MAX_DEVS) {
return (NULL);
}
spektrum_dev = &pios_spektrum_devs[pios_spektrum_num_devs++];
spektrum_dev->magic = PIOS_SPEKTRUM_DEV_MAGIC;
return (spektrum_dev);
}
#endif
static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id);
static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg);
static int32_t PIOS_SPEKTRUM_Decode(uint8_t b);
static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg, uint8_t bind);
static int32_t PIOS_SPEKTRUM_UpdateFSM(struct pios_spektrum_fsm * fsm, uint8_t b);
static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
{
struct pios_spektrum_dev * spektrum_dev = (struct pios_spektrum_dev *)context;
bool valid = PIOS_SPEKTRUM_validate(spektrum_dev);
PIOS_Assert(valid);
/* process byte(s) and clear receive timer */
for (uint8_t i = 0; i < buf_len; i++) {
PIOS_SPEKTRUM_Decode(buf[i]);
supv_timer = 0;
PIOS_SPEKTRUM_UpdateFSM(&(spektrum_dev->fsm), buf[i]);
spektrum_dev->supv_timer = 0;
}
/* Always signal that we can accept another byte */
@ -82,23 +140,114 @@ static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint
return (buf_len);
}
static void PIOS_SPEKTRUM_ResetFSM(struct pios_spektrum_fsm * fsm)
{
fsm->channel = 0;
fsm->prev_byte = 0xFF;
fsm->sync = 0;
fsm->bytecount = 0;
fsm->datalength = 0;
fsm->frame_error = 0;
fsm->sync_of = 0;
}
/**
* Decodes a byte
* \param[in] b byte which should be spektrum decoded
* \return 0 if no error
* \return -1 if USART not available
* \return -2 if buffer full (retry)
*/
static int32_t PIOS_SPEKTRUM_UpdateFSM(struct pios_spektrum_fsm * fsm, uint8_t b)
{
fsm->bytecount++;
if (fsm->sync == 0) {
/* Known sync bytes, 0x01, 0x02, 0x12, 0xb2 */
/* 0xb2 DX8 3bind pulses only */
if (fsm->bytecount == 2) {
if ((b == 0x01) || (b == 0x02) || (b == 0xb2)) {
fsm->datalength=0; // 10bit
fsm->sync = 1;
fsm->bytecount = 2;
}
else if(b == 0x12) {
fsm->datalength=1; // 11bit
fsm->sync = 1;
fsm->bytecount = 2;
}
else
{
fsm->bytecount = 0;
}
}
} else {
if ((fsm->bytecount % 2) == 0) {
uint16_t data;
uint8_t channeln;
fsm->channel = (fsm->prev_byte << 8) + b;
channeln = (fsm->channel >> (10+fsm->datalength)) & 0x0F;
data = fsm->channel & (0x03FF+(0x0400*fsm->datalength));
if(channeln==0 && data<10) // discard frame if throttle misbehaves
{
fsm->frame_error=1;
}
if (channeln < PIOS_SPEKTRUM_NUM_INPUTS && !fsm->frame_error)
fsm->CaptureValueTemp[channeln] = data;
}
}
if (fsm->bytecount == 16) {
fsm->bytecount = 0;
fsm->sync = 0;
fsm->sync_of = 0;
if (!fsm->frame_error)
{
for(int i=0;i<PIOS_SPEKTRUM_NUM_INPUTS;i++)
{
fsm->CaptureValue[i] = fsm->CaptureValueTemp[i];
}
}
fsm->frame_error=0;
}
fsm->prev_byte = b;
return 0;
}
/**
* Bind and Initialise Spektrum satellite receiver
*/
int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind)
int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t bind)
{
// TODO: need setting flag for bind on next powerup
PIOS_DEBUG_Assert(spektrum_id);
PIOS_DEBUG_Assert(cfg);
PIOS_DEBUG_Assert(driver);
struct pios_spektrum_dev * spektrum_dev;
spektrum_dev = (struct pios_spektrum_dev *) PIOS_SPEKTRUM_alloc();
if (!spektrum_dev) goto out_fail;
/* Bind the configuration to the device instance */
spektrum_dev->cfg = cfg;
if (bind) {
PIOS_SPEKTRUM_Bind(cfg);
PIOS_SPEKTRUM_Bind(cfg,bind);
}
(driver->bind_rx_cb)(lower_id, PIOS_SPEKTRUM_RxInCallback, 0);
PIOS_SPEKTRUM_ResetFSM(&(spektrum_dev->fsm));
if (!PIOS_RTC_RegisterTickCallback(PIOS_SPEKTRUM_Supervisor, 0)) {
*spektrum_id = (uint32_t)spektrum_dev;
(driver->bind_rx_cb)(lower_id, PIOS_SPEKTRUM_RxInCallback, *spektrum_id);
if (!PIOS_RTC_RegisterTickCallback(PIOS_SPEKTRUM_Supervisor, *spektrum_id)) {
PIOS_DEBUG_Assert(0);
}
return (0);
out_fail:
return(-1);
}
/**
@ -109,11 +258,16 @@ int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cf
*/
static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel)
{
struct pios_spektrum_dev * spektrum_dev = (struct pios_spektrum_dev *)rcvr_id;
if(!PIOS_SPEKTRUM_validate(spektrum_dev))
return PIOS_RCVR_INVALID;
/* Return error if channel not available */
if (channel >= PIOS_SPEKTRUM_NUM_INPUTS) {
return -1;
return PIOS_RCVR_INVALID;
}
return CaptureValue[channel];
return spektrum_dev->fsm.CaptureValue[channel];
}
/**
@ -121,9 +275,15 @@ static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel)
* \output true Successful bind
* \output false Bind failed
*/
static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg)
static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg, uint8_t bind)
{
#define BIND_PULSES 5
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = cfg->bind.init.GPIO_Pin;
GPIO_InitStructure.GPIO_Speed = cfg->bind.init.GPIO_Speed;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
/* just to limit bind pulses */
bind=(bind<=10)?bind:10;
GPIO_Init(cfg->bind.gpio, &cfg->bind.init);
/* RX line, set high */
@ -132,7 +292,7 @@ static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg)
/* on CC works upto 140ms, I guess bind window is around 20-140ms after powerup */
PIOS_DELAY_WaitmS(60);
for (int i = 0; i < BIND_PULSES ; i++) {
for (int i = 0; i < bind ; i++) {
/* RX line, drive low for 120us */
GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(120);
@ -141,118 +301,44 @@ static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg)
PIOS_DELAY_WaituS(120);
}
/* RX line, set input and wait for data, PIOS_SPEKTRUM_Init */
GPIO_Init(cfg->bind.gpio, &GPIO_InitStructure);
return true;
}
/**
* Decodes a byte
* \param[in] b byte which should be spektrum decoded
* \return 0 if no error
* \return -1 if USART not available
* \return -2 if buffer full (retry)
* \note Applications shouldn't call these functions directly
*/
static int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
{
static uint16_t channel = 0; /*, sync_word = 0;*/
uint8_t channeln = 0, frame = 0;
uint16_t data = 0;
byte_array[bytecount] = b;
bytecount++;
if (sync == 0) {
//sync_word = (prev_byte << 8) + b;
#if 0
/* maybe create object to show this data */
if(bytecount==1)
{
/* record losscounter into channel8 */
CaptureValueTemp[7]=b;
/* instant write */
CaptureValue[7]=b;
}
#endif
/* Known sync bytes, 0x01, 0x02, 0x12 */
if (bytecount == 2) {
if (b == 0x01) {
datalength=0; // 10bit
//frames=1;
sync = 1;
bytecount = 2;
}
else if(b == 0x02) {
datalength=0; // 10bit
//frames=2;
sync = 1;
bytecount = 2;
}
else if(b == 0x12) {
datalength=1; // 11bit
//frames=2;
sync = 1;
bytecount = 2;
}
else
{
bytecount = 0;
}
}
} else {
if ((bytecount % 2) == 0) {
channel = (prev_byte << 8) + b;
frame = channel >> 15;
channeln = (channel >> (10+datalength)) & 0x0F;
data = channel & (0x03FF+(0x0400*datalength));
if(channeln==0 && data<10) // discard frame if throttle misbehaves
{
frame_error=1;
}
if (channeln < PIOS_SPEKTRUM_NUM_INPUTS && !frame_error)
CaptureValueTemp[channeln] = data;
}
}
if (bytecount == 16) {
//PIOS_COM_SendBufferNonBlocking(PIOS_COM_TELEM_RF,byte_array,16); //00 2c 58 84 b0 dc ff
bytecount = 0;
sync = 0;
sync_of = 0;
if (!frame_error)
{
for(int i=0;i<PIOS_SPEKTRUM_NUM_INPUTS;i++)
{
CaptureValue[i] = CaptureValueTemp[i];
}
}
frame_error=0;
}
prev_byte = b;
return 0;
}
/**
*@brief This function is called between frames and when a spektrum word hasnt been decoded for too long
*@brief clears the channel values
*/
static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id) {
/* 125hz */
supv_timer++;
if(supv_timer > 5) {
static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id)
{
struct pios_spektrum_dev * spektrum_dev = (struct pios_spektrum_dev *)spektrum_id;
bool valid = PIOS_SPEKTRUM_validate(spektrum_dev);
PIOS_Assert(valid);
/* 625hz */
spektrum_dev->supv_timer++;
if(spektrum_dev->supv_timer > 4) {
/* sync between frames */
sync = 0;
bytecount = 0;
prev_byte = 0xFF;
frame_error = 0;
sync_of++;
/* watchdog activated after 100ms silence */
if (sync_of > 12) {
struct pios_spektrum_fsm * fsm = &(spektrum_dev->fsm);
fsm->sync = 0;
fsm->bytecount = 0;
fsm->prev_byte = 0xFF;
fsm->frame_error = 0;
fsm->sync_of++;
/* watchdog activated after 200ms silence */
if (fsm->sync_of > 30) {
/* signal lost */
sync_of = 0;
fsm->sync_of = 0;
for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) {
CaptureValue[i] = 0;
CaptureValueTemp[i] = 0;
fsm->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
fsm->CaptureValueTemp[i] = PIOS_RCVR_TIMEOUT;
}
}
supv_timer = 0;
spektrum_dev->supv_timer = 0;
}
}

