rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-18 08:54:15 +01:00
Code Issues Releases Activity

Some cleanup on PipXtreme codebase.

Browse Source
This commit is contained in:
Brian Webb 2012-02-23 19:58:23 -07:00
parent f0dfba6fc0
commit cf34baec69
7 changed files with 296 additions and 366 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
View File

@ -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

2
flight/PipXtreme/Makefile
View File

@ -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

2
flight/PipXtreme/System/inc/pios_config.h
View File

@ -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

45
flight/PipXtreme/System/inc/pios_usb_board_data.h Normal file
View File

@ -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 */

365
flight/PipXtreme/System/pios_board.c
View File

@ -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_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
PIOS_COM_SendString(PIOS_COM_TELEM_GCS, "Hello GCS\n\r");
PIOS_COM_SendString(PIOS_COM_TELEM_OUT, "Hello CC\n\r");
/* Remap AFIO pin */
GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);
PIOS_ADC_Init();
PIOS_GPIO_Init();
}

123
flight/PipXtreme/System/pios_usb_board_data.c Normal file
View File

@ -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;
}

99
flight/PipXtreme/System/pipxtreme.c Executable file
View File

@ -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;
}
/**
* @}
* @}
*/