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Code Issues Releases Activity

Graphic features and cleanup

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osdinput module back to irq based usart
This commit is contained in:
Sambas 2012-06-02 12:46:09 +03:00
parent 2fcbb4ee8e
commit d6216cf02b
6 changed files with 220 additions and 556 deletions
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94
flight/Modules/Osd/osdgen/osdgen.c
View File

@ -1897,6 +1897,91 @@ void setGpsOsd(uint8_t status, int32_t lat, int32_t lon, float alt, float spd)
m_gpsSpd=spd; m_gpsSpd=spd;
} }
void draw_artificial_horizon(float angle, float pitch, int16_t l_x, int16_t l_y, int16_t size )
{
float alpha;
int16_t x1,x2,x3,x4;
int16_t y1,y2,y3,y4;
int16_t y_pitch;
// rotated corners
int16_t ax1,ax2,ax3,ax4,ay1,ay2,ay3,ay4;
int16_t refx,refy;
alpha=DEG2RAD(angle);
// move up or down Size
y_pitch=(pitch/90.0f*(size/2))+size/2;
// center rotate point
refx=l_x + size/2;
refy=l_y + size/2;
x1=l_x - size/2;
y1=l_y + y_pitch;
x2=l_x + size + size/2;
y2=l_y + y_pitch;
x3=l_x + size + size/2;
y3=l_y + size + y_pitch;
x4=l_x - size/2;
y4=l_y + size + y_pitch;
ax1=refy+(x1-refx)*cosf(alpha)-(y1-refy)*sinf(alpha);
ay1=refy+(x1-refx)*sinf(alpha)+(y1-refy)*cosf(alpha);
ax2=refy+(x2-refx)*cosf(alpha)-(y2-refy)*sinf(alpha);
ay2=refy+(x2-refx)*sinf(alpha)+(y2-refy)*cosf(alpha);
ax3=refy+(x3-refx)*cosf(alpha)-(y3-refy)*sinf(alpha);
ay3=refy+(x3-refx)*sinf(alpha)+(y3-refy)*cosf(alpha);
ax4=refy+(x4-refx)*cosf(alpha)-(y4-refy)*sinf(alpha);
ay4=refy+(x4-refx)*sinf(alpha)+(y4-refy)*cosf(alpha);
write_line_outlined(ax1,ay1,ax2,ay2,0,0,0,1);
//fill
for(int i=0;i<(size);i++)
{
x1=l_x - size/2;
y1=l_y + y_pitch + i;
x2=l_x + size + size/2;
y2=l_y + y_pitch + i;
ax1=refy+(x1-refx)*cosf(alpha)-(y1-refy)*sinf(alpha);
ay1=refy+(x1-refx)*sinf(alpha)+(y1-refy)*cosf(alpha);
ax2=refy+(x2-refx)*cosf(alpha)-(y2-refy)*sinf(alpha);
ay2=refy+(x2-refx)*sinf(alpha)+(y2-refy)*cosf(alpha);
write_line_lm(ax1,ay1,ax2,ay2,1,1);
}
//fill2
for(int i=0;i<(size*2);i++)
{
x1=l_x - size/2 + i;
y1=l_y + y_pitch;
x4=l_x - size/2 + i;
y4=l_y + size + y_pitch;
ax1=refy+(x1-refx)*cosf(alpha)-(y1-refy)*sinf(alpha);
ay1=refy+(x1-refx)*sinf(alpha)+(y1-refy)*cosf(alpha);
ax4=refy+(x4-refx)*cosf(alpha)-(y4-refy)*sinf(alpha);
ay4=refy+(x4-refx)*sinf(alpha)+(y4-refy)*cosf(alpha);
write_line_lm(ax1,ay1,ax4,ay4,1,1);
}
//sides
write_line_outlined(l_x,l_y,l_x,l_y+size,0,0,0,1);
write_line_outlined(l_x+size,l_y,l_x+size,l_y+size,0,0,0,1);
//plane
write_line_outlined(refx-5,refy,refx+6,refy,0,0,0,1);
write_line_outlined(refx,refy,refx,refy-3,0,0,0,1);
//needs better way to limit drawing outside the box
write_filled_rectangle_lm(l_x - size - size/2-1, l_y - size - size/2-1, size + size/2, size*4+2, 0,0); //left
write_filled_rectangle_lm(l_x + size + 1, l_y - size - size/2-1, size + size/2, size*4+2, 0,0); //right
write_filled_rectangle_lm(l_x-1, l_y + size + 1, size+2, size + size/2, 0,0); //bot
write_filled_rectangle_lm(l_x-1, l_y - size - size/2-1, size+1, size + size/2+1, 0,0); //top
}
void introText(){ void introText(){
write_string("ver 0.2", APPLY_HDEADBAND((GRAPHICS_RIGHT/2)),APPLY_VDEADBAND(GRAPHICS_BOTTOM-10), 0, 0, TEXT_VA_BOTTOM, TEXT_HA_CENTER, 0, 3); write_string("ver 0.2", APPLY_HDEADBAND((GRAPHICS_RIGHT/2)),APPLY_VDEADBAND(GRAPHICS_BOTTOM-10), 0, 0, TEXT_VA_BOTTOM, TEXT_HA_CENTER, 0, 3);
