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Code Issues Releases Activity

Merge remote branch 'origin/next' into os/features/pid-tuning-from-transmitter-next

Browse Source 
Conflicts:
	flight/CopterControl/Makefile
	ground/openpilotgcs/src/plugins/config/config.pro
	ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
	ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
	shared/uavobjectdefinition/hwsettings.xml
This commit is contained in:
Oleg Semyonov 2012-02-22 22:57:45 +02:00 committed by Oleg Semyonov
commit e62cc8914c
546 changed files with 69978 additions and 33031 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
HISTORY.txt
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@ -1,5 +1,17 @@
Short summary of changes. For a complete list see the git log.
2012-02-14
New QML based system to allow more flexible UI. Upgraded stabilization
configuration.
2012-01-02
CC FW now supports USB Virtual Com Port (VCP/CDC) in addition to the original HID interface
New ComUsbBridge module can bridge any serial port to the USB CDC port
CC FW now detects repeated faults during init and boots with default hwsettings
2012-01-02
Added new camera stabilization features: AxisLock mode and LPF.
2011-12-10
Merged a change that sorts the UAVO fields based on size. Because this changes
all of the objects, erase all existing flash files based on this.

2
Makefile
View File

@ -235,7 +235,7 @@ STM32FLASH_DIR := $(TOOLS_DIR)/stm32flash
.PHONY: stm32flash_install
stm32flash_install: STM32FLASH_URL := http://stm32flash.googlecode.com/svn/trunk
stm32flash_install: STM32FLASH_REV := 52
stm32flash_install: STM32FLASH_REV := 61
stm32flash_install: stm32flash_clean
# download the source
$(V0) @echo " DOWNLOAD $(STM32FLASH_URL) @ r$(STM32FLASH_REV)"

BIN
artwork/Font/OpenPilot.ttf
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Binary file not shown.

2
flight/AHRS/Makefile
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@ -71,6 +71,7 @@ OPUAVOBJINC = $(OPUAVOBJ)/inc
OPSYSINC = $(OPDIR)/System/inc
BOOT = ../Bootloaders/AHRS
BOOTINC = $(BOOT)/inc
HWDEFSINC = ../board_hw_defs/$(BOARD_NAME)
OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
@ -170,6 +171,7 @@ EXTRAINCDIRS += $(CMSISDIR)
EXTRAINCDIRS += $(AHRSINC)
EXTRAINCDIRS += $(OPUAVSYNTHDIR)
EXTRAINCDIRS += $(BOOTINC)
EXTRAINCDIRS += $(HWDEFSINC)
# List any extra directories to look for library files here.
# Also add directories where the linker should search for

16
flight/AHRS/ahrs.c
View File

@ -447,9 +447,9 @@ void print_ahrs_raw()
valid_data_buffer = PIOS_ADC_GetRawBuffer();
if (total_conversion_blocks != previous_conversion + 1)
PIOS_LED_On(LED1); // not keeping up
PIOS_LED_On(PIOS_LED_HEARTBEAT); // not keeping up
else
PIOS_LED_Off(LED1);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
previous_conversion = total_conversion_blocks;
@ -463,9 +463,9 @@ void print_ahrs_raw()
PIOS_ADC_NUM_PINS *
sizeof(valid_data_buffer[0]));
if (result == 0)
PIOS_LED_Off(LED1);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
else {
PIOS_LED_On(LED1);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
}
}
#endif
@ -490,7 +490,7 @@ void print_ahrs_raw()
// wait for new raw samples
while (previous_conversion == total_conversion_blocks);
if ((previous_conversion + 1) != total_conversion_blocks)
PIOS_LED_On(LED1); // we are not keeping up
PIOS_LED_On(PIOS_LED_HEARTBEAT); // we are not keeping up
previous_conversion = total_conversion_blocks;
// fetch the buffer address for the new samples
@ -534,9 +534,9 @@ void print_ahrs_raw()
result += PIOS_COM_SendBufferNonBlocking(PIOS_COM_AUX, (uint8_t *)gyro_z, over_sampling * sizeof(gyro_z[0]));
if (result != 0)
PIOS_LED_On(LED1); // all data not sent
PIOS_LED_On(PIOS_LED_HEARTBEAT); // all data not sent
else
PIOS_LED_Off(LED1);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
}
#endif
@ -616,7 +616,7 @@ for all data to be up to date before doing anything*/
// Alive signal
if (((total_conversion_blocks % 100) & 0xFFFE) == 0)
PIOS_LED_Toggle(LED1);
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
// Delay for valid data

1
flight/AHRS/inc/pios_config.h
View File

@ -41,5 +41,6 @@
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_EXTI
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_IAP
#endif /* PIOS_CONFIG_H */

