Some cleanup on PipXtreme codebase.

flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h

@@ -102,6 +102,32 @@ TIM4  |  RC In 1  |  Servo 3  |  Servo 2  |  Servo 1
 #define PIOS_ADXL_ENABLE                        PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,0)
 #define PIOS_ADXL_DISABLE                       PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,1)
 
+// *****************************************************************
+// PIOS_LED
+
+#define PIOS_LED_USB	0
+#define PIOS_LED_LINK	1
+#define PIOS_LED_RX	2
+#define PIOS_LED_TX	3
+
+#define PIOS_LED_HEARTBEAT PIOS_LED_USB
+#define PIOS_LED_ALARM PIOS_LED_TX
+
+#define USB_LED_ON					PIOS_LED_On(PIOS_LED_USB)
+#define USB_LED_OFF					PIOS_LED_Off(PIOS_LED_USB)
+#define USB_LED_TOGGLE					PIOS_LED_Toggle(PIOS_LED_USB)
+
+#define LINK_LED_ON					PIOS_LED_On(PIOS_LED_LINK)
+#define LINK_LED_OFF					PIOS_LED_Off(PIOS_LED_LINK)
+#define LINK_LED_TOGGLE					PIOS_LED_Toggle(PIOS_LED_LINK)
+
+#define RX_LED_ON					PIOS_LED_On(PIOS_LED_RX)
+#define RX_LED_OFF					PIOS_LED_Off(PIOS_LED_RX)
+#define RX_LED_TOGGLE					PIOS_LED_Toggle(PIOS_LED_RX)
+
+#define TX_LED_ON					PIOS_LED_On(PIOS_LED_TX)
+#define TX_LED_OFF					PIOS_LED_Off(PIOS_LED_TX)
+#define TX_LED_TOGGLE					PIOS_LED_Toggle(PIOS_LED_TX)
 
 //------------------------
 // PIOS_AK8794

flight/PipXtreme/Makefile

@@ -186,8 +186,6 @@ SRC += $(PIOSSTM32F10X)/pios_led.c
 SRC += $(PIOSSTM32F10X)/pios_delay.c
 SRC += $(PIOSSTM32F10X)/pios_usart.c
 SRC += $(PIOSSTM32F10X)/pios_irq.c
-SRC += $(PIOSSTM32F10X)/pios_adc.c
-SRC += $(PIOSSTM32F10X)/pios_i2c.c
 SRC += $(PIOSSTM32F10X)/pios_spi.c
 SRC += $(PIOSSTM32F10X)/pios_ppm.c
 SRC += $(PIOSSTM32F10X)/pios_debug.c

flight/PipXtreme/System/inc/pios_config.h

@@ -34,7 +34,7 @@
 #define PIOS_CONFIG_H
 
 /* Enable/Disable PiOS Modules */
-#define PIOS_INCLUDE_ADC
+//#define PIOS_INCLUDE_ADC
 #define PIOS_INCLUDE_DELAY
 #ifdef MOVE_CONTROLLER
 #define PIOS_INCLUDE_I2C

flight/PipXtreme/System/inc/pios_usb_board_data.h

@@ -0,0 +1,45 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_USB_BOARD Board specific USB definitions
+ * @brief Board specific USB definitions
+ * @{
+ *
+ * @file       pios_usb_board_data.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Board specific USB definitions
+ * @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_USB_BOARD_DATA_H
+#define PIOS_USB_BOARD_DATA_H
+
+#define PIOS_USB_BOARD_CDC_DATA_LENGTH 64
+#define PIOS_USB_BOARD_CDC_MGMT_LENGTH 32
+#define PIOS_USB_BOARD_HID_DATA_LENGTH 64
+
+#define PIOS_USB_BOARD_EP_NUM 4
+
+#include "pios_usb_defs.h" 	/* USB_* macros */
+
+#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_COPTERCONTROL
+#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_COPTERCONTROL, USB_OP_BOARD_MODE_FW)
+
+#endif	/* PIOS_USB_BOARD_DATA_H */