} }
@ -2196,6 +2281,11 @@ void updateGraphics() {
} }
} }
break; break;
case 2:
{
draw_artificial_horizon(-attitude.Roll,attitude.Pitch,100,100,30);
}
break;
case 3: case 3:
{ {
lamas(); lamas();
@ -2273,7 +2363,7 @@ static void osdgenTask(void *parameters)
lastSysTime = xTaskGetTickCount(); lastSysTime = xTaskGetTickCount();
// intro // intro
for(int i=0; i<125; i++) for(int i=0; i<63; i++)
{ {
if( xSemaphoreTake( osdSemaphore, LONG_TIME ) == pdTRUE ) if( xSemaphoreTake( osdSemaphore, LONG_TIME ) == pdTRUE )
{ {
@ -2281,7 +2371,7 @@ static void osdgenTask(void *parameters)
introGraphics(); introGraphics();
} }
} }
for(int i=0; i<125; i++) for(int i=0; i<63; i++)
{ {
if( xSemaphoreTake( osdSemaphore, LONG_TIME ) == pdTRUE ) if( xSemaphoreTake( osdSemaphore, LONG_TIME ) == pdTRUE )
{ {

27
flight/Modules/Osd/osdinput/osdinput.c
View File

@ -61,7 +61,7 @@ static void OpOsdTask(void *parameters);
// **************** // ****************
// Private variables // Private variables
//static uint32_t oposdPort; static uint32_t oposdPort;
static xTaskHandle OpOsdTaskHandle; static xTaskHandle OpOsdTaskHandle;
@ -111,7 +111,7 @@ int32_t OpOsdInitialize(void)
// TODO: Get gps settings object // TODO: Get gps settings object
/* oposdPort = PIOS_COM_OSD;*/ oposdPort = PIOS_COM_OSD;
oposd_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH); oposd_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH);
PIOS_Assert(oposd_rx_buffer); PIOS_Assert(oposd_rx_buffer);
@ -127,6 +127,7 @@ MODULE_INITCALL(OpOsdInitialize, OpOsdStart)
static void OpOsdTask(void *parameters) static void OpOsdTask(void *parameters)
{ {
portTickType xDelay = 100 / portTICK_RATE_MS;
portTickType lastSysTime; portTickType lastSysTime;
// Loop forever // Loop forever
lastSysTime = xTaskGetTickCount(); //portTickType xDelay = 100 / portTICK_RATE_MS; lastSysTime = xTaskGetTickCount(); //portTickType xDelay = 100 / portTICK_RATE_MS;
@ -152,7 +153,7 @@ static void OpOsdTask(void *parameters)
// Loop forever // Loop forever
while (1) while (1)
{ {
//DMA_Cmd(DMA1_Stream2, DISABLE); //prohibit channel3 for a little time /*//DMA_Cmd(DMA1_Stream2, DISABLE); //prohibit channel3 for a little time
uint16_t cnt = DMA_GetCurrDataCounter(DMA1_Stream2); uint16_t cnt = DMA_GetCurrDataCounter(DMA1_Stream2);
rx.wr = rx.buf_size-cnt; rx.wr = rx.buf_size-cnt;
if(rx.wr) if(rx.wr)
@ -199,9 +200,9 @@ static void OpOsdTask(void *parameters)
attitude.Pitch = (int16_t)(oposd_rx_buffer[5] | oposd_rx_buffer[6]<<8); attitude.Pitch = (int16_t)(oposd_rx_buffer[5] | oposd_rx_buffer[6]<<8);
attitude.Yaw = (int16_t)(oposd_rx_buffer[7] | oposd_rx_buffer[8]<<8); attitude.Yaw = (int16_t)(oposd_rx_buffer[7] | oposd_rx_buffer[8]<<8);
AttitudeActualSet(&attitude); AttitudeActualSet(&attitude);
/*setAttitudeOsd((int16_t)(oposd_rx_buffer[5] | oposd_rx_buffer[6]<<8), //pitch //setAttitudeOsd((int16_t)(oposd_rx_buffer[5] | oposd_rx_buffer[6]<<8), //pitch
(int16_t)(oposd_rx_buffer[3] | oposd_rx_buffer[4]<<8), //roll // (int16_t)(oposd_rx_buffer[3] | oposd_rx_buffer[4]<<8), //roll
(int16_t)(oposd_rx_buffer[7] | oposd_rx_buffer[8]<<8)); //yaw*/ // (int16_t)(oposd_rx_buffer[7] | oposd_rx_buffer[8]<<8)); //yaw
} }
//frame completed //frame completed
@ -212,9 +213,8 @@ static void OpOsdTask(void *parameters)
} }
//DMA_Cmd(DMA1_Stream2, ENABLE); //DMA_Cmd(DMA1_Stream2, ENABLE);
*/