342
flight/AHRS/pios_board.c
View File

@ -23,336 +23,20 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Pull in the board-specific static HW definitions.
* Including .c files is a bit ugly but this allows all of
* the HW definitions to be const and static to limit their
* scope.
*
* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
*/
#include "board_hw_defs.c"
#include <pios.h>
#if defined(PIOS_INCLUDE_SPI)
#include <pios_spi_priv.h>
/* OP Interface
*
* NOTE: Leave this declared as const data so that it ends up in the
* .rodata section (ie. Flash) rather than in the .bss section (RAM).
*/
void PIOS_SPI_op_irq_handler(void);
void DMA1_Channel5_IRQHandler() __attribute__ ((alias("PIOS_SPI_op_irq_handler")));
void DMA1_Channel4_IRQHandler() __attribute__ ((alias("PIOS_SPI_op_irq_handler")));
static const struct pios_spi_cfg pios_spi_op_cfg = {
.regs = SPI2,
.init = {
.SPI_Mode = SPI_Mode_Slave,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
.SPI_DataSize = SPI_DataSize_8b,
.SPI_NSS = SPI_NSS_Hard,
.SPI_FirstBit = SPI_FirstBit_MSB,
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge,
},
.use_crc = TRUE,
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.flags =
(DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 |
DMA1_FLAG_GL4),
.init = {
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA1_Channel4,
.init = {
.DMA_PeripheralBaseAddr =
(uint32_t) & (SPI2->DR),
.DMA_DIR = DMA_DIR_PeripheralSRC,
.DMA_PeripheralInc =
DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize =
DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize =
DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_M2M = DMA_M2M_Disable,
},
},
.tx = {
.channel = DMA1_Channel5,
.init = {
.DMA_PeripheralBaseAddr =
(uint32_t) & (SPI2->DR),
.DMA_DIR = DMA_DIR_PeripheralDST,
.DMA_PeripheralInc =
DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize =
DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize =
DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_M2M = DMA_M2M_Disable,
},
},
},
.ssel = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
.sclk = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_13,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
.miso = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_14,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
.mosi = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
};
uint32_t pios_spi_op_id;
void PIOS_SPI_op_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_op_id);
}
#endif /* PIOS_INCLUDE_SPI */
/*
* 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>
/*
* AUX USART
*/
static const struct pios_usart_cfg pios_usart_aux_cfg = {
.regs = USART3,
.init = {
.USART_BaudRate = 230400,
.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 = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
#endif /* PIOS_INCLUDE_USART */
#if defined(PIOS_INCLUDE_COM)
#include <pios_com_priv.h>
#define PIOS_COM_AUX_TX_BUF_LEN 192
static uint8_t pios_com_aux_tx_buffer[PIOS_COM_AUX_TX_BUF_LEN];
#endif /* PIOS_INCLUDE_COM */
#if defined(PIOS_INCLUDE_I2C)
#include <pios_i2c_priv.h>
/*
* I2C Adapters
*/
void PIOS_I2C_main_adapter_ev_irq_handler(void);
void PIOS_I2C_main_adapter_er_irq_handler(void);
void I2C1_EV_IRQHandler()
__attribute__ ((alias("PIOS_I2C_main_adapter_ev_irq_handler")));
void I2C1_ER_IRQHandler()
__attribute__ ((alias("PIOS_I2C_main_adapter_er_irq_handler")));
static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
.regs = I2C1,
.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 = 200000, /* bits/s */
},
.transfer_timeout_ms = 50,
.scl = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_AF_OD,
},
},
.sda = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_AF_OD,
},
},
.event = {
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_EV_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.error = {
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_ER_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
uint32_t pios_i2c_main_adapter_id;
void PIOS_I2C_main_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_main_adapter_id);
}
void PIOS_I2C_main_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_main_adapter_id);
}
#endif /* PIOS_INCLUDE_I2C */
#if defined(PIOS_ENABLE_DEBUG_PINS)
static const struct stm32_gpio pios_debug_pins[] = {
{
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
{
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
};
#endif /* PIOS_ENABLE_DEBUG_PINS */
extern const struct pios_com_driver pios_usart_com_driver;
uint32_t pios_com_aux_id;
uint8_t adc_fifo_buf[sizeof(float) * 6 * 4] __attribute__ ((aligned(4))); // align to 32-bit to try and provide speed improvement
@ -365,7 +49,13 @@ void PIOS_Board_Init(void) {
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
PIOS_LED_On(LED1);
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_On(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
/* Delay system */
PIOS_DELAY_Init();