4
flight/PiOS/STM32F10x/pios_spi.c
View File

@ -46,10 +46,10 @@ static bool PIOS_SPI_validate(struct pios_spi_dev * com_dev)
return(true);
}
#if defined(PIOS_INCLUDE_FREERTOS) && 0
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_spi_dev * PIOS_SPI_alloc(void)
{
return (malloc(sizeof(struct pios_spi_dev)));
return (pvPortMalloc(sizeof(struct pios_spi_dev)));
}
#else
static struct pios_spi_dev pios_spi_devs[PIOS_SPI_MAX_DEVS];

427
flight/PiOS/STM32F10x/pios_tim.c Normal file
View File

@ -0,0 +1,427 @@
#include "pios.h"
#include "pios_tim.h"
#include "pios_tim_priv.h"
enum pios_tim_dev_magic {
PIOS_TIM_DEV_MAGIC = 0x87654098,
};
struct pios_tim_dev {
enum pios_tim_dev_magic magic;
const struct pios_tim_channel * channels;
uint8_t num_channels;
const struct pios_tim_callbacks * callbacks;
uint32_t context;
};
#if 0
static bool PIOS_TIM_validate(struct pios_tim_dev * tim_dev)
{
return (tim_dev->magic == PIOS_TIM_DEV_MAGIC);
}
#endif
#if defined(PIOS_INCLUDE_FREERTOS) && 0
static struct pios_tim_dev * PIOS_TIM_alloc(void)
{
struct pios_tim_dev * tim_dev;
tim_dev = (struct pios_tim_dev *)malloc(sizeof(*tim_dev));
if (!tim_dev) return(NULL);
tim_dev->magic = PIOS_TIM_DEV_MAGIC;
return(tim_dev);
}
#else
static struct pios_tim_dev pios_tim_devs[PIOS_TIM_MAX_DEVS];
static uint8_t pios_tim_num_devs;
static struct pios_tim_dev * PIOS_TIM_alloc(void)
{
struct pios_tim_dev * tim_dev;
if (pios_tim_num_devs >= PIOS_TIM_MAX_DEVS) {
return (NULL);
}
tim_dev = &pios_tim_devs[pios_tim_num_devs++];
tim_dev->magic = PIOS_TIM_DEV_MAGIC;
return (tim_dev);
}
#endif
int32_t PIOS_TIM_InitClock(const struct pios_tim_clock_cfg * cfg)
{
PIOS_DEBUG_Assert(cfg);
/* Enable appropriate clock to timer module */
switch((uint32_t) cfg->timer) {
case (uint32_t)TIM1:
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
break;
case (uint32_t)TIM2:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
break;
case (uint32_t)TIM3:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
break;
case (uint32_t)TIM4:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
break;
#ifdef STM32F10X_HD
case (uint32_t)TIM5:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
break;
case (uint32_t)TIM6:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
break;
case (uint32_t)TIM7:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE);
break;
case (uint32_t)TIM8:
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
break;
#endif
}
/* Configure the dividers for this timer */
TIM_TimeBaseInit(cfg->timer, cfg->time_base_init);
/* Configure internal timer clocks */
TIM_InternalClockConfig(cfg->timer);
/* Enable timers */
TIM_Cmd(cfg->timer, ENABLE);
/* Enable Interrupts */
NVIC_Init(&cfg->irq.init);
return 0;
}
int32_t PIOS_TIM_InitChannels(uint32_t * tim_id, const struct pios_tim_channel * channels, uint8_t num_channels, const struct pios_tim_callbacks * callbacks, uint32_t context)
{
PIOS_Assert(channels);
PIOS_Assert(num_channels);
struct pios_tim_dev * tim_dev;
tim_dev = (struct pios_tim_dev *) PIOS_TIM_alloc();
if (!tim_dev) goto out_fail;
/* Bind the configuration to the device instance */
tim_dev->channels = channels;
tim_dev->num_channels = num_channels;
tim_dev->callbacks = callbacks;
tim_dev->context = context;
/* Configure the pins */
for (uint8_t i = 0; i < num_channels; i++) {
const struct pios_tim_channel * chan = &(channels[i]);
/* Enable the peripheral clock for the GPIO */
switch ((uint32_t)chan->pin.gpio) {
case (uint32_t) GPIOA:
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
break;
case (uint32_t) GPIOB:
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
break;
case (uint32_t) GPIOC:
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
break;
default:
PIOS_Assert(0);
break;
}
GPIO_Init(chan->pin.gpio, &chan->pin.init);
if (chan->remap) {
GPIO_PinRemapConfig(chan->remap, ENABLE);
}
}
*tim_id = (uint32_t)tim_dev;
return(0);
out_fail:
return(-1);
}
static void PIOS_TIM_generic_irq_handler(TIM_TypeDef * timer)
{
/* Iterate over all registered clients of the TIM layer to find channels on this timer */
for (uint8_t i = 0; i < pios_tim_num_devs; i++) {
const struct pios_tim_dev * tim_dev = &pios_tim_devs[i];
if (!tim_dev->channels || tim_dev->num_channels == 0) {
/* No channels to process on this client */
continue;
}
/* Check for an overflow event on this timer */
bool overflow_event;
uint16_t overflow_count;
if (TIM_GetITStatus(timer, TIM_IT_Update) == SET) {
TIM_ClearITPendingBit(timer, TIM_IT_Update);
overflow_count = timer->ARR;
overflow_event = true;
} else {
overflow_count = 0;
overflow_event = false;
}
for (uint8_t j = 0; j < tim_dev->num_channels; j++) {
const struct pios_tim_channel * chan = &tim_dev->channels[j];
if (chan->timer != timer) {
/* channel is not on this timer */
continue;
}
/* Figure out which interrupt bit we should be looking at */
uint16_t timer_it;
switch (chan->timer_chan) {
case TIM_Channel_1:
timer_it = TIM_IT_CC1;
break;
case TIM_Channel_2:
timer_it = TIM_IT_CC2;
break;
case TIM_Channel_3:
timer_it = TIM_IT_CC3;
break;
case TIM_Channel_4:
timer_it = TIM_IT_CC4;
break;
default:
PIOS_Assert(0);
break;
}
bool edge_event;
uint16_t edge_count;
if (TIM_GetITStatus(chan->timer, timer_it) == SET) {
TIM_ClearITPendingBit(chan->timer, timer_it);
/* Read the current counter */
switch(chan->timer_chan) {
case TIM_Channel_1:
edge_count = TIM_GetCapture1(chan->timer);
break;
case TIM_Channel_2:
edge_count = TIM_GetCapture2(chan->timer);
break;
case TIM_Channel_3:
edge_count = TIM_GetCapture3(chan->timer);
break;
case TIM_Channel_4:
edge_count = TIM_GetCapture4(chan->timer);
break;
default:
PIOS_Assert(0);
break;
}
edge_event = true;
} else {
edge_event = false;
edge_count = 0;
}
if (!tim_dev->callbacks) {
/* No callbacks registered, we're done with this channel */
continue;
}
/* Generate the appropriate callbacks */
if (overflow_event & edge_event) {
/*
* When both edge and overflow happen in the same interrupt, we
* need a heuristic to determine the order of the edge and overflow
* events so that the callbacks happen in the right order. If we
* get the order wrong, our pulse width calculations could be off by up
* to ARR ticks. That could be bad.
*
* Heuristic: If the edge_count is < 16 ticks above zero then we assume the
* edge happened just after the overflow.
*/
if (edge_count < 16) {
/* Call the overflow callback first */
if (tim_dev->callbacks->overflow) {
(*tim_dev->callbacks->overflow)((uint32_t)tim_dev,
tim_dev->context,
j,
overflow_count);
}
/* Call the edge callback second */
if (tim_dev->callbacks->edge) {
(*tim_dev->callbacks->edge)((uint32_t)tim_dev,
tim_dev->context,
j,
edge_count);
}
} else {
/* Call the edge callback first */
if (tim_dev->callbacks->edge) {
(*tim_dev->callbacks->edge)((uint32_t)tim_dev,
tim_dev->context,
j,
edge_count);
}
/* Call the overflow callback second */
if (tim_dev->callbacks->overflow) {
(*tim_dev->callbacks->overflow)((uint32_t)tim_dev,
tim_dev->context,
j,
overflow_count);
}
}
} else if (overflow_event && tim_dev->callbacks->overflow) {
(*tim_dev->callbacks->overflow)((uint32_t)tim_dev,
tim_dev->context,
j,
overflow_count);
} else if (edge_event && tim_dev->callbacks->edge) {
(*tim_dev->callbacks->edge)((uint32_t)tim_dev,
tim_dev->context,
j,
edge_count);
}
}
}
}
#if 0
uint16_t val = 0;
for(uint8_t i = 0; i < pios_pwm_cfg.num_channels; i++) {
struct pios_pwm_channel channel = pios_pwm_cfg.channels[i];
if ((channel.timer == timer) && (TIM_GetITStatus(channel.timer, channel.ccr) == SET)) {
TIM_ClearITPendingBit(channel.timer, channel.ccr);
switch(channel.channel) {
case TIM_Channel_1:
val = TIM_GetCapture1(channel.timer);
break;
case TIM_Channel_2:
val = TIM_GetCapture2(channel.timer);
break;
case TIM_Channel_3:
val = TIM_GetCapture3(channel.timer);
break;
case TIM_Channel_4:
val = TIM_GetCapture4(channel.timer);
break;
}
if (CaptureState[i] == 0) {
RiseValue[i] = val;
} else {
FallValue[i] = val;
}
// flip state machine and capture value here
/* Simple rise or fall state machine */
TIM_ICInitTypeDef TIM_ICInitStructure = pios_pwm_cfg.tim_ic_init;
if (CaptureState[i] == 0) {
/* Switch states */
CaptureState[i] = 1;
/* Switch polarity of input capture */
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
TIM_ICInitStructure.TIM_Channel = channel.channel;
TIM_ICInit(channel.timer, &TIM_ICInitStructure);
} else {
/* Capture computation */
if (FallValue[i] > RiseValue[i]) {
CaptureValue[i] = (FallValue[i] - RiseValue[i]);
} else {
CaptureValue[i] = ((channel.timer->ARR - RiseValue[i]) + FallValue[i]);
}
/* Switch states */
CaptureState[i] = 0;
/* Increase supervisor counter */
CapCounter[i]++;
/* Switch polarity of input capture */
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_Channel = channel.channel;
TIM_ICInit(channel.timer, &TIM_ICInitStructure);
}
}
}
#endif
/* Bind Interrupt Handlers
*
* Map all valid TIM IRQs to the common interrupt handler
* and give it enough context to properly demux the various timers
*/
void TIM1_UP_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_1_UP_irq_handler")));
static void PIOS_TIM_1_UP_irq_handler (void)
{
PIOS_TIM_generic_irq_handler (TIM1);
}
void TIM1_CC_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_1_CC_irq_handler")));
static void PIOS_TIM_1_CC_irq_handler (void)
{
PIOS_TIM_generic_irq_handler (TIM1);
}
void TIM2_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_2_irq_handler")));
static void PIOS_TIM_2_irq_handler (void)
{
PIOS_TIM_generic_irq_handler (TIM2);
}
void TIM3_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_3_irq_handler")));
static void PIOS_TIM_3_irq_handler (void)
{
PIOS_TIM_generic_irq_handler (TIM3);
}
void TIM4_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_4_irq_handler")));
static void PIOS_TIM_4_irq_handler (void)
{
PIOS_TIM_generic_irq_handler (TIM4);
}
void TIM5_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_5_irq_handler")));
static void PIOS_TIM_5_irq_handler (void)
{
PIOS_TIM_generic_irq_handler (TIM5);
}
void TIM6_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_6_irq_handler")));
static void PIOS_TIM_6_irq_handler (void)
{
PIOS_TIM_generic_irq_handler (TIM6);
}
void TIM7_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_7_irq_handler")));
static void PIOS_TIM_7_irq_handler (void)
{
PIOS_TIM_generic_irq_handler (TIM7);
}
void TIM8_UP_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_8_UP_irq_handler")));
static void PIOS_TIM_8_UP_irq_handler (void)
{
PIOS_TIM_generic_irq_handler (TIM8);
}
void TIM8_CC_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_8_CC_irq_handler")));
static void PIOS_TIM_8_CC_irq_handler (void)
{
PIOS_TIM_generic_irq_handler (TIM8);
}

4
flight/PiOS/STM32F10x/pios_usart.c
View File

@ -70,12 +70,12 @@ static bool PIOS_USART_validate(struct pios_usart_dev * usart_dev)
return (usart_dev->magic == PIOS_USART_DEV_MAGIC);
}
#if defined(PIOS_INCLUDE_FREERTOS) && 0
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_usart_dev * PIOS_USART_alloc(void)
{
struct pios_usart_dev * usart_dev;
usart_dev = (struct pios_usart_dev *)malloc(sizeof(*usart_dev));
usart_dev = (struct pios_usart_dev *)pvPortMalloc(sizeof(*usart_dev));
if (!usart_dev) return(NULL);
usart_dev->magic = PIOS_USART_DEV_MAGIC;