flight/PipXtreme/System/pios_board.c

@@ -35,62 +35,8 @@
 #include <manualcontrolsettings.h>
 #include <gcsreceiver.h>
 
-/*
- * ADC system
- */
-#include "pios_adc_priv.h"
-extern void PIOS_ADC_handler(void);
-void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
-// Remap the ADC DMA handler to this one
-static const struct pios_adc_cfg pios_adc_cfg = {
-	.dma = {
-		.ahb_clk  = RCC_AHBPeriph_DMA1,
-		.irq = {
-			.flags   = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
-			.init    = {
-				.NVIC_IRQChannel                   = DMA1_Channel1_IRQn,
-				.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
-				.NVIC_IRQChannelSubPriority        = 0,
-				.NVIC_IRQChannelCmd                = ENABLE,
-			},
-		},
-		.rx = {
-			.channel = DMA1_Channel1,
-			.init    = {
-				.DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR,
-				.DMA_DIR                = DMA_DIR_PeripheralSRC,
-				.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
-				.DMA_MemoryInc          = DMA_MemoryInc_Enable,
-				.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word,
-				.DMA_MemoryDataSize     = DMA_MemoryDataSize_Word,
-				.DMA_Mode               = DMA_Mode_Circular,
-				.DMA_Priority           = DMA_Priority_High,
-				.DMA_M2M                = DMA_M2M_Disable,
-			},
-		}
-	}, 
-	.half_flag = DMA1_IT_HT1,
-	.full_flag = DMA1_IT_TC1,
-};
-
-struct pios_adc_dev pios_adc_devs[] = {
-	{
-		.cfg = &pios_adc_cfg,
-		.callback_function = NULL,
-	},
-};
-
-uint8_t pios_adc_num_devices = NELEMENTS(pios_adc_devs);
-
-void PIOS_ADC_handler() {
-	PIOS_ADC_DMA_Handler();
-}
-
-#if defined(PIOS_INCLUDE_USART)
-
 #include "pios_usart_priv.h"
 
-#if defined(PIOS_INCLUDE_TELEMETRY_RF)
 /*
  * Telemetry USART
  */
@@ -113,40 +59,21 @@ static const struct pios_usart_cfg pios_usart_telem_main_cfg = {
     },
   },
   .rx   = {
-#ifdef MOVE_CONTROLLER
-    .gpio = GPIOB,
-#else
     .gpio = GPIOA,
-#endif
     .init = {
-#ifdef MOVE_CONTROLLER
-      .GPIO_Pin   = GPIO_Pin_7,
-#else
       .GPIO_Pin   = GPIO_Pin_10,
-#endif
       .GPIO_Speed = GPIO_Speed_2MHz,
       .GPIO_Mode  = GPIO_Mode_IPU,
     },
   },
   .tx   = {
-#ifdef MOVE_CONTROLLER
-    .gpio = GPIOB,
-#else
     .gpio = GPIOA,
-#endif
     .init = {
-#ifdef MOVE_CONTROLLER
-      .GPIO_Pin   = GPIO_Pin_6,
-#else
       .GPIO_Pin   = GPIO_Pin_9,
-#endif
       .GPIO_Speed = GPIO_Speed_2MHz,
       .GPIO_Mode  = GPIO_Mode_AF_PP,
     },
   },
-#ifdef MOVE_CONTROLLER
-  .remap = AFIO_MAPR_USART1_REMAP,
-#endif
 };
 
 static const struct pios_usart_cfg pios_usart_usart2_cfg = {
@@ -220,11 +147,6 @@ static const struct pios_usart_cfg pios_usart_telem_flexi_cfg = {
     },
   },
 };
-#endif /* PIOS_INCLUDE_TELEMETRY_RF */
-
-#endif  /* PIOS_INCLUDE_USART */
-
-#if defined(PIOS_INCLUDE_COM)
 
 #include "pios_com_priv.h"
 
@@ -236,8 +158,6 @@ static const struct pios_usart_cfg pios_usart_telem_flexi_cfg = {
 #define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
 #define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
 
-#endif	/* PIOS_INCLUDE_COM */
-
 #if defined(PIOS_INCLUDE_RTC)
 /*
  * Realtime Clock (RTC)
@@ -442,129 +362,9 @@ const struct pios_ppm_cfg pios_ppm_cfg = {
  */
 uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
 