3
flight/Bootloaders/AHRS/Makefile
View File

@ -65,7 +65,7 @@ STMUSBDIR = $(STMLIBDIR)/STM32_USB-FS-Device_Driver
STMSPDSRCDIR = $(STMSPDDIR)/src
STMSPDINCDIR = $(STMSPDDIR)/inc
CMSISDIR = $(STMLIBDIR)/CMSIS/Core/CM3
HWDEFSINC = ../../board_hw_defs/$(BOARD_NAME)
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files
@ -155,6 +155,7 @@ EXTRAINCDIRS += $(PIOSBOARDS)
EXTRAINCDIRS += $(STMSPDINCDIR)
EXTRAINCDIRS += $(CMSISDIR)
EXTRAINCDIRS += $(AHRS_BLINC)
EXTRAINCDIRS += $(HWDEFSINC)
# List any extra directories to look for library files here.
# Also add directories where the linker should search for

4
flight/Bootloaders/AHRS/ahrs_slave_test.c
View File

@ -16,7 +16,7 @@ bool WriteData(uint32_t offset, uint8_t *buffer, uint32_t size) {
PIOS_COM_SendFormattedString(PIOS_COM_AUX, "Wrote %d bytes to %d\r\n",
size, offset);
memcpy(buf, buffer, size);
PIOS_LED_Toggle(LED1);
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
return (true);
}
@ -28,7 +28,7 @@ bool ReadData(uint32_t offset, uint8_t *buffer, uint32_t size) {
PIOS_COM_SendFormattedString(PIOS_COM_AUX, "Read %d bytes from %d\r\n",
size, offset);
memcpy(buffer, buf, size);
PIOS_LED_Toggle(LED1);
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
return (true);
}

1
flight/Bootloaders/AHRS/inc/pios_config.h
View File

@ -36,5 +36,6 @@
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_IAP
#endif /* PIOS_CONFIG_H */

24
flight/Bootloaders/AHRS/main.c
View File

@ -79,12 +79,7 @@ int main() {
break;
}
}
//while(TRUE)
// {
// PIOS_LED_Toggle(LED1);
// PIOS_DELAY_WaitmS(1000);
// }
//GO_dfu = TRUE;
PIOS_IAP_Init();
GO_dfu = GO_dfu | PIOS_IAP_CheckRequest();// OR with app boot request
if (GO_dfu == FALSE) {
@ -97,7 +92,7 @@ int main() {
PIOS_Board_Init();
boot_status = idle;
Fw_crc = PIOS_BL_HELPER_CRC_Memory_Calc();
PIOS_LED_On(LED1);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
while (1) {
process_spi_request();
}
@ -150,7 +145,7 @@ void process_spi_request(void) {
Fw_crc = PIOS_BL_HELPER_CRC_Memory_Calc();
lfsm_user_set_tx_v0(&user_tx_v0);
boot_status = idle;
PIOS_LED_Off(LED1);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
break;
case OPAHRS_MSG_V0_REQ_RESET:
@ -158,7 +153,6 @@ void process_spi_request(void) {
PIOS_SYS_Reset();
break;
case OPAHRS_MSG_V0_REQ_VERSIONS:
//PIOS_LED_On(LED1);
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_VERSIONS);
user_tx_v0.payload.user.v.rsp.versions.bl_version = BOOTLOADER_VERSION;
user_tx_v0.payload.user.v.rsp.versions.hw_version = (BOARD_TYPE << 8)
@ -191,7 +185,7 @@ void process_spi_request(void) {
lfsm_user_set_tx_v0(&user_tx_v0);
break;
case OPAHRS_MSG_V0_REQ_FWUP_DATA:
PIOS_LED_On(LED1);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
if (!(user_rx_v0.payload.user.v.req.fwup_data.adress
< bdinfo->fw_base)) {
@ -209,7 +203,7 @@ void process_spi_request(void) {
} else {
boot_status = outside_dev_capabilities;
}
PIOS_LED_Off(LED1);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
lfsm_user_set_tx_v0(&user_tx_v0);
break;
@ -227,10 +221,10 @@ void process_spi_request(void) {
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
lfsm_user_set_tx_v0(&user_tx_v0);
PIOS_LED_On(LED1);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
if (PIOS_BL_HELPER_FLASH_Start() == TRUE) {
boot_status = started;
PIOS_LED_Off(LED1);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
} else {
boot_status = start_failed;
break;
@ -254,15 +248,13 @@ void process_spi_request(void) {
void jump_to_app() {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
PIOS_LED_On(LED1);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
if (((*(__IO uint32_t*) bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
FLASH_Lock();
RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
//_SetCNTR(0); // clear interrupt mask
//_SetISTR(0); // clear all requests
JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
Jump_To_Application = (pFunction) JumpAddress;