4
flight/PiOS/STM32F10x/pios_usb_hid.c
View File

@ -75,12 +75,12 @@ static bool PIOS_USB_HID_validate(struct pios_usb_hid_dev * usb_hid_dev)
return (usb_hid_dev->magic == PIOS_USB_HID_DEV_MAGIC);
}
#if defined(PIOS_INCLUDE_FREERTOS) && 0
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_usb_hid_dev * PIOS_USB_HID_alloc(void)
{
struct pios_usb_hid_dev * usb_hid_dev;
usb_hid_dev = (struct pios_usb_hid_dev *)malloc(sizeof(*usb_hid_dev));
usb_hid_dev = (struct pios_usb_hid_dev *)pvPortMalloc(sizeof(*usb_hid_dev));
if (!usb_hid_dev) return(NULL);
usb_hid_dev->magic = PIOS_USB_HID_DEV_MAGIC;

4
flight/PiOS/inc/pios_debug.h
View File

@ -33,7 +33,9 @@
extern const char *PIOS_DEBUG_AssertMsg;
void PIOS_DEBUG_Init(void);
#include <pios_tim_priv.h>
void PIOS_DEBUG_Init(const struct pios_tim_channel * channels, uint8_t num_channels);
void PIOS_DEBUG_PinHigh(uint8_t pin);
void PIOS_DEBUG_PinLow(uint8_t pin);
void PIOS_DEBUG_PinValue8Bit(uint8_t value);

3
flight/PiOS/inc/pios_flashfs_objlist.h
View File

@ -32,6 +32,7 @@
#include "uavobjectmanager.h"
int32_t PIOS_FLASHFS_Init();
int32_t PIOS_FLASHFS_Format();
int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data);
int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data);
int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId);
int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId);

92
flight/UAVObjects/uavobjectsinit_linker.c → flight/PiOS/inc/pios_gcsrcvr_priv.h
View File

@ -1,45 +1,47 @@
/**
******************************************************************************
*
* @file uavobjectsinit.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Initialize all objects.
* Automatically generated by the UAVObjectGenerator.
*
* @note This is an automatically generated file.
* DO NOT modify manually.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
/**
* Function used to initialize the first instance of each object.
* This file is automatically updated by the UAVObjectGenerator.
*/
extern initcall_t __uavobj_initcall_start[], __uavobj_initcall_end[];
void UAVObjectsInitializeAll()
{
initcall_t *fn;
int32_t ret;
for (fn = __uavobj_initcall_start; fn < __uavobj_initcall_end; fn++)
ret = (*fn)();
}
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_GCSRCVR GCS Receiver Functions
* @brief PIOS interface to read from GCS receiver port
* @{
*
* @file pios_gcsrcvr_priv.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief GCS receiver private functions
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_GCSRCVR_PRIV_H
#define PIOS_GCSRCVR_PRIV_H
#include <pios.h>
#include "gcsreceiver.h"
extern const struct pios_rcvr_driver pios_gcsrcvr_rcvr_driver;
extern void PIOS_GCSRCVR_Init(void);
#endif /* PIOS_GCSRCVR_PRIV_H */
/**
* @}
* @}
*/

1
flight/PiOS/inc/pios_initcall.h
View File

@ -67,7 +67,6 @@ extern initmodule_t __module_initcall_start[], __module_initcall_end[];
static initmodule_t __initcall_##fn __attribute__((__used__)) \
__attribute__((__section__(".initcall" level ".init"))) = { .fn_minit = ifn, .fn_tinit = sfn };
#define UAVOBJ_INITCALL(fn) __define_initcall("uavobj",fn,1)
#define MODULE_INITCALL(ifn, sfn) __define_module_initcall("module", ifn, sfn)
#define MODULE_INITIALISE_ALL { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \

16
flight/PiOS/inc/pios_ppm_priv.h
View File

@ -35,24 +35,14 @@
#include <pios_stm32.h>
struct pios_ppm_cfg {
TIM_TimeBaseInitTypeDef tim_base_init;
TIM_ICInitTypeDef tim_ic_init;
GPIO_InitTypeDef gpio_init;
uint32_t remap; /* GPIO_Remap_* */
struct stm32_irq irq;
TIM_TypeDef * timer;
GPIO_TypeDef * port;
uint16_t ccr;
const struct pios_tim_channel * channels;
uint8_t num_channels;
};
extern void PIOS_PPM_irq_handler();
extern uint8_t pios_ppm_num_channels;
extern const struct pios_ppm_cfg pios_ppm_cfg;
extern const struct pios_rcvr_driver pios_ppm_rcvr_driver;
extern void PIOS_PPM_Init(void);
extern int32_t PIOS_PPM_Init(uint32_t * ppm_id, const struct pios_ppm_cfg * cfg);
#endif /* PIOS_PPM_PRIV_H */

21
flight/PiOS/inc/pios_pwm_priv.h
View File

@ -34,32 +34,17 @@
#include <pios.h>
#include <pios_stm32.h>
struct pios_pwm_channel {
TIM_TypeDef * timer;
GPIO_TypeDef * port;
uint16_t ccr;
uint8_t channel;
uint16_t pin;
};
#include <pios_tim_priv.h>
struct pios_pwm_cfg {
TIM_TimeBaseInitTypeDef tim_base_init;
TIM_ICInitTypeDef tim_ic_init;
GPIO_InitTypeDef gpio_init;
uint32_t remap; /* GPIO_Remap_* */
struct stm32_irq irq;
const struct pios_pwm_channel *const channels;
const struct pios_tim_channel * channels;
uint8_t num_channels;
};
extern void PIOS_PWM_irq_handler(TIM_TypeDef * timer);
extern uint8_t pios_pwm_num_channels;
extern const struct pios_pwm_cfg pios_pwm_cfg;
extern const struct pios_rcvr_driver pios_pwm_rcvr_driver;
extern void PIOS_PWM_Init(void);
extern int32_t PIOS_PWM_Init(uint32_t * pwm_id, const struct pios_pwm_cfg * cfg);
#endif /* PIOS_PWM_PRIV_H */

17
flight/PiOS/inc/pios_rcvr.h
View File

@ -31,13 +31,6 @@
#ifndef PIOS_RCVR_H
#define PIOS_RCVR_H
struct pios_rcvr_channel_map {
uint32_t id;
uint8_t channel;
};
extern struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[];
struct pios_rcvr_driver {
void (*init)(uint32_t id);
int32_t (*read)(uint32_t id, uint8_t channel);
@ -46,6 +39,16 @@ struct pios_rcvr_driver {
/* Public Functions */
extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel);
/*! Define error codes for PIOS_RCVR_Get */
enum PIOS_RCVR_errors {
/*! Indicates that a failsafe condition or missing receiver detected for that channel */
PIOS_RCVR_TIMEOUT = 0,
/*! Channel is invalid for this driver (usually out of range supported) */
PIOS_RCVR_INVALID = -1,
/*! Indicates that the driver for this channel has not been initialized */
PIOS_RCVR_NODRIVER = -2
};
#endif /* PIOS_RCVR_H */
/**

18
flight/PiOS/inc/pios_sbus_priv.h
View File

@ -44,8 +44,8 @@
* 1 byte - 0x0f (start of frame byte)
* 22 bytes - channel data (11 bit/channel, 16 channels, LSB first)
* 1 byte - bit flags:
* 0x01 - digital channel 1,
* 0x02 - digital channel 2,
* 0x01 - discrete channel 1,
* 0x02 - discrete channel 2,
* 0x04 - lost frame flag,
* 0x08 - failsafe flag,
* 0xf0 - reserved
@ -54,16 +54,20 @@
#define SBUS_FRAME_LENGTH (1+22+1+1)
#define SBUS_SOF_BYTE 0x0f
#define SBUS_EOF_BYTE 0x00
#define SBUS_FLAG_DG1 0x01
#define SBUS_FLAG_DG2 0x02
#define SBUS_FLAG_DC1 0x01
#define SBUS_FLAG_DC2 0x02
#define SBUS_FLAG_FL 0x04
#define SBUS_FLAG_FS 0x08
/*
* S.Bus protocol provides up to 16 analog and 2 digital channels.
* Only 8 channels are currently supported by the OpenPilot.
* S.Bus protocol provides 16 proportional and 2 discrete channels.
* Do not change unless driver code is updated accordingly.
*/
#define SBUS_NUMBER_OF_CHANNELS 8
#define SBUS_NUMBER_OF_CHANNELS (16 + 2)
/* Discrete channels represented as bits, provide values for them */
#define SBUS_VALUE_MIN 352
#define SBUS_VALUE_MAX 1696
/*
* S.Bus configuration programmable invertor