-#include <pios_pwm_priv.h>
-
-static const struct pios_tim_channel pios_tim_rssi_pwm_channel = {
-#if defined(ANALOG_TRANSMITTER)
-	.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,
-#else
-	.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,
-		},
-	},
-#endif
-};
-
-const struct pios_pwm_cfg pios_pwm_cfg = {
-	.tim_ic_init = {
-		.TIM_ICPolarity = TIM_ICPolarity_Rising,
-		.TIM_ICSelection = TIM_ICSelection_DirectTI,
-		.TIM_ICPrescaler = TIM_ICPSC_DIV1,
-		.TIM_ICFilter = 0x0,
-	},
-	.channels = &pios_tim_rssi_pwm_channel,
-	.num_channels = 1,
-};
-
-#if defined(PIOS_INCLUDE_I2C)
-
-
-#include <pios_i2c_priv.h>
-
-/*
- * I2C Adapters
- */
-
-void PIOS_I2C_flexi_adapter_ev_irq_handler(void);
-void PIOS_I2C_flexi_adapter_er_irq_handler(void);
-void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexi_adapter_ev_irq_handler")));
-void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexi_adapter_er_irq_handler")));
-
-static const struct pios_i2c_adapter_cfg pios_i2c_flexi_adapter_cfg = {
-  .regs = I2C2,
-  .init = {
-    .I2C_Mode                = I2C_Mode_I2C,
-    .I2C_OwnAddress1         = 0,
-    .I2C_Ack                 = I2C_Ack_Enable,
-    .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
-    .I2C_DutyCycle           = I2C_DutyCycle_2,
-    .I2C_ClockSpeed          = 400000,	/* bits/s */
-  },
-  .transfer_timeout_ms = 50,
-  .scl = {
-    .gpio = GPIOB,
-    .init = {
-      .GPIO_Pin   = GPIO_Pin_10,
-      .GPIO_Speed = GPIO_Speed_10MHz,
-      .GPIO_Mode  = GPIO_Mode_AF_OD,
-    },
-  },
-  .sda = {
-    .gpio = GPIOB,
-    .init = {
-      .GPIO_Pin   = GPIO_Pin_11,
-      .GPIO_Speed = GPIO_Speed_10MHz,
-      .GPIO_Mode  = GPIO_Mode_AF_OD,
-    },
-  },
-  .event = {
-    .flags   = 0,		/* FIXME: check this */
-    .init = {
-      .NVIC_IRQChannel                   = I2C2_EV_IRQn,
-      .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
-      .NVIC_IRQChannelSubPriority        = 0,
-      .NVIC_IRQChannelCmd                = ENABLE,
-    },
-  },
-  .error = {
-    .flags   = 0,		/* FIXME: check this */
-    .init = {
-      .NVIC_IRQChannel                   = I2C2_ER_IRQn,
-      .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
-      .NVIC_IRQChannelSubPriority        = 0,
-      .NVIC_IRQChannelCmd                = ENABLE,
-    },
-  },
-};
-
-uint32_t pios_i2c_flexi_adapter_id;
-void PIOS_I2C_flexi_adapter_ev_irq_handler(void)
-{
-  /* Call into the generic code to handle the IRQ for this specific device */
-  PIOS_I2C_EV_IRQ_Handler(pios_i2c_flexi_adapter_id);
-}
-
-void PIOS_I2C_flexi_adapter_er_irq_handler(void)
-{
-  /* Call into the generic code to handle the IRQ for this specific device */
-  PIOS_I2C_ER_IRQ_Handler(pios_i2c_flexi_adapter_id);
-}
-
-#endif /* PIOS_INCLUDE_I2C */
-
-uint32_t rssi_pwm_id;
-
 uint32_t pios_com_usart1_id;
-#ifndef MOVE_CONTROLLER
 uint32_t pios_com_usart2_id;
 uint32_t pios_com_usart3_id;
-#endif
 
 /**
  * PIOS_Board_Init()
@@ -639,7 +439,6 @@ void PIOS_Board_Init(void) {
 		}
 	}
 