116
flight/Bootloaders/AHRS/pios_board.c
View File

@ -23,112 +23,16 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <pios.h>
#if defined(PIOS_INCLUDE_SPI)
#include <pios_spi_priv.h>
/* OP Interface
*
* NOTE: Leave this declared as const data so that it ends up in the
* .rodata section (ie. Flash) rather than in the .bss section (RAM).
/* Pull in the board-specific static HW definitions.
* Including .c files is a bit ugly but this allows all of
* the HW definitions to be const and static to limit their
* scope.
*
* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
*/
void PIOS_SPI_op_irq_handler(void);
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_op_irq_handler")));
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_op_irq_handler")));
static const struct pios_spi_cfg
pios_spi_op_cfg = {
.regs = SPI2,
.init = {
.SPI_Mode = SPI_Mode_Slave,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
.SPI_DataSize = SPI_DataSize_8b,
.SPI_NSS = SPI_NSS_Hard,
.SPI_FirstBit = SPI_FirstBit_MSB,
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge,
},
.use_crc = TRUE,
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
#include "board_hw_defs.c"
.irq = {
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
.init = {
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA1_Channel4,
.init = {
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
.DMA_DIR = DMA_DIR_PeripheralSRC,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_M2M = DMA_M2M_Disable,
},
},
.tx = {
.channel = DMA1_Channel5,
.init = {
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
.DMA_DIR = DMA_DIR_PeripheralDST,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_M2M = DMA_M2M_Disable,
},
},
}, .ssel = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
}, .sclk = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_13,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
}, .miso = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_14,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
}, .mosi = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
}, };
uint32_t pios_spi_op_id;
void PIOS_SPI_op_irq_handler(void) {
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_op_id);
}
#endif /* PIOS_INCLUDE_SPI */
#include <pios.h>
#include "bl_fsm.h" /* lfsm_* */
@ -138,6 +42,10 @@ void PIOS_Board_Init() {
return;
}
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
#endif /* PIOS_INCLUDE_LED */
/* Set up the SPI interface to the OP board */
if (PIOS_SPI_Init(&pios_spi_op_id, &pios_spi_op_cfg)) {
PIOS_DEBUG_Assert(0);

2
flight/Bootloaders/BootloaderUpdater/Makefile
View File

@ -89,6 +89,7 @@ RTOSDIR = $(APPLIBDIR)/FreeRTOS
RTOSSRCDIR = $(RTOSDIR)/Source
RTOSINCDIR = $(RTOSSRCDIR)/include
DOXYGENDIR = ../Doc/Doxygen
HWDEFSINC = $(TOP)/flight/board_hw_defs/$(BOARD_NAME)
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files
@ -165,6 +166,7 @@ EXTRAINCDIRS += $(MSDDIR)
EXTRAINCDIRS += $(RTOSINCDIR)
EXTRAINCDIRS += $(APPLIBDIR)
EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
EXTRAINCDIRS += $(HWDEFSINC)

16
flight/Bootloaders/BootloaderUpdater/main.c
View File

@ -50,14 +50,14 @@ int main() {
PIOS_SYS_Init();
PIOS_Board_Init();
PIOS_LED_On(LED1);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
PIOS_DELAY_WaitmS(3000);
PIOS_LED_Off(LED1);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
/// Self overwrite check
uint32_t base_address = SCB->VTOR;
if ((0x08000000 + embedded_image_size) > base_address)
error(LED1);
error(PIOS_LED_HEARTBEAT);
///
FLASH_Unlock();
@ -82,7 +82,7 @@ int main() {
}
if (fail == true)
error(LED1);
error(PIOS_LED_HEARTBEAT);
///
@ -90,7 +90,7 @@ int main() {
/// Bootloader programing
for (uint32_t offset = 0; offset < embedded_image_size/sizeof(uint32_t); ++offset) {
bool result = false;
PIOS_LED_Toggle(LED1);
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
for (uint8_t retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
if (result == false) {
result = (FLASH_ProgramWord(0x08000000 + (offset * 4), embedded_image_start[offset])
@ -98,13 +98,13 @@ int main() {
}
}
if (result == false)
error(LED1);
error(PIOS_LED_HEARTBEAT);
}
///
for (uint8_t x = 0; x < 3; ++x) {
PIOS_LED_On(LED1);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
PIOS_DELAY_WaitmS(1000);
PIOS_LED_Off(LED1);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
PIOS_DELAY_WaitmS(1000);
}

13
flight/Bootloaders/BootloaderUpdater/pios_board.c
View File

@ -23,6 +23,15 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Pull in the board-specific static HW definitions.
* Including .c files is a bit ugly but this allows all of
* the HW definitions to be const and static to limit their
* scope.
*
* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
*/
#include "board_hw_defs.c"
#include <pios.h>
void PIOS_Board_Init(void) {
@ -38,4 +47,8 @@ void PIOS_Board_Init(void) {
/* Initialize the PiOS library */
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
#endif /* PIOS_INCLUDE_LED */
}