1
flight/PiOS/inc/pios_servo.h
View File

@ -31,7 +31,6 @@
#define PIOS_SERVO_H
/* Public Functions */
extern void PIOS_Servo_Init(void);
extern void PIOS_Servo_SetHz(uint16_t * update_rates, uint8_t channels);
extern void PIOS_Servo_Set(uint8_t Servo, uint16_t Position);

13
flight/PiOS/inc/pios_servo_priv.h
View File

@ -33,25 +33,18 @@
#include <pios.h>
#include <pios_stm32.h>
struct pios_servo_channel {
TIM_TypeDef * timer;
GPIO_TypeDef * port;
uint8_t channel;
uint16_t pin;
};
#include <pios_tim_priv.h>
struct pios_servo_cfg {
TIM_TimeBaseInitTypeDef tim_base_init;
TIM_OCInitTypeDef tim_oc_init;
GPIO_InitTypeDef gpio_init;
uint32_t remap;
const struct pios_servo_channel *const channels;
const struct pios_tim_channel * channels;
uint8_t num_channels;
};
extern const struct pios_servo_cfg pios_servo_cfg;
extern int32_t PIOS_Servo_Init(const struct pios_servo_cfg * cfg);
#endif /* PIOS_SERVO_PRIV_H */

4
flight/PiOS/inc/pios_spektrum_priv.h
View File

@ -42,9 +42,9 @@ struct pios_spektrum_cfg {
extern const struct pios_rcvr_driver pios_spektrum_rcvr_driver;
extern int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind);
extern int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t bind);
#endif /* PIOS_PWM_PRIV_H */
#endif /* PIOS_SPEKTRUM_PRIV_H */
/**
* @}

4
flight/PiOS/inc/pios_tim.h Normal file
View File

@ -0,0 +1,4 @@
#ifndef PIOS_TIM_H
#define PIOS_TIM_H
#endif /* PIOS_TIM_H */

28
flight/PiOS/inc/pios_tim_priv.h Normal file
View File

@ -0,0 +1,28 @@
#ifndef PIOS_TIM_PRIV_H
#define PIOS_TIM_PRIV_H
#include <pios_stm32.h>
struct pios_tim_clock_cfg {
TIM_TypeDef * timer;
const TIM_TimeBaseInitTypeDef * time_base_init;
struct stm32_irq irq;
};
struct pios_tim_channel {
TIM_TypeDef * timer;
uint8_t timer_chan;
struct stm32_gpio pin;
uint32_t remap;
};
struct pios_tim_callbacks {
void (*overflow)(uint32_t tim_id, uint32_t context, uint8_t chan_idx, uint16_t count);
void (*edge)(uint32_t tim_id, uint32_t context, uint8_t chan_idx, uint16_t count);
};
extern int32_t PIOS_TIM_InitClock(const struct pios_tim_clock_cfg * cfg);
extern int32_t PIOS_TIM_InitChannels(uint32_t * tim_id, const struct pios_tim_channel * channels, uint8_t num_channels, const struct pios_tim_callbacks * callbacks, uint32_t context);
#endif /* PIOS_TIM_PRIV_H */

2
flight/PipXtreme/Makefile
View File

@ -394,7 +394,7 @@ $(OUTDIR)/$(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)))
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf

75
flight/Project/OpenOCD/stm32f1x.cfg Normal file
View File

@ -0,0 +1,75 @@
# script for stm32
if { [info exists CHIPNAME] } {
set _CHIPNAME $CHIPNAME
} else {
set _CHIPNAME stm32
}
if { [info exists ENDIAN] } {
set _ENDIAN $ENDIAN
} else {
set _ENDIAN little
}
# Work-area is a space in RAM used for flash programming
# By default use 16kB
if { [info exists WORKAREASIZE] } {
set _WORKAREASIZE $WORKAREASIZE
} else {
set _WORKAREASIZE 0x4000
}
# JTAG speed should be <= F_CPU/6. F_CPU after reset is 8MHz, so use F_JTAG = 1MHz
adapter_khz 1000
adapter_nsrst_delay 100
jtag_ntrst_delay 100
#jtag scan chain
if { [info exists CPUTAPID ] } {
set _CPUTAPID $CPUTAPID
} else {
# See STM Document RM0008
# Section 26.6.3
set _CPUTAPID 0x3ba00477
}
jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID
if { [info exists BSTAPID ] } {
# FIXME this never gets used to override defaults...
set _BSTAPID $BSTAPID
} else {
# See STM Document RM0008
# Section 29.6.2
# Low density devices, Rev A
set _BSTAPID1 0x06412041
# Medium density devices, Rev A
set _BSTAPID2 0x06410041
# Medium density devices, Rev B and Rev Z
set _BSTAPID3 0x16410041
set _BSTAPID4 0x06420041
# High density devices, Rev A
set _BSTAPID5 0x06414041
# Connectivity line devices, Rev A and Rev Z
set _BSTAPID6 0x06418041
# XL line devices, Rev A
set _BSTAPID7 0x06430041
}
jtag newtap $_CHIPNAME bs -irlen 5 -expected-id $_BSTAPID1 \
-expected-id $_BSTAPID2 -expected-id $_BSTAPID3 \
-expected-id $_BSTAPID4 -expected-id $_BSTAPID5 \
-expected-id $_BSTAPID6 -expected-id $_BSTAPID7
set _TARGETNAME $_CHIPNAME.cpu
target create $_TARGETNAME cortex_m3 -endian $_ENDIAN -chain-position $_TARGETNAME -rtos auto
$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
# flash size will be probed
set _FLASHNAME $_CHIPNAME.flash
flash bank $_FLASHNAME stm32f1x 0x08000000 0 0 0 $_TARGETNAME
# if srst is not fitted use SYSRESETREQ to
# perform a soft reset
cortex_m3 reset_config sysresetreq

61
flight/Project/OpenOCD/stm32f2x.cfg Normal file
View File

@ -0,0 +1,61 @@
# script for stm32f2xxx
if { [info exists CHIPNAME] } {
set _CHIPNAME $CHIPNAME
} else {
set _CHIPNAME stm32f2xxx
}
if { [info exists ENDIAN] } {
set _ENDIAN $ENDIAN
} else {
set _ENDIAN little
}
# Work-area is a space in RAM used for flash programming
# By default use 64kB
if { [info exists WORKAREASIZE] } {
set _WORKAREASIZE $WORKAREASIZE
} else {
set _WORKAREASIZE 0x10000
}
# JTAG speed should be <= F_CPU/6. F_CPU after reset is 8MHz, so use F_JTAG = 1MHz
#
# Since we may be running of an RC oscilator, we crank down the speed a
# bit more to be on the safe side. Perhaps superstition, but if are
# running off a crystal, we can run closer to the limit. Note
# that there can be a pretty wide band where things are more or less stable.
jtag_khz 1000
jtag_nsrst_delay 100
jtag_ntrst_delay 100
#jtag scan chain
if { [info exists CPUTAPID ] } {
set _CPUTAPID $CPUTAPID
} else {
# See STM Document RM0033
# Section 32.6.3 - corresponds to Cortex-M3 r2p0
set _CPUTAPID 0x4ba00477
}
jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID
if { [info exists BSTAPID ] } {
set _BSTAPID $BSTAPID
} else {
# See STM Document RM0033
# Section 32.6.2
#
set _BSTAPID 0x06411041
}
jtag newtap $_CHIPNAME bs -irlen 5 -expected-id $_BSTAPID
set _TARGETNAME $_CHIPNAME.cpu
target create $_TARGETNAME cortex_m3 -endian $_ENDIAN -chain-position $_TARGETNAME -rtos auto
$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
set _FLASHNAME $_CHIPNAME.flash
flash bank $_FLASHNAME stm32f2x 0 0 0 0 $_TARGETNAME