/*uint8_t c=0xAA;
//PIOS_COM_SendBufferNonBlocking(oposdPort, &c, 1); //PIOS_COM_SendBufferNonBlocking(oposdPort, &c, 1);
// This blocks the task until there is something on the buffer // This blocks the task until there is something on the buffer
@ -245,6 +245,8 @@ static void OpOsdTask(void *parameters)
rx_count++; rx_count++;
} }
if (rx_count == 11) if (rx_count == 11)
{
if(oposd_rx_buffer[1]==3)
{ {
AttitudeActualData attitude; AttitudeActualData attitude;
AttitudeActualGet(&attitude); AttitudeActualGet(&attitude);
@ -254,10 +256,15 @@ static void OpOsdTask(void *parameters)
attitude.q4 = 0; attitude.q4 = 0;
attitude.Roll = (int16_t)(oposd_rx_buffer[3] | oposd_rx_buffer[4]<<8); attitude.Roll = (int16_t)(oposd_rx_buffer[3] | oposd_rx_buffer[4]<<8);
attitude.Pitch = (int16_t)(oposd_rx_buffer[5] | oposd_rx_buffer[6]<<8); attitude.Pitch = (int16_t)(oposd_rx_buffer[5] | oposd_rx_buffer[6]<<8);
attitude.Yaw = 0; attitude.Yaw = (int16_t)(oposd_rx_buffer[7] | oposd_rx_buffer[8]<<8);
AttitudeActualSet(&attitude); AttitudeActualSet(&attitude);
} }
}*/ //frame completed
start_flag = false;
rx_count = 0;
}
}
vTaskDelayUntil(&lastSysTime, 50 / portTICK_RATE_MS); vTaskDelayUntil(&lastSysTime, 50 / portTICK_RATE_MS);
// Check for GPS timeout // Check for GPS timeout
timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS; timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;

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

@ -54,7 +54,7 @@
/* Com systems to include */ /* Com systems to include */
#define PIOS_INCLUDE_COM #define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_COM_TELEM #define PIOS_INCLUDE_COM_TELEM
//#define PIOS_INCLUDE_COM_AUX #define PIOS_INCLUDE_COM_AUX
#define PIOS_INCLUDE_GPS #define PIOS_INCLUDE_GPS
//#define PIOS_OVERO_SPI //#define PIOS_OVERO_SPI

203
flight/OSD/System/pios_board.c
View File

@ -41,20 +41,10 @@
#include <gcsreceiver.h> #include <gcsreceiver.h>
#define TxBufferSize3 33
/* Private macro -------------------------------------------------------------*/ /* Private macro -------------------------------------------------------------*/
#define countof(a) (sizeof(a) / sizeof(*(a))) #define countof(a) (sizeof(a) / sizeof(*(a)))
/* Private variables ---------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/
//uint8_t TxBuffer2[TxBufferSize2];
uint8_t TxBuffer3[TxBufferSize3];
//uint8_t RxBuffer2[TxBufferSize2];
uint8_t RxBuffer3[TxBufferSize3];
//uint8_t UART1_REVDATA[380];
#if defined(PIOS_INCLUDE_ADC) #if defined(PIOS_INCLUDE_ADC)
#include "pios_adc_priv.h" #include "pios_adc_priv.h"
@ -222,115 +212,15 @@ void DAC_Ch1_SineWaveConfig(void)
} }
static void Clock(uint32_t spektrum_id); static void Clock(uint32_t spektrum_id);
void initUSARTs(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
//RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
//RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
//RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
/* Configure USART Tx as alternate function push-pull */
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_PinAFConfig(GPIOA,GPIO_PinSource0,GPIO_AF_UART4);
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Configure USART Rx as input floating */
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_PinAFConfig(GPIOA,GPIO_PinSource1,GPIO_AF_UART4);
GPIO_Init(GPIOA, &GPIO_InitStructure);