13
flight/Bootloaders/CopterControl/Makefile
View File

@ -86,6 +86,7 @@ RTOSDIR = $(APPLIBDIR)/FreeRTOS
RTOSSRCDIR = $(RTOSDIR)/Source
RTOSINCDIR = $(RTOSSRCDIR)/include
DOXYGENDIR = ../Doc/Doxygen
HWDEFSINC = ../../board_hw_defs/$(BOARD_NAME)
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files
@ -104,17 +105,18 @@ SRC += $(PIOSSTM32F10X)/pios_irq.c
SRC += $(PIOSSTM32F10X)/pios_debug.c
SRC += $(PIOSSTM32F10X)/pios_gpio.c
# PIOS USB related files (seperated to make code maintenance more easy)
SRC += $(PIOSSTM32F10X)/pios_usb.c
SRC += $(PIOSSTM32F10X)/pios_usbhook.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
SRC += $(OPSYSTEM)/pios_usb_board_data.c
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_board_info.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_com_msg.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/pios_iap.c
SRC += $(PIOSCOMMON)/printf-stdarg.c
@ -197,8 +199,7 @@ EXTRAINCDIRS += $(MSDDIR)
EXTRAINCDIRS += $(RTOSINCDIR)
EXTRAINCDIRS += $(APPLIBDIR)
EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
EXTRAINCDIRS += $(HWDEFSINC)
# List any extra directories to look for library files here.
# Also add directories where the linker should search for

5
flight/Bootloaders/CopterControl/inc/pios_config.h
View File

@ -32,15 +32,16 @@
#define PIOS_CONFIG_H
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
#define USB_HID
/* Enable/Disable PiOS Modules */
#define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_USB
#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_COM_MSG
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_IAP
#define PIOS_NO_GPS
#endif /* PIOS_CONFIG_H */

85
flight/Bootloaders/CopterControl/inc/pios_usb.h
View File

@ -1,85 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_USB USB Functions
* @brief PIOS USB interface code
* @{
*
* @file pios_usb.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief USB functions header.
* @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_H
#define PIOS_USB_H
/* Local defines */
/* Following settings allow to customise the USB device descriptor */
#ifndef PIOS_USB_VENDOR_ID
#define PIOS_USB_VENDOR_ID 0x20A0
#endif
#ifndef PIOS_USB_VENDOR_STR
#define PIOS_USB_VENDOR_STR "openpilot.org"
#endif
#ifndef PIOS_USB_PRODUCT_STR
#define PIOS_USB_PRODUCT_STR "CopterControl"
#endif
#ifndef PIOS_USB_PRODUCT_ID
#define PIOS_USB_PRODUCT_ID 0x415B
#endif
#ifndef PIOS_USB_VERSION_ID
#define PIOS_USB_VERSION_ID 0x0401 /* CopterControl (04) Bootloader (01) */
#endif
/* Internal defines which are used by PIOS USB HID (don't touch) */
#define PIOS_USB_EP_NUM 2
/* Buffer table base address */
#define PIOS_USB_BTABLE_ADDRESS 0x000
/* EP0 rx/tx buffer base address */
#define PIOS_USB_ENDP0_RXADDR 0x040
#define PIOS_USB_ENDP0_TXADDR 0x080
/* EP1 Rx/Tx buffer base address for HID driver */
#define PIOS_USB_ENDP1_TXADDR 0x0C0
#define PIOS_USB_ENDP1_RXADDR 0x100
/* Global Variables */
extern void (*pEpInt_IN[7])(void);
extern void (*pEpInt_OUT[7])(void);
/* Public Functions */
extern int32_t PIOS_USB_Init(uint32_t mode);
extern int32_t PIOS_USB_IsInitialized(void);
extern int32_t PIOS_USB_CableConnected(void);
#endif /* PIOS_USB_H */
/**
* @}
* @}
*/

51
flight/Bootloaders/CopterControl/inc/pios_usb_board_data.h Normal file
View File

@ -0,0 +1,51 @@
/**
******************************************************************************
* @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_HID_DATA_LENGTH 64
#define PIOS_USB_BOARD_EP_NUM 2
#include "pios_usb_defs.h" /* struct usb_* */
#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_BL)
/*
* The bootloader uses a simplified report structure
* BL: <REPORT_ID><DATA>...<DATA>
* FW: <REPORT_ID><LENGTH><DATA>...<DATA>
* This define changes the behaviour in pios_usb_hid.c
*/
#define PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE
#endif /* PIOS_USB_BOARD_DATA_H */