66
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -85,11 +85,22 @@
6549E0D21279B3C800C5476F /* fifo_buffer.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = fifo_buffer.c; sourceTree = "<group>"; };
6549E0D31279B3CF00C5476F /* fifo_buffer.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = fifo_buffer.h; sourceTree = "<group>"; };
655268BC121FBD2900410C6E /* ahrscalibration.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ahrscalibration.xml; sourceTree = "<group>"; };
655B1A8E13B2FC0900B0E48D /* camerastabsettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = camerastabsettings.xml; sourceTree = "<group>"; };
656268C612DC1923007B0A0F /* nedaccel.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = nedaccel.xml; sourceTree = "<group>"; };
6562BE1713CCAD0600C823E8 /* pios_rcvr.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_rcvr.c; sourceTree = "<group>"; };
65632DF51251650300469B77 /* pios_board.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board.h; sourceTree = "<group>"; };
65632DF61251650300469B77 /* STM32103CB_AHRS.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM32103CB_AHRS.h; sourceTree = "<group>"; };
65632DF71251650300469B77 /* STM3210E_OP.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM3210E_OP.h; sourceTree = "<group>"; };
65643CAB1413322000A32F59 /* pios_rcvr_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rcvr_priv.h; sourceTree = "<group>"; };
65643CAC1413322000A32F59 /* pios_rcvr.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rcvr.h; sourceTree = "<group>"; };
65643CAD1413322000A32F59 /* pios_rtc_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rtc_priv.h; sourceTree = "<group>"; };
65643CAE1413322000A32F59 /* pios_sbus_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_sbus_priv.h; sourceTree = "<group>"; };
65643CAF1413322000A32F59 /* pios_sbus.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_sbus.h; sourceTree = "<group>"; };
65643CB01413322000A32F59 /* pios_spektrum_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_spektrum_priv.h; sourceTree = "<group>"; };
65643CB91413456D00A32F59 /* pios_tim.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_tim.c; sourceTree = "<group>"; };
65643CBA141350C200A32F59 /* pios_sbus.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_sbus.c; sourceTree = "<group>"; };
65643CEC141429A100A32F59 /* NMEA.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = NMEA.c; sourceTree = "<group>"; };
65643CEE141429AF00A32F59 /* NMEA.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = NMEA.h; sourceTree = "<group>"; };
6572CB1613D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_memory.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = link_STM32103CB_CC_Rev1_memory.ld; path = ../../PiOS/STM32F10x/link_STM32103CB_CC_Rev1_memory.ld; sourceTree = SOURCE_ROOT; };
6572CB1713D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_sections.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = link_STM32103CB_CC_Rev1_sections.ld; path = ../../PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld; sourceTree = SOURCE_ROOT; };
657CEEAD121DB6C8007A1FBE /* homelocation.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = homelocation.xml; sourceTree = "<group>"; };
@ -2680,7 +2691,6 @@
65C35E7912EFB2F3004811C2 /* watchdogstatus.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = watchdogstatus.xml; sourceTree = "<group>"; };
65C35E9E12F0A834004811C2 /* uavobjecttemplate.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjecttemplate.c; sourceTree = "<group>"; };
65C35E9F12F0A834004811C2 /* uavobjectsinittemplate.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjectsinittemplate.c; sourceTree = "<group>"; };
65C35EA012F0A834004811C2 /* uavobjectsinit_cc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjectsinit_cc.c; sourceTree = "<group>"; };
65C35EA112F0A834004811C2 /* uavobjectmanager.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjectmanager.c; sourceTree = "<group>"; };
65C35EA312F0A834004811C2 /* eventdispatcher.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = eventdispatcher.h; sourceTree = "<group>"; };
65C35EA412F0A834004811C2 /* uavobjectmanager.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = uavobjectmanager.h; sourceTree = "<group>"; };
@ -2690,9 +2700,13 @@
65C35EA812F0A834004811C2 /* eventdispatcher.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = eventdispatcher.c; sourceTree = "<group>"; };
65C35F6612F0DC2D004811C2 /* attitude.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = attitude.c; sourceTree = "<group>"; };
65C35F6812F0DC2D004811C2 /* attitude.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = attitude.h; sourceTree = "<group>"; };
65C9903C13A871B90082BD60 /* camerastab.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = camerastab.c; sourceTree = "<group>"; };
65C9903E13A871B90082BD60 /* camerastab.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = camerastab.h; sourceTree = "<group>"; };
65D2CA841248F9A400B1E7D6 /* mixersettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixersettings.xml; sourceTree = "<group>"; };
65D2CA851248F9A400B1E7D6 /* mixerstatus.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixerstatus.xml; sourceTree = "<group>"; };
65DEA79113F2143B00095B06 /* cameradesired.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = cameradesired.xml; sourceTree = "<group>"; };
65E410AE12F65AEA00725888 /* attitudesettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = attitudesettings.xml; sourceTree = "<group>"; };
65E6D80713E3A4D0002A557A /* hwsettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = hwsettings.xml; sourceTree = "<group>"; };
65E6DF7112E02E8E00058553 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; path = Makefile; sourceTree = "<group>"; };
65E6DF7312E02E8E00058553 /* alarms.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = alarms.c; sourceTree = "<group>"; };
65E6DF7412E02E8E00058553 /* coptercontrol.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = coptercontrol.c; sourceTree = "<group>"; };
@ -3208,6 +3222,7 @@
650D8E2812DFE16400D05CC9 /* Altitude */,
65C35F6512F0DC2D004811C2 /* Attitude */,
650D8E2E12DFE16400D05CC9 /* Battery */,
65C9903B13A871B90082BD60 /* CameraStab */,
650D8E3212DFE16400D05CC9 /* Example */,
650D8E3B12DFE16400D05CC9 /* FirmwareIAP */,
650D8E3F12DFE16400D05CC9 /* FlightPlan */,
@ -3517,7 +3532,6 @@
children = (
65C35E9E12F0A834004811C2 /* uavobjecttemplate.c */,
65C35E9F12F0A834004811C2 /* uavobjectsinittemplate.c */,
65C35EA012F0A834004811C2 /* uavobjectsinit_cc.c */,
65C35EA112F0A834004811C2 /* uavobjectmanager.c */,
65C35EA212F0A834004811C2 /* inc */,
65C35EA812F0A834004811C2 /* eventdispatcher.c */,
@ -7422,6 +7436,7 @@
65C35E4F12EFB2F3004811C2 /* uavobjectdefinition */ = {
isa = PBXGroup;
children = (
65E6D80713E3A4D0002A557A /* hwsettings.xml */,
65E8C788139AA2A800E1F979 /* accessorydesired.xml */,
65C35E5012EFB2F3004811C2 /* actuatorcommand.xml */,
65C35E5112EFB2F3004811C2 /* actuatordesired.xml */,
@ -7434,6 +7449,7 @@
65E410AE12F65AEA00725888 /* attitudesettings.xml */,
65C35E5912EFB2F3004811C2 /* baroaltitude.xml */,
65C35E5A12EFB2F3004811C2 /* batterysettings.xml */,
655B1A8E13B2FC0900B0E48D /* camerastabsettings.xml */,
652C8568132B632A00BFCC70 /* firmwareiapobj.xml */,
65C35E5C12EFB2F3004811C2 /* flightbatterystate.xml */,
65C35E5D12EFB2F3004811C2 /* flightplancontrol.xml */,
@ -7468,6 +7484,7 @@
65C35E7712EFB2F3004811C2 /* velocityactual.xml */,
65C35E7812EFB2F3004811C2 /* velocitydesired.xml */,
65C35E7912EFB2F3004811C2 /* watchdogstatus.xml */,
65DEA79113F2143B00095B06 /* cameradesired.xml */,
);
path = uavobjectdefinition;
sourceTree = "<group>";
@ -7501,6 +7518,23 @@
path = inc;
sourceTree = "<group>";
};
65C9903B13A871B90082BD60 /* CameraStab */ = {
isa = PBXGroup;
children = (
65C9903C13A871B90082BD60 /* camerastab.c */,
65C9903D13A871B90082BD60 /* inc */,
);
path = CameraStab;
sourceTree = "<group>";
};
65C9903D13A871B90082BD60 /* inc */ = {
isa = PBXGroup;
children = (
65C9903E13A871B90082BD60 /* camerastab.h */,
);
path = inc;
sourceTree = "<group>";
};
65E6DF7012E02E8E00058553 /* CopterControl */ = {
isa = PBXGroup;
children = (
@ -7700,11 +7734,17 @@
65E8F04811EFF25C00BBF654 /* pios_ppm.h */,
65E8F04911EFF25C00BBF654 /* pios_pwm.h */,
657FF86A12EA8BFB00801617 /* pios_pwm_priv.h */,
65643CAC1413322000A32F59 /* pios_rcvr.h */,
65643CAB1413322000A32F59 /* pios_rcvr_priv.h */,
6589A9E2131DF1C7006BD67C /* pios_rtc.h */,
65643CAD1413322000A32F59 /* pios_rtc_priv.h */,
65643CAE1413322000A32F59 /* pios_sbus_priv.h */,
65643CAF1413322000A32F59 /* pios_sbus.h */,
65E8F04A11EFF25C00BBF654 /* pios_sdcard.h */,
65E8F04B11EFF25C00BBF654 /* pios_servo.h */,
65FBE14412E7C98100176B5A /* pios_servo_priv.h */,
65E8F04C11EFF25C00BBF654 /* pios_spektrum.h */,
65643CB01413322000A32F59 /* pios_spektrum_priv.h */,
65E8F04D11EFF25C00BBF654 /* pios_spi.h */,
65E8F04E11EFF25C00BBF654 /* pios_spi_priv.h */,
65E8F04F11EFF25C00BBF654 /* pios_stm32.h */,
@ -7728,6 +7768,24 @@
65E8F05811EFF25C00BBF654 /* STM32F10x */ = {
isa = PBXGroup;
children = (
65D1FBD813F51865006374A6 /* pios_bmp085.c */,
6560A39D13EE277E00105DA5 /* pios_iap.c */,
6560A39E13EE277E00105DA5 /* pios_sbus.c */,
6560A38E13EE270C00105DA5 /* link_STM3210E_INS_BL_sections.ld */,
6560A38F13EE270C00105DA5 /* link_STM3210E_INS_memory.ld */,
6560A39013EE270C00105DA5 /* link_STM3210E_INS_sections.ld */,
6560A39113EE270C00105DA5 /* link_STM3210E_OP_BL_sections.ld */,
6560A39213EE270C00105DA5 /* link_STM3210E_OP_memory.ld */,
6560A39313EE270C00105DA5 /* link_STM3210E_OP_sections.ld */,
6560A39413EE270C00105DA5 /* link_STM32103CB_AHRS_BL_sections.ld */,
6560A39513EE270C00105DA5 /* link_STM32103CB_AHRS_memory.ld */,
6560A39613EE270C00105DA5 /* link_STM32103CB_AHRS_sections.ld */,
6560A39713EE270C00105DA5 /* link_STM32103CB_CC_Rev1_BL_sections.ld */,
6572CB1613D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_memory.ld */,
6572CB1713D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_sections.ld */,
6560A39813EE270C00105DA5 /* link_STM32103CB_PIPXTREME_BL_sections.ld */,
6560A39913EE270C00105DA5 /* link_STM32103CB_PIPXTREME_memory.ld */,
6560A39A13EE270C00105DA5 /* link_STM32103CB_PIPXTREME_sections.ld */,
65E8F05911EFF25C00BBF654 /* Libraries */,
65E8F0D811EFF25C00BBF654 /* link_stm32f10x_HD.ld */,
65E8F0DB11EFF25C00BBF654 /* link_stm32f10x_MD.ld */,
@ -7742,10 +7800,12 @@
65E8F0E411EFF25C00BBF654 /* pios_ppm.c */,
65E8F0E511EFF25C00BBF654 /* pios_pwm.c */,
6589A9DB131DEE76006BD67C /* pios_rtc.c */,
65643CBA141350C200A32F59 /* pios_sbus.c */,
65E8F0E611EFF25C00BBF654 /* pios_servo.c */,
65E8F0E711EFF25C00BBF654 /* pios_spektrum.c */,
65E8F0E811EFF25C00BBF654 /* pios_spi.c */,
65E8F0E911EFF25C00BBF654 /* pios_sys.c */,
65643CB91413456D00A32F59 /* pios_tim.c */,
65E8F0EA11EFF25C00BBF654 /* pios_usart.c */,
65E8F0ED11EFF25C00BBF654 /* pios_usb_hid.c */,
651CF9E5120B5D8300EEFD70 /* pios_usb_hid_desc.c */,
@ -7763,8 +7823,6 @@
65E8F05911EFF25C00BBF654 /* Libraries */ = {
isa = PBXGroup;
children = (
6572CB1613D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_memory.ld */,
6572CB1713D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_sections.ld */,
65E8F05A11EFF25C00BBF654 /* CMSIS */,
65E8F06B11EFF25C00BBF654 /* dosfs */,
65E8F07111EFF25C00BBF654 /* FreeRTOS */,