USART_InitStructure.USART_BaudRate = 57600;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
USART_Init(UART4, &USART_InitStructure);
USART_DMACmd(UART4, USART_DMAReq_Rx, ENABLE);
DMA_Cmd(DMA1_Stream2, ENABLE);
USART_Cmd(UART4, ENABLE);
}
#define DMA_Channel_USART4_RX DMA1_Stream2
#define DMA_Channel_USART4_TX DMA1_Stream4
#define DMA_FLAG_USART3_TC_RX DMA1_FLAG_TC3
#define DMA_FLAG_USART3_TC_TX DMA1_FLAG_TC2
#define USART3_DR_Base 0x40004804
void init_USART_dma()
{
DMA_InitTypeDef DMA_InitStructure;
/*RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&(USART3->DR);
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_BufferSize = size;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_Low;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)buff[0];
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_DeInit(DMA_Channel_USART3_RX);
DMA_Init(DMA_Channel_USART3_RX, &DMA_InitStructure);
//DMA_ITConfig(DMA1_Channel3, DMA_IT_TC, ENABLE);
DMA_Cmd(DMA_Channel_USART3_RX, ENABLE);
USART_DMACmd(USART3, USART_DMAReq_Rx, ENABLE);*/
/*DMA Channel2 USART3 TX*/
DMA_DeInit(DMA1_Stream4);
DMA_InitStructure.DMA_Channel = DMA_Channel_4;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&UART4->DR;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)TxBuffer3;
DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral; /*read from ram*/
DMA_InitStructure.DMA_BufferSize = TxBufferSize3; /*if content is 0,stop TX*/
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
//DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
DMA_InitStructure.DMA_Priority = DMA_Priority_Low;
//DMA_Init(DMA1_Channel2, &DMA_InitStructure);
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
/*DMA Channel3 USART3 RX*/
DMA_DeInit(DMA1_Stream2);
DMA_InitStructure.DMA_Channel = DMA_Channel_4;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&UART4->DR;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)RxBuffer3;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = sizeof(RxBuffer3);
DMA_Init(DMA1_Stream2, &DMA_InitStructure);
}
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 512 #define PIOS_COM_TELEM_RF_RX_BUF_LEN 512
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 512 #define PIOS_COM_TELEM_RF_TX_BUF_LEN 512
#define PIOS_COM_AUX_RX_BUF_LEN 512
#define PIOS_COM_AUX_TX_BUF_LEN 512
#define PIOS_COM_GPS_RX_BUF_LEN 32 #define PIOS_COM_GPS_RX_BUF_LEN 32
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 65 #define PIOS_COM_TELEM_USB_RX_BUF_LEN 65
@ -343,7 +233,7 @@ uint32_t pios_com_aux_id;
uint32_t pios_com_gps_id; uint32_t pios_com_gps_id;
uint32_t pios_com_telem_usb_id; uint32_t pios_com_telem_usb_id;
uint32_t pios_com_telem_rf_id; uint32_t pios_com_telem_rf_id;
uint32_t pios_com_cotelem_id;
void PIOS_Board_Init(void) { void PIOS_Board_Init(void) {
@ -530,15 +420,14 @@ void PIOS_Board_Init(void) {
PIOS_DEBUG_Assert(0); PIOS_DEBUG_Assert(0);
} }
const uint32_t BUF_SIZE = 512; uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_AUX_RX_BUF_LEN);
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(BUF_SIZE); uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_AUX_TX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(BUF_SIZE);
PIOS_Assert(rx_buffer); PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer); PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_aux_id, &pios_usart_com_driver, pios_usart_aux_id, if (PIOS_COM_Init(&pios_com_aux_id, &pios_usart_com_driver, pios_usart_aux_id,