28
flight/Bootloaders/CopterControl/main.c
View File

@ -32,6 +32,7 @@
#include "usb_lib.h"
#include "pios_iap.h"
#include "fifo_buffer.h"
#include "pios_com_msg.h"
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void FLASH_Download();
@ -62,13 +63,12 @@ uint8_t JumpToApp = FALSE;
uint8_t GO_dfu = FALSE;
uint8_t USB_connected = FALSE;
uint8_t User_DFU_request = FALSE;
static uint8_t mReceive_Buffer[64];
static uint8_t mReceive_Buffer[63];
/* Private function prototypes -----------------------------------------------*/
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
uint8_t processRX();
void jump_to_app();
#define BLUE LED1
int main() {
PIOS_SYS_Init();
if (BSL_HOLD_STATE == 0)
@ -111,7 +111,7 @@ int main() {
case DFUidle:
period1 = 5000;
sweep_steps1 = 100;
PIOS_LED_Off(BLUE);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
case uploading:
@ -123,12 +123,12 @@ int main() {
case downloading:
period1 = 2500;
sweep_steps1 = 50;
PIOS_LED_Off(BLUE);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
case BLidle:
period1 = 0;
PIOS_LED_On(BLUE);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
default://error
@ -140,19 +140,19 @@ int main() {
if (period1 != 0) {
if (LedPWM(period1, sweep_steps1, stopwatch))
PIOS_LED_On(BLUE);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
else
PIOS_LED_Off(BLUE);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
} else
PIOS_LED_On(BLUE);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, stopwatch))
PIOS_LED_On(BLUE);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
else
PIOS_LED_Off(BLUE);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
} else
PIOS_LED_Off(BLUE);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
if (stopwatch > 50 * 1000 * 1000)
stopwatch = 0;
@ -198,10 +198,8 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
}
uint8_t processRX() {
while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB) >= 63) {
if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) {
processComand(mReceive_Buffer);
}
if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
processComand(mReceive_Buffer);
}
return TRUE;
}

9
flight/Bootloaders/CopterControl/op_dfu.c
View File

@ -30,6 +30,7 @@
#include "pios.h"
#include "op_dfu.h"
#include "pios_bl_helper.h"
#include "pios_com_msg.h"
#include <pios_board_info.h>
//programmable devices
Device devicesTable[10];
@ -294,6 +295,10 @@ void processComand(uint8_t *xReceive_Buffer) {
sendData(Buffer + 1, 63);
break;
case JumpFW:
if (Data == 0x5AFE) {
/* Force board into safe mode */
PIOS_IAP_WriteBootCount(0xFFFF);
}
FLASH_Lock();
JumpToApp = 1;
break;
@ -442,9 +447,7 @@ uint32_t CalcFirmCRC() {
}
void sendData(uint8_t * buf, uint16_t size) {
PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size);
if (DeviceState == downloading)
PIOS_DELAY_WaitmS(20);//this is an hack, we should check wtf is wrong with hid
PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size);
}
bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {

71
flight/Bootloaders/CopterControl/pios_board.c
View File

@ -23,41 +23,17 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Pull in the board-specific static HW definitions.
* Including .c files is a bit ugly but this allows all of
* the HW definitions to be const and static to limit their
* scope.
*
* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
*/
#include "board_hw_defs.c"
#include <pios.h>
// ***********************************************************************************
#if defined(PIOS_INCLUDE_COM)
#include <pios_com_priv.h>
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
#endif /* PIOS_INCLUDE_COM */
// ***********************************************************************************
#if defined(PIOS_INCLUDE_USB_HID)
#include "pios_usb_hid_priv.h"
static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
.irq = {
.init = {
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
#endif /* PIOS_INCLUDE_USB_HID */
extern const struct pios_com_driver pios_usb_com_driver;
uint32_t pios_com_telem_usb_id;
/**
@ -83,19 +59,32 @@ void PIOS_Board_Init(void) {
/* Initialize the PiOS library */
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_USB_HID)
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_USB)
/* Initialize board specific USB data */
PIOS_USB_BOARD_DATA_Init();
/* Activate the HID-only USB configuration */
PIOS_USB_DESC_HID_ONLY_Init();
uint32_t pios_usb_id;
if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) {
PIOS_Assert(0);
}
#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
uint32_t pios_usb_hid_id;
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg)) {
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
#if defined(PIOS_INCLUDE_COM)
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_USB_HID */
#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */
#endif /* PIOS_INCLUDE_USB */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar

123
flight/Bootloaders/CopterControl/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;
}

11
flight/Bootloaders/OpenPilot/Makefile
View File

@ -86,6 +86,7 @@ RTOSDIR = $(APPLIBDIR)/FreeRTOS
RTOSSRCDIR = $(RTOSDIR)/Source
RTOSINCDIR = $(RTOSSRCDIR)/include
DOXYGENDIR = ../Doc/Doxygen
HWDEFSINC = ../../board_hw_defs/$(BOARD_NAME)
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files
@ -109,14 +110,17 @@ SRC += $(PIOSSTM32F10X)/pios_debug.c
SRC += $(PIOSSTM32F10X)/pios_gpio.c
# PIOS USB related files (seperated to make code maintenance more easy)
SRC += $(PIOSSTM32F10X)/pios_usb.c
SRC += $(PIOSSTM32F10X)/pios_usbhook.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
SRC += $(OPSYSTEM)/pios_usb_board_data.c
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_board_info.c
SRC += $(PIOSCOMMON)/pios_com_msg.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_opahrs_v0.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
@ -203,6 +207,7 @@ EXTRAINCDIRS += $(MSDDIR)
EXTRAINCDIRS += $(RTOSINCDIR)
EXTRAINCDIRS += $(APPLIBDIR)
EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
EXTRAINCDIRS += $(HWDEFSINC)
@ -290,7 +295,7 @@ CSTANDARD = -std=gnu99
# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
ifeq ($(DEBUG),YES)
CFLAGS = -DDEBUG
CFLAGS += -DDEBUG
endif
CFLAGS += -g$(DEBUGF)