99
flight/Project/versionblob.py
View File

@ -1,99 +0,0 @@
#!/usr/bin/env python
# Generate a version blob for
# the OpenPilot firmware.
#
# By E. Lafargue (c) 2011 E. Lafargue & the OpenPilot team
# Licence: GPLv3
#
###
# Usage:
# versionblob.py --append --firmware=<Firmware file name> --boardid=<Board code>
#
# append: if present, then append blob to firmware file directly, otherwise create "blob.bin"
# firmware: the filename of the firmware binary
# boardid: as a string, the board code, for example "0401" for CC board version 1.
# should match the codes in firmware description files.
#
# We have 100 bytes for the whole description.
#
# Only the first 40 are visible on the FirmwareIAP uavobject, the remaining
# 60 are ok to use for packaging and will be saved in the flash
#
# Structure is:
# 4 bytes: header: "OpFw"
# 4 bytes: GIT commit tag (short version of SHA1)
# 4 bytes: Unix timestamp of compile time
# 2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
# 26 bytes: commit tag if it is there, otherwise branch name. Zero-padded
# ---- 40 bytes limit ---
# 20 bytes: SHA1 sum of the firmware.
# 40 bytes: free for now.
import binascii
import os
from time import time
import argparse
# Do the argument parsing:
parser = argparse.ArgumentParser(description='Generate firmware desciption blob')
parser.add_argument('--append', action='store_true')
parser.add_argument('--firmware', help='name of firmware binary file' , required=True)
parser.add_argument('--boardid', help='ID of board model, for example 0401 for CopterControl', required=True)
args = parser.parse_args()
print args
if args.append == True:
print 'Appending description blob directly to ' + args.firmware
filename = args.firmware
file = open(filename,"ab")
else:
filename = 'blob.bin'
file = open(filename,"wb")
# Write the magic value:
file.write("OpFw")
# Get the short commit tag of the current git repository.
# Strip it to 8 characters for a 4 byte (int32) value.
# We have no full guarantee of unicity, but it is good enough
# with the rest of the information in the structure.
hs= os.popen('git rev-parse --short=8 HEAD').read().strip()
print "Version: " + hs
hb=binascii.a2b_hex(hs)
file.write(hb)
# Then the Unix time into a 32 bit integer:
print "Date: " + hex(int(time())).lstrip('0x')
hb = binascii.a2b_hex(hex(int(time())).lstrip('0x'))
file.write(hb)
# Then write board type and board revision
hb = binascii.a2b_hex(args.boardid)
file.write(hb)
# Last: a user-friendly description if it exists in GIT, otherwise
# just "unreleased"
hs = os.popen('git describe --exact-match').read()
if len(hs) == 0 :
print "Unreleased: get branch name instead"
hs = os.popen('git branch --contains HEAD').read()
file.write(hs[0:26])
file.write("\0"*(26-len(hs)))
## Now we are at the 40 bytes mark.
## Add the 20 byte SHA1 hash of the firmware:
import hashlib
sha1 = hashlib.sha1()
with open('build/coptercontrol/CopterControl.bin','rb') as f:
for chunk in iter(lambda: f.read(8192), ''):
sha1.update(chunk)
file.write(sha1.digest())
# Pad will null bytes:
file.write('\0'*40)
file.close()