rx_buffer, BUF_SIZE, rx_buffer, PIOS_COM_AUX_RX_BUF_LEN,
tx_buffer, BUF_SIZE)) { tx_buffer, PIOS_COM_AUX_TX_BUF_LEN)) {
PIOS_DEBUG_Assert(0); PIOS_DEBUG_Assert(0);
} }
} }
@ -567,65 +456,14 @@ void PIOS_Board_Init(void) {
pios_com_telem_rf_id = 0; pios_com_telem_rf_id = 0;
#endif /* PIOS_INCLUDE_COM_TELEM */ #endif /* PIOS_INCLUDE_COM_TELEM */
#if defined(PIOS_INCLUDE_COM_COTELEM)
{ /* Eventually add switch for this port function */
uint32_t pios_usart_cotelem_id;
if (PIOS_USART_Init(&pios_usart_cotelem_id, &pios_usart_cotelem_main_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_cotelem_id, &pios_usart_com_driver, pios_usart_cotelem_id,
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#else
pios_com_cotelem_id = 0;
#endif /* PIOS_INCLUDE_COM_TELEM */
#endif /* PIOS_INCLUDE_COM */ #endif /* PIOS_INCLUDE_COM */
/*
uint32_t pios_usart_hkosd_id;
if (PIOS_USART_Init(&pios_usart_hkosd_id, &pios_usart_serial_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_HKOSD_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_HKOSD_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_hkosd_id, &pios_usart_com_driver, pios_usart_hkosd_id,
rx_buffer, PIOS_COM_HKOSD_RX_BUF_LEN,
tx_buffer, PIOS_COM_HKOSD_TX_BUF_LEN)) {
PIOS_Assert(0);
}*/
/*
uint32_t pios_usart_serial_id;
if (PIOS_USART_Init(&pios_usart_serial_id, &pios_usart_serial_cfg)) {
PIOS_DEBUG_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_serial_id, &pios_usart_com_driver, pios_usart_serial_id,
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}*/
#if 1 #if 1
/* Preconfiguration before using DAC----------------------------------------*/ /* Preconfiguration before using DAC----------------------------------------*/
GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitTypeDef GPIO_InitStructure;
/* DAC Periph clock enable */ /* DAC Periph clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_DAC, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_DAC, ENABLE);
/* DAC channel 1 & 2 (DAC_OUT1 = PA.4)(DAC_OUT2 = PA.5) configuration */ /* DAC channel 1 & 2 (DAC_OUT1 = PA.4)(DAC_OUT2 = PA.5) configuration */
@ -641,28 +479,15 @@ GPIO_InitTypeDef GPIO_InitStructure;
DAC_Ch1_SineWaveConfig(); DAC_Ch1_SineWaveConfig();
//DAC_Ch2_SineWaveConfig(); //DAC_Ch2_SineWaveConfig();
#endif #endif
// ADC system // ADC system
#if defined(PIOS_INCLUDE_ADC) #if defined(PIOS_INCLUDE_ADC)
PIOS_ADC_Init(&pios_adc_cfg); PIOS_ADC_Init(&pios_adc_cfg);
#endif #endif
// SPI link to master #if defined(PIOS_INCLUDE_VIDEO)
/*if (PIOS_SPI_Init(&pios_spi_port_id, &pios_spi_port_cfg)) {
PIOS_DEBUG_Assert(0);
}*/
/*init_USART_dma();
initUSARTs();
extern t_fifo_buffer rx;
fifoBuf_init(&rx,RxBuffer3,sizeof(RxBuffer3));*/
PIOS_Video_Init(&pios_video_cfg); PIOS_Video_Init(&pios_video_cfg);
#endif
//uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_HKOSD_RX_BUF_LEN);
//uint8_t test[16];
} }
uint16_t supv_timer=0; uint16_t supv_timer=0;

210
flight/PiOS/Boards/STM32F4xx_OSD.h
View File

@ -137,30 +137,6 @@ TIM4 | STOPWATCH |
#define PIOS_LED_HEARTBEAT 0 #define PIOS_LED_HEARTBEAT 0
#define PIOS_LED_ALARM 1 #define PIOS_LED_ALARM 1
#if 0
#define PIOS_LED_LED1_GPIO_PORT GPIOD
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_13 //LD3
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOD
#define PIOS_LED_LED2_GPIO_PORT GPIOD
#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_12 //LD4
#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOD
#define PIOS_LED_LED3_GPIO_PORT GPIOD
#define PIOS_LED_LED3_GPIO_PIN GPIO_Pin_14 //LD5
#define PIOS_LED_LED3_GPIO_CLK RCC_APB2Periph_GPIOD
#define PIOS_LED_LED4_GPIO_PORT GPIOD
#define PIOS_LED_LED4_GPIO_PIN GPIO_Pin_15 //LD6
#define PIOS_LED_LED4_GPIO_CLK RCC_APB2Periph_GPIOD
#define PIOS_LED_NUM 4
#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT, PIOS_LED_LED3_GPIO_PORT, PIOS_LED_LED4_GPIO_PORT }
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN, PIOS_LED_LED3_GPIO_PIN, PIOS_LED_LED4_GPIO_PIN }
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK, PIOS_LED_LED3_GPIO_CLK, PIOS_LED_LED4_GPIO_CLK }
#endif
/*#define USB_LED_ON PIOS_LED_On(LED1)
#define USB_LED_OFF PIOS_LED_Off(LED1)
#define USB_LED_TOGGLE PIOS_LED_Toggle(LED1)
*/
// ***************************************************************** // *****************************************************************
// Delay Timer // Delay Timer
@ -206,17 +182,12 @@ extern uint32_t pios_com_telem_rf_id;
extern uint32_t pios_com_gps_id; extern uint32_t pios_com_gps_id;
extern uint32_t pios_com_aux_id; extern uint32_t pios_com_aux_id;
extern uint32_t pios_com_telem_usb_id; extern uint32_t pios_com_telem_usb_id;
extern uint32_t pios_com_cotelem_id;
#define PIOS_COM_AUX (pios_com_aux_id) #define PIOS_COM_AUX (pios_com_aux_id)
#define PIOS_COM_GPS (pios_com_gps_id) #define PIOS_COM_GPS (pios_com_gps_id)
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id) #define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id) #define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
#define PIOS_COM_COTELEM (pios_com_cotelem_id)
#define PIOS_COM_DEBUG PIOS_COM_AUX #define PIOS_COM_DEBUG PIOS_COM_AUX
#define PIOS_COM_OSD (pios_com_aux_id)
extern uint32_t pios_com_hkosd_id;
#define PIOS_COM_OSD (pios_com_hkosd_id)
//extern uint32_t pios_com_serial_id; //extern uint32_t pios_com_serial_id;
//#define PIOS_COM_SERIAL (pios_com_serial_id) //#define PIOS_COM_SERIAL (pios_com_serial_id)
@ -269,158 +240,6 @@ extern uint32_t pios_com_telem_usb_id;
#define PIOS_ADC_MAX_OVERSAMPLING 10 #define PIOS_ADC_MAX_OVERSAMPLING 10
#define PIOS_ADC_USE_ADC2 0 #define PIOS_ADC_USE_ADC2 0
#if 0
// *****************************************************************
// GPIO output pins
// GPIO_Mode_Out_OD Open Drain Output
// GPIO_Mode_Out_PP Push-Pull Output
// GPIO_Mode_AF_OD Open Drain Output Alternate-Function
// GPIO_Mode_AF_PP Push-Pull Output Alternate-Function
// Serial port RTS line
#define PIOS_GPIO_OUT_0_PORT GPIOB
#define PIOS_GPIO_OUT_0_PIN GPIO_Pin_15
#define PIOS_GPIO_OUT_0_GPIO_CLK RCC_APB2Periph_GPIOB
// RF module chip-select line
#define PIOS_GPIO_OUT_1_PORT GPIOA
#define PIOS_GPIO_OUT_1_PIN GPIO_Pin_4
#define PIOS_GPIO_OUT_1_GPIO_CLK RCC_APB2Periph_GPIOA
// PPM OUT line
#define PIOS_GPIO_OUT_2_PORT GPIOB
#define PIOS_GPIO_OUT_2_PIN GPIO_Pin_10
#define PIOS_GPIO_OUT_2_GPIO_CLK RCC_APB2Periph_GPIOB
// spare pin
#define PIOS_GPIO_OUT_3_PORT GPIOA
#define PIOS_GPIO_OUT_3_PIN GPIO_Pin_0
#define PIOS_GPIO_OUT_3_GPIO_CLK RCC_APB2Periph_GPIOA
// spare pin
#define PIOS_GPIO_OUT_4_PORT GPIOA
#define PIOS_GPIO_OUT_4_PIN GPIO_Pin_1
#define PIOS_GPIO_OUT_4_GPIO_CLK RCC_APB2Periph_GPIOA
// spare pin
#define PIOS_GPIO_OUT_5_PORT GPIOC