4
flight/Bootloaders/OpenPilot/inc/pios_config.h
View File

@ -31,7 +31,6 @@
#define PIOS_CONFIG_H
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
#define USB_HID
/* Enable/Disable PiOS Modules */
#define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_IRQ
@ -39,10 +38,13 @@
#define PIOS_INCLUDE_SPI
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_USART
#define PIOS_INCLUDE_USB
#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_OPAHRS
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_COM_MSG
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_IAP
//#define DEBUG_SSP
/* Defaults for Logging */

85
flight/Bootloaders/OpenPilot/inc/pios_usb.h
View File

@ -1,85 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_USB USB Functions
* @brief PIOS USB interface code
* @{
*
* @file pios_usb.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief USB functions header.
* @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_H
#define PIOS_USB_H
/* Local defines */
/* Following settings allow to customise the USB device descriptor */
#ifndef PIOS_USB_VENDOR_ID
#define PIOS_USB_VENDOR_ID 0x20A0
#endif
#ifndef PIOS_USB_VENDOR_STR
#define PIOS_USB_VENDOR_STR "openpilot.org"
#endif
#ifndef PIOS_USB_PRODUCT_STR
#define PIOS_USB_PRODUCT_STR "OpenPilot"
#endif
#ifndef PIOS_USB_PRODUCT_ID
#define PIOS_USB_PRODUCT_ID 0x415A
#endif
#ifndef PIOS_USB_VERSION_ID
#define PIOS_USB_VERSION_ID 0x0101 /* OpenPilot (01) Bootloader (01) */
#endif
/* Internal defines which are used by PIOS USB HID (don't touch) */
#define PIOS_USB_EP_NUM 2
/* Buffer table base address */
#define PIOS_USB_BTABLE_ADDRESS 0x000
/* EP0 rx/tx buffer base address */
#define PIOS_USB_ENDP0_RXADDR 0x040
#define PIOS_USB_ENDP0_TXADDR 0x080
/* EP1 Rx/Tx buffer base address for HID driver */
#define PIOS_USB_ENDP1_TXADDR 0x0C0
#define PIOS_USB_ENDP1_RXADDR 0x100
/* Global Variables */
extern void (*pEpInt_IN[7])(void);
extern void (*pEpInt_OUT[7])(void);
/* Public Functions */
extern int32_t PIOS_USB_Init(uint32_t mode);
extern int32_t PIOS_USB_IsInitialized(void);
extern int32_t PIOS_USB_CableConnected(void);
#endif /* PIOS_USB_H */
/**
* @}
* @}
*/

51
flight/Bootloaders/OpenPilot/inc/pios_usb_board_data.h Normal file
View File

@ -0,0 +1,51 @@
/**
******************************************************************************
* @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_HID_DATA_LENGTH 64
#define PIOS_USB_BOARD_EP_NUM 2
#include "pios_usb_defs.h" /* struct usb_* */
#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_OPENPILOT_MAIN
#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_OPENPILOT_MAIN, USB_OP_BOARD_MODE_BL)
/*
* The bootloader uses a simplified report structure
* BL: <REPORT_ID><DATA>...<DATA>
* FW: <REPORT_ID><LENGTH><DATA>...<DATA>
* This define changes the behaviour in pios_usb_hid.c
*/
#define PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE
#endif /* PIOS_USB_BOARD_DATA_H */