2
flight/UAVObjects/inc/uavobjectsinit.h → flight/UAVObjects/inc/uavobjectsinittemplate.h
View File

@ -29,4 +29,6 @@
void UAVObjectsInitializeAll();
#define UAVOBJECTS_LARGEST $(SIZECALCULATION)
#endif // UAVOBJECTSINIT_H

2
flight/UAVObjects/uavobjectsinittemplate.c
View File

@ -36,5 +36,7 @@ $(OBJINC)
*/
void UAVObjectsInitializeAll()
{
return;
// This function is no longer used anyway
$(OBJINIT)
}

10
flight/UAVObjects/uavobjecttemplate.c
View File

@ -40,15 +40,19 @@
#include "$(NAMELC).h"
// Private variables
static UAVObjHandle handle;
static UAVObjHandle handle = NULL;
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t $(NAME)Initialize(void)
{
// Don't set the handle to null if already registered
if(UAVObjGetByID($(NAMEUC)_OBJID) != NULL)
return -2;
// Register object with the object manager
handle = UAVObjRegister($(NAMEUC)_OBJID, $(NAMEUC)_NAME, $(NAMEUC)_METANAME, 0,
$(NAMEUC)_ISSINGLEINST, $(NAMEUC)_ISSETTINGS, $(NAMEUC)_NUMBYTES, &$(NAME)SetDefaults);
@ -64,8 +68,6 @@ int32_t $(NAME)Initialize(void)
}
}
UAVOBJ_INITCALL($(NAME)Initialize);
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields

21
flight/UAVTalk/inc/uavtalk.h
View File

@ -29,10 +29,6 @@
#ifndef UAVTALK_H
#define UAVTALK_H
// Public constants
#define UAVTALK_WAITFOREVER -1
#define UAVTALK_NOWAIT 0
// Public types
typedef int32_t (*UAVTalkOutputStream)(uint8_t* data, int32_t length);
@ -47,14 +43,17 @@ typedef struct {
uint32_t rxErrors;
} UAVTalkStats;
typedef void* UAVTalkConnection;
// Public functions
int32_t UAVTalkInitialize(UAVTalkOutputStream outputStream);
int32_t UAVTalkSetOutputStream(UAVTalkOutputStream outputStream);
int32_t UAVTalkSendObject(UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs);
int32_t UAVTalkSendObjectRequest(UAVObjHandle obj, uint16_t instId, int32_t timeoutMs);
int32_t UAVTalkProcessInputStream(uint8_t rxbyte);
void UAVTalkGetStats(UAVTalkStats* stats);
void UAVTalkResetStats();
UAVTalkConnection UAVTalkInitialize(UAVTalkOutputStream outputStream, uint32_t maxPacketSize);
int32_t UAVTalkSetOutputStream(UAVTalkConnection connection, UAVTalkOutputStream outputStream);
UAVTalkOutputStream UAVTalkGetOutputStream(UAVTalkConnection connection);
int32_t UAVTalkSendObject(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs);
int32_t UAVTalkSendObjectRequest(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, int32_t timeoutMs);
int32_t UAVTalkProcessInputStream(UAVTalkConnection connection, uint8_t rxbyte);
void UAVTalkGetStats(UAVTalkConnection connection, UAVTalkStats *stats);
void UAVTalkResetStats(UAVTalkConnection connection);
#endif // UAVTALK_H
/**

111
flight/UAVTalk/inc/uavtalk_priv.h Normal file
View File

@ -0,0 +1,111 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
* @file uavtalk.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Private include file of the UAVTalk library
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVTALK_PRIV_H
#define UAVTALK_PRIV_H
#include "uavobjectsinit.h"
// Private types and constants
typedef struct {
uint8_t sync;
uint8_t type;
uint16_t size;
uint32_t objId;
} uavtalk_min_header;
#define UAVTALK_MIN_HEADER_LENGTH sizeof(uavtalk_min_header)
typedef struct {
uint8_t sync;
uint8_t type;
uint16_t size;
uint32_t objId;
uint16_t instId;
} uavtalk_max_header;
#define UAVTALK_MAX_HEADER_LENGTH sizeof(uavtalk_max_header)
typedef uint8_t uavtalk_checksum;
#define UAVTALK_CHECKSUM_LENGTH sizeof(uavtalk_checksum)
#define UAVTALK_MAX_PAYLOAD_LENGTH (UAVOBJECTS_LARGEST + 1)
#define UAVTALK_MIN_PACKET_LENGTH UAVTALK_MAX_HEADER_LENGTH + UAVTALK_CHECKSUM_LENGTH
#define UAVTALK_MAX_PACKET_LENGTH UAVTALK_MIN_PACKET_LENGTH + UAVTALK_MAX_PAYLOAD_LENGTH
typedef enum {UAVTALK_STATE_SYNC, UAVTALK_STATE_TYPE, UAVTALK_STATE_SIZE, UAVTALK_STATE_OBJID, UAVTALK_STATE_INSTID, UAVTALK_STATE_DATA, UAVTALK_STATE_CS} UAVTalkRxState;
typedef struct {
UAVObjHandle obj;
uint8_t type;
uint16_t packet_size;
uint32_t objId;
uint16_t instId;
uint32_t length;
uint8_t cs;
int32_t rxCount;
UAVTalkRxState state;
uint16_t rxPacketLength;
} UAVTalkInputProcessor;
typedef struct {
uint8_t canari;
UAVTalkOutputStream outStream;
xSemaphoreHandle lock;
xSemaphoreHandle transLock;
xSemaphoreHandle respSema;
UAVObjHandle respObj;
uint16_t respInstId;
UAVTalkStats stats;
UAVTalkInputProcessor iproc;
uint8_t *rxBuffer;
uint32_t txSize;
uint8_t *txBuffer;
} UAVTalkConnectionData;
#define UAVTALK_CANARI 0xCA
#define UAVTALK_WAITFOREVER -1
#define UAVTALK_NOWAIT 0
#define UAVTALK_SYNC_VAL 0x3C
#define UAVTALK_TYPE_MASK 0xF8
#define UAVTALK_TYPE_VER 0x20
#define UAVTALK_TYPE_OBJ (UAVTALK_TYPE_VER | 0x00)
#define UAVTALK_TYPE_OBJ_REQ (UAVTALK_TYPE_VER | 0x01)
#define UAVTALK_TYPE_OBJ_ACK (UAVTALK_TYPE_VER | 0x02)
#define UAVTALK_TYPE_ACK (UAVTALK_TYPE_VER | 0x03)
#define UAVTALK_TYPE_NACK (UAVTALK_TYPE_VER | 0x04)
//macros
#define CHECKCONHANDLE(handle,variable,failcommand) \
variable = (UAVTalkConnectionData*) handle; \
if (variable == NULL || variable->canari != UAVTALK_CANARI) { \
failcommand; \
}
#endif // UAVTALK__PRIV_H
/**
* @}
* @}
*/

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