#define PIOS_GPIO_OUT_5_PIN GPIO_Pin_13
#define PIOS_GPIO_OUT_5_GPIO_CLK RCC_APB2Periph_GPIOC
// spare pin
#define PIOS_GPIO_OUT_6_PORT GPIOC
#define PIOS_GPIO_OUT_6_PIN GPIO_Pin_14
#define PIOS_GPIO_OUT_6_GPIO_CLK RCC_APB2Periph_GPIOC
// spare pin
#define PIOS_GPIO_OUT_7_PORT GPIOC
#define PIOS_GPIO_OUT_7_PIN GPIO_Pin_15
#define PIOS_GPIO_OUT_7_GPIO_CLK RCC_APB2Periph_GPIOC
#define PIOS_GPIO_NUM 8
#define PIOS_GPIO_PORTS {PIOS_GPIO_OUT_0_PORT, PIOS_GPIO_OUT_1_PORT, PIOS_GPIO_OUT_2_PORT, PIOS_GPIO_OUT_3_PORT, PIOS_GPIO_OUT_4_PORT, PIOS_GPIO_OUT_5_PORT, PIOS_GPIO_OUT_6_PORT, PIOS_GPIO_OUT_7_PORT}
#define PIOS_GPIO_PINS {PIOS_GPIO_OUT_0_PIN, PIOS_GPIO_OUT_1_PIN, PIOS_GPIO_OUT_2_PIN, PIOS_GPIO_OUT_3_PIN, PIOS_GPIO_OUT_4_PIN, PIOS_GPIO_OUT_5_PIN, PIOS_GPIO_OUT_6_PIN, PIOS_GPIO_OUT_7_PIN}
#define PIOS_GPIO_CLKS {PIOS_GPIO_OUT_0_GPIO_CLK, PIOS_GPIO_OUT_1_GPIO_CLK, PIOS_GPIO_OUT_2_GPIO_CLK, PIOS_GPIO_OUT_3_GPIO_CLK, PIOS_GPIO_OUT_4_GPIO_CLK, PIOS_GPIO_OUT_5_GPIO_CLK, PIOS_GPIO_OUT_6_GPIO_CLK, PIOS_GPIO_OUT_7_GPIO_CLK}
#define SERIAL_RTS_ENABLE PIOS_GPIO_Enable(0)
#define SERIAL_RTS_SET PIOS_GPIO_Off(0)
#define SERIAL_RTS_CLEAR PIOS_GPIO_On(0)
#define RF_CS_ENABLE PIOS_GPIO_Enable(1)
#define RF_CS_HIGH PIOS_GPIO_Off(1)
#define RF_CS_LOW PIOS_GPIO_On(1)
#define PPM_OUT_PIN PIOS_GPIO_OUT_2_PIN
#define PPM_OUT_PORT PIOS_GPIO_OUT_2_PORT
#define PPM_OUT_ENABLE PIOS_GPIO_Enable(2)
#define PPM_OUT_HIGH PIOS_GPIO_Off(2)
#define PPM_OUT_LOW PIOS_GPIO_On(2)
#define SPARE1_ENABLE PIOS_GPIO_Enable(3)
#define SPARE1_HIGH PIOS_GPIO_Off(3)
#define SPARE1_LOW PIOS_GPIO_On(3)
#define SPARE2_ENABLE PIOS_GPIO_Enable(4)
#define SPARE2_HIGH PIOS_GPIO_Off(4)
#define SPARE2_LOW PIOS_GPIO_On(4)
#define SPARE3_ENABLE PIOS_GPIO_Enable(5)
#define SPARE3_HIGH PIOS_GPIO_Off(5)
#define SPARE3_LOW PIOS_GPIO_On(5)
#define SPARE4_ENABLE PIOS_GPIO_Enable(6)
#define SPARE4_HIGH PIOS_GPIO_Off(6)
#define SPARE4_LOW PIOS_GPIO_On(6)
#define SPARE5_ENABLE PIOS_GPIO_Enable(7)
#define SPARE5_HIGH PIOS_GPIO_Off(7)
#define SPARE5_LOW PIOS_GPIO_On(7)
// *****************************************************************
// GPIO input pins
// GPIO_Mode_AIN Analog Input
// GPIO_Mode_IN_FLOATING Input Floating
// GPIO_Mode_IPD Input Pull-Down
// GPIO_Mode_IPU Input Pull-up
// API mode line
#define GPIO_IN_0_PORT GPIOB
#define GPIO_IN_0_PIN GPIO_Pin_13
#define GPIO_IN_0_MODE GPIO_Mode_IPU
// Serial port CTS line
#define GPIO_IN_1_PORT GPIOB
#define GPIO_IN_1_PIN GPIO_Pin_14
#define GPIO_IN_1_MODE GPIO_Mode_IPU
// VBUS sense line
#define GPIO_IN_2_PORT GPIOA
#define GPIO_IN_2_PIN GPIO_Pin_8
#define GPIO_IN_2_MODE GPIO_Mode_IN_FLOATING
// 868MHz jumper option
#define GPIO_IN_3_PORT GPIOB
#define GPIO_IN_3_PIN GPIO_Pin_8
#define GPIO_IN_3_MODE GPIO_Mode_IPU
// 915MHz jumper option
#define GPIO_IN_4_PORT GPIOB
#define GPIO_IN_4_PIN GPIO_Pin_9
#define GPIO_IN_4_MODE GPIO_Mode_IPU
// RF INT line
#define GPIO_IN_5_PORT GPIOA
#define GPIO_IN_5_PIN GPIO_Pin_2
#define GPIO_IN_5_MODE GPIO_Mode_IN_FLOATING
// RF misc line
#define GPIO_IN_6_PORT GPIOB
#define GPIO_IN_6_PIN GPIO_Pin_0
#define GPIO_IN_6_MODE GPIO_Mode_IN_FLOATING
// PPM IN line
#define PPM_IN_PORT GPIOB
#define PPM_IN_PIN GPIO_Pin_11
#define PPM_IN_MODE GPIO_Mode_IPD
#define GPIO_IN_NUM 8
#define GPIO_IN_PORTS { GPIO_IN_0_PORT, GPIO_IN_1_PORT, GPIO_IN_2_PORT, GPIO_IN_3_PORT, GPIO_IN_4_PORT, GPIO_IN_5_PORT, GPIO_IN_6_PORT, PPM_IN_PORT }