-#ifndef MOVE_CONTROLLER
 	/* Configure USART2 */
 	{
 		uint32_t pios_usart2_id;
@@ -674,173 +473,13 @@ void PIOS_Board_Init(void) {
 			PIOS_Assert(0);
 		}
 	}
-#endif
 	PIOS_COM_SendString(PIOS_COM_DEBUG, "Hello Debug\n\r");
-	//PIOS_COM_SendString(PIOS_COM_TELEM_GCS, "Hello GCS\n\r");
+	PIOS_COM_SendString(PIOS_COM_TELEM_GCS, "Hello GCS\n\r");
-	//PIOS_COM_SendString(PIOS_COM_TELEM_OUT, "Hello CC\n\r");
+	PIOS_COM_SendString(PIOS_COM_TELEM_OUT, "Hello CC\n\r");
-
-#if defined(PIOS_INCLUDE_I2C)
-	if (PIOS_I2C_Init(&pios_i2c_flexi_adapter_id, &pios_i2c_flexi_adapter_cfg)) {
-		PIOS_Assert(0);
-	}
-#endif  /* PIOS_INCLUDE_AK8974 */
-
-#if defined(ANALOG_TRANSMITTER)
-	// Initialize switch GPIO pins
-	{
-		GPIO_TypeDef *GPIO_GPIOxs[] = {
-			GPIOA, GPIOB, GPIOB, GPIOB, GPIOB, GPIOB
-		};
-		GPIO_InitTypeDef GPIO_InitStructures[] = {
-			{
-				.GPIO_Speed = GPIO_Speed_2MHz,
-				.GPIO_Pin = GPIO_Pin_8,
-				.GPIO_Mode = GPIO_Mode_IN_FLOATING,
-			},
-			{
-				.GPIO_Speed = GPIO_Speed_2MHz,
-				.GPIO_Pin = GPIO_Pin_7,
-				.GPIO_Mode = GPIO_Mode_IN_FLOATING,
-			},
-			{
-				.GPIO_Speed = GPIO_Speed_2MHz,
-				.GPIO_Pin = GPIO_Pin_14,
-				.GPIO_Mode = GPIO_Mode_IN_FLOATING,
-			},
-			{
-				.GPIO_Speed = GPIO_Speed_2MHz,
-				.GPIO_Pin = GPIO_Pin_13,
-				.GPIO_Mode = GPIO_Mode_IN_FLOATING,
-			},
-			{
-				.GPIO_Speed = GPIO_Speed_2MHz,
-				.GPIO_Pin = GPIO_Pin_15,
-				.GPIO_Mode = GPIO_Mode_IN_FLOATING,
-			},
-			{
-				.GPIO_Speed = GPIO_Speed_2MHz,
-				.GPIO_Pin = GPIO_Pin_9,
-				.GPIO_Mode = GPIO_Mode_Out_OD,
-			},
-		};
-		unsigned int i;
-		for (i = 0; i < sizeof(GPIO_GPIOxs) / sizeof(GPIO_TypeDef); ++i)
-			GPIO_Init(GPIO_GPIOxs[i], GPIO_InitStructures + i);
-	}
-
-	// Initialize the XBee RSSI PWM input.
-	PIOS_PWM_Init(&rssi_pwm_id, &pios_pwm_cfg);
-
-#elif defined(MAPLE_MINI)
-
-	// Initialize switch GPIO pins
-	{
-		GPIO_TypeDef *GPIO_GPIOxs[] = {
-			GPIOB, GPIOB, GPIOB
-		};
-		GPIO_InitTypeDef GPIO_InitStructures[] = {
-			{
-				.GPIO_Speed = GPIO_Speed_2MHz,
-				.GPIO_Pin = GPIO_Pin_0,
-				.GPIO_Mode = GPIO_Mode_IPU,
-			},
-			{
-				.GPIO_Speed = GPIO_Speed_2MHz,
-				.GPIO_Pin = GPIO_Pin_2,
-				.GPIO_Mode = GPIO_Mode_IPU,
-			},
-			{
-				.GPIO_Speed = GPIO_Speed_2MHz,
-				.GPIO_Pin = GPIO_Pin_9,
-				.GPIO_Mode = GPIO_Mode_Out_OD,
-			},
-		};
-		unsigned int i;
-		for (i = 0; i < sizeof(GPIO_GPIOxs) / sizeof(GPIO_TypeDef); ++i)
-			GPIO_Init(GPIO_GPIOxs[i], GPIO_InitStructures + i);
-	}
-
-	// Initialize the XBee RSSI PWM input.
-	PIOS_PWM_Init(&rssi_pwm_id, &pios_pwm_cfg);
-
-	// Turn on the USB port on the Maple Mini */
-	GPIO_ResetBits(GPIOB, GPIO_Pin_9);
-
-#elif defined(MOVE_CONTROLLER)
-
-	// Initialize switch GPIO pins
-	// PA0 - PS Button
-	// PB8 - Select Button
-	// PB9 - Start Button
-	// PD5 - Square Button
-	// PC13 - Circle Button
-	// PC14 - X Button
-	// PC15 - Triangle Button
-	// PE0 - Move Button
-	{
-		GPIO_TypeDef *GPIO_GPIOxs[] = {
-			GPIOA, GPIOB, GPIOB, GPIOD, GPIOC, GPIOC, GPIOC, GPIOE, GPIOD, GPIOD
-		};
-		GPIO_InitTypeDef GPIO_InitStructures[] = {
-			{
-				.GPIO_Speed = GPIO_Speed_2MHz,
-				.GPIO_Pin = GPIO_Pin_0,
-				.GPIO_Mode = GPIO_Mode_IPD,
-			},
-			{
-				.GPIO_Speed = GPIO_Speed_2MHz,
-				.GPIO_Pin = GPIO_Pin_8,
-				.GPIO_Mode = GPIO_Mode_IPD,
-			},
-			{
-				.GPIO_Speed = GPIO_Speed_2MHz,
-				.GPIO_Pin = GPIO_Pin_9,
-				.GPIO_Mode = GPIO_Mode_IPD,
-			},
-			{
-				.GPIO_Speed = GPIO_Speed_2MHz,
-				.GPIO_Pin = GPIO_Pin_5,
-				.GPIO_Mode = GPIO_Mode_IPD,
-			},
-			{
-				.GPIO_Speed = GPIO_Speed_2MHz,
-				.GPIO_Pin = GPIO_Pin_13,
-				.GPIO_Mode = GPIO_Mode_IPD,
-			},
-			{
-				.GPIO_Speed = GPIO_Speed_2MHz,
-				.GPIO_Pin = GPIO_Pin_14,
-				.GPIO_Mode = GPIO_Mode_IPD,
-			},
-			{
-				.GPIO_Speed = GPIO_Speed_2MHz,
-				.GPIO_Pin = GPIO_Pin_15,
-				.GPIO_Mode = GPIO_Mode_IPD,
-			},
-			{
-				.GPIO_Speed = GPIO_Speed_2MHz,
-				.GPIO_Pin = GPIO_Pin_0,
-				.GPIO_Mode = GPIO_Mode_IPD,
-			},
-			{
-				.GPIO_Speed = GPIO_Speed_50MHz,
-				.GPIO_Pin = GPIO_Pin_0,
-				.GPIO_Mode = GPIO_Mode_Out_PP,
-			},
-		};
-		unsigned int i;
-		for (i = 0; i < sizeof(GPIO_GPIOxs) / sizeof(GPIO_TypeDef); ++i)
-			GPIO_Init(GPIO_GPIOxs[i], GPIO_InitStructures + i);
-
-		// Set the referece voltage for T button potentiometer
-		GPIO_ResetBits(GPIOD, GPIO_Pin_0);
-	}
-#endif
 