#define GPIO_IN_PINS { GPIO_IN_0_PIN, GPIO_IN_1_PIN, GPIO_IN_2_PIN, GPIO_IN_3_PIN, GPIO_IN_4_PIN, GPIO_IN_5_PIN, GPIO_IN_6_PIN, PPM_IN_PIN }
#define GPIO_IN_MODES { GPIO_IN_0_MODE, GPIO_IN_1_MODE, GPIO_IN_2_MODE, GPIO_IN_3_MODE, GPIO_IN_4_MODE, GPIO_IN_5_MODE, GPIO_IN_6_MODE, PPM_IN_MODE }
#define API_MODE_PIN 0
#define SERIAL_CTS_PIN 1
#define VBUS_SENSE_PIN 2
#define _868MHz_PIN 3
#define _915MHz_PIN 4
#define RF_INT_PIN 5
#define RF_MISC_PIN 6
#endif
// ***************************************************************** // *****************************************************************
// USB // USB
@ -435,33 +254,6 @@ extern uint32_t pios_com_telem_usb_id;
#endif #endif
#if 0
// *****************************************************************
// VIDEO
#define PIOS_VIDEO_HSYNC_GPIO_PORT GPIOD
#define PIOS_VIDEO_HSYNC_GPIO_PIN GPIO_Pin_0
#define PIOS_VIDEO_HSYNC_PORT_SOURCE GPIO_PortSourceGPIOD
#define PIOS_VIDEO_HSYNC_PIN_SOURCE GPIO_PinSource0
#define PIOS_VIDEO_HSYNC_CLK RCC_AHB1Periph_GPIOD
#define PIOS_VIDEO_HSYNC_EXTI_LINE EXTI_Line0
#define PIOS_VIDEO_HSYNC_EXTI_PORT_SOURCE EXTI_PortSourceGPIOD
#define PIOS_VIDEO_HSYNC_EXTI_PIN_SOURCE EXTI_PinSource0
#define PIOS_VIDEO_HSYNC_IRQn EXTI0_IRQn
#define PIOS_VIDEO_HSYNC_PRIO PIOS_IRQ_PRIO_HIGHEST
//#define PIOS_VIDEO_SYNC_PRIO 1
#define PIOS_VIDEO_VSYNC_GPIO_PORT GPIOC
#define PIOS_VIDEO_VSYNC_GPIO_PIN GPIO_Pin_11
#define PIOS_VIDEO_VSYNC_PORT_SOURCE GPIO_PortSourceGPIOC
#define PIOS_VIDEO_VSYNC_PIN_SOURCE GPIO_PinSource11
#define PIOS_VIDEO_VSYNC_CLK RCC_AHB1Periph_GPIOC
#define PIOS_VIDEO_VSYNC_EXTI_LINE EXTI_Line11
#define PIOS_VIDEO_VSYNC_EXTI_PORT_SOURCE EXTI_PortSourceGPIOC
#define PIOS_VIDEO_VSYNC_EXTI_PIN_SOURCE EXTI_PinSource11
#define PIOS_VIDEO_VSYNC_IRQn EXTI15_10_IRQn
#define PIOS_VIDEO_VSYNC_PRIO PIOS_IRQ_PRIO_HIGHEST
#endif
// ***************************************************************** // *****************************************************************
//-------------------------- //--------------------------
// Timer controller settings // Timer controller settings

52
flight/board_hw_defs/osd/board_hw_defs.c
View File

@ -129,7 +129,7 @@ static const struct pios_usart_cfg pios_usart_aux_cfg = {
.regs = USART2, .regs = USART2,
.remap = GPIO_AF_USART2, .remap = GPIO_AF_USART2,
.init = { .init = {
.USART_BaudRate = 230400, .USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b, .USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No, .USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1, .USART_StopBits = USART_StopBits_1,
@ -217,56 +217,6 @@ static const struct pios_usart_cfg pios_usart_telem_main_cfg = {
#endif /* PIOS_COM_TELEM */ #endif /* PIOS_COM_TELEM */
#if 0
/*
* COTelemetry on main USART
*/
static const struct pios_usart_cfg pios_usart_cotelem_main_cfg = {
.regs = UART4,
.remap = GPIO_AF_UART4,
.init = {
.USART_BaudRate = 57600,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl =
USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
},
.irq = {
.init = {
.NVIC_IRQChannel = UART4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_1,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_0,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
#endif /* PIOS_COM_COTELEM */
#if defined(PIOS_INCLUDE_COM) #if defined(PIOS_INCLUDE_COM)
#include <pios_com_priv.h> #include <pios_com_priv.h>