 	/* Remap AFIO pin */
 	GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);
 
-	PIOS_ADC_Init();
 	PIOS_GPIO_Init();
 }
 

flight/PipXtreme/System/pios_usb_board_data.c

@@ -0,0 +1,123 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_USB_BOARD Board specific USB definitions
+ * @brief Board specific USB definitions
+ * @{
+ *
+ * @file       pios_usb_board_data.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Board specific USB definitions
+ * @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 "pios_usb_board_data.h" /* struct usb_*, USB_* */
+#include "pios_sys.h"		 /* PIOS_SYS_SerialNumberGet */
+#include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
+
+static const uint8_t usb_product_id[28] = {
+	sizeof(usb_product_id),
+	USB_DESC_TYPE_STRING,
+	'C', 0,
+	'o', 0,
+	'p', 0,
+	't', 0,
+	'e', 0,
+	'r', 0,
+	'C', 0,
+	'o', 0,
+	'n', 0,
+	't', 0,
+	'r', 0,
+	'o', 0,
+	'l', 0,
+};
+
+static uint8_t usb_serial_number[52] = {
+	sizeof(usb_serial_number),
+	USB_DESC_TYPE_STRING,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0
+};
+
+static const struct usb_string_langid usb_lang_id = {
+	.bLength = sizeof(usb_lang_id),
+	.bDescriptorType = USB_DESC_TYPE_STRING,
+	.bLangID = htousbs(USB_LANGID_ENGLISH_UK),
+};
+
+static const uint8_t usb_vendor_id[28] = {
+	sizeof(usb_vendor_id),
+	USB_DESC_TYPE_STRING,
+	'o', 0,
+	'p', 0,
+	'e', 0,
+	'n', 0,
+	'p', 0,
+	'i', 0,
+	'l', 0,
+	'o', 0,
+	't', 0,
+	'.', 0,
+	'o', 0,
+	'r', 0,
+	'g', 0
+};
+
+int32_t PIOS_USB_BOARD_DATA_Init(void)
+{
+	/* Load device serial number into serial number string */
+	uint8_t sn[25];
+	PIOS_SYS_SerialNumberGet((char *)sn);
+	for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < usb_serial_number[0]; i++) {
+		usb_serial_number[2 + 2 * i] = sn[i];
+	}
+
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id));
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number));
+
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id));
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id));
+
+	return 0;
+}

flight/PipXtreme/System/pipxtreme.c

@@ -0,0 +1,99 @@
+/**
+ ******************************************************************************
+ * @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 "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 */
+	while (1) {
+#if defined(PIOS_LED_HEARTBEAT)
+		PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
+#endif	/* PIOS_LED_HEARTBEAT */
+		PIOS_DELAY_WaitmS(100);
+	}
+
+    return 0;
+}
+
+/**
+ * @}
+ * @}
+ */
+