47
flight/Bootloaders/OpenPilot/main.c
View File

@ -35,6 +35,7 @@
#include "pios_iap.h"
#include "ssp.h"
#include "fifo_buffer.h"
#include "pios_com_msg.h"
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void FLASH_Download();
@ -90,21 +91,15 @@ uint8_t JumpToApp = FALSE;
uint8_t GO_dfu = FALSE;
uint8_t USB_connected = FALSE;
uint8_t User_DFU_request = FALSE;
static uint8_t mReceive_Buffer[64];
static uint8_t mReceive_Buffer[63];
/* Private function prototypes -----------------------------------------------*/
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
uint8_t processRX();
void jump_to_app();
uint32_t sspTimeSource();
#define BLUE LED1
#define RED LED2
#define LED_PWM_TIMER TIM6
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();
if (BSL_HOLD_STATE == 0)
USB_connected = TRUE;
@ -162,7 +157,7 @@ int main() {
case DFUidle:
period1 = 50;
sweep_steps1 = 100;
PIOS_LED_Off(RED);
PIOS_LED_Off(PIOS_LED_ALARM);
period2 = 0;
break;
case uploading:
@ -174,12 +169,12 @@ int main() {
case downloading:
period1 = 25;
sweep_steps1 = 50;
PIOS_LED_Off(RED);
PIOS_LED_Off(PIOS_LED_ALARM);
period2 = 0;
break;
case BLidle:
period1 = 0;
PIOS_LED_On(BLUE);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
default://error
@ -191,19 +186,19 @@ int main() {
if (period1 != 0) {
if (LedPWM(period1, sweep_steps1, STOPWATCH_ValueGet(LED_PWM_TIMER)))
PIOS_LED_On(BLUE);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
else
PIOS_LED_Off(BLUE);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
} else
PIOS_LED_On(BLUE);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, STOPWATCH_ValueGet(LED_PWM_TIMER)))
PIOS_LED_On(RED);
PIOS_LED_On(PIOS_LED_ALARM);
else
PIOS_LED_Off(RED);
PIOS_LED_Off(PIOS_LED_ALARM);
} else
PIOS_LED_Off(RED);
PIOS_LED_Off(PIOS_LED_ALARM);
if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100)
STOPWATCH_Reset(LED_PWM_TIMER);
@ -227,7 +222,6 @@ void jump_to_app() {
RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
_SetCNTR(0); // clear interrupt mask
_SetISTR(0); // clear all requests
JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
Jump_To_Application = (pFunction) JumpAddress;
/* Initialize user application's Stack Pointer */
@ -249,10 +243,8 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
uint8_t processRX() {
if (ProgPort == Usb) {
while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB) >= 63) {
if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) {
processComand(mReceive_Buffer);
}
if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
processComand(mReceive_Buffer);
}
} else if (ProgPort == Serial) {
@ -277,15 +269,12 @@ void SSP_CallBack(uint8_t *buf, uint16_t len) {
fifoBuf_putData(&ssp_buffer, buf, len);
}
int16_t SSP_SerialRead(void) {
if (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_RF) > 0) {
uint8_t byte;
if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_RF, &byte, 1, 0) == 1) {
return byte;
} else {
return -1;
}
} else
uint8_t byte;
if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_RF, &byte, 1, 0) == 1) {
return byte;
} else {
return -1;
}
}
void SSP_SerialWrite(uint8_t value) {
PIOS_COM_SendChar(PIOS_COM_TELEM_RF, value);

24
flight/Bootloaders/OpenPilot/op_dfu.c
View File

@ -30,13 +30,10 @@
#include "pios.h"
#include "op_dfu.h"
#include "pios_bl_helper.h"
#include "pios_com_msg.h"
#include <pios_board_info.h>
#include "pios_opahrs.h"
#include "ssp.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
//programmable devices
Device devicesTable[10];
uint8_t numberOfDevices = 0;
@ -222,7 +219,7 @@ void processComand(uint8_t *xReceive_Buffer) {
}
}
if (result != 1) {
DeviceState = Last_operation_failed;//ok
DeviceState = Last_operation_failed;
Aditionals = (uint32_t) Command;
} else {
@ -299,7 +296,6 @@ void processComand(uint8_t *xReceive_Buffer) {
++Next_Packet;
} else {
DeviceState = wrong_packet_received;
Aditionals = Count;
}
@ -353,10 +349,18 @@ void processComand(uint8_t *xReceive_Buffer) {
DeviceState = failed_jump;
break;
} else {
if (Data == 0x5AFE) {
/* Force board into safe mode */
PIOS_IAP_WriteBootCount(0xFFFF);
}
FLASH_Lock();
JumpToApp = 1;
}
} else {
if (Data == 0x5AFE) {
/* Force board into safe mode */
PIOS_IAP_WriteBootCount(0xFFFF);
}
FLASH_Lock();
JumpToApp = 1;
}
@ -384,7 +388,6 @@ void processComand(uint8_t *xReceive_Buffer) {
DeviceState = too_few_packets;
}
}
break;
case Download_Req:
#ifdef DEBUG_SSP
@ -508,6 +511,7 @@ uint32_t baseOfAdressType(DFUTransfer type) {
return currentDevice.startOfUserCode + currentDevice.sizeOfCode;
break;
default:
return 0;
}
}
@ -550,11 +554,7 @@ uint32_t CalcFirmCRC() {
}
void sendData(uint8_t * buf, uint16_t size) {
if (ProgPort == Usb) {
PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size);
if (DeviceState == downloading)
PIOS_DELAY_WaitmS(10);
PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size);
} else if (ProgPort == Serial) {
ssp_SendData(&ssp_port, buf, size);
}

224
flight/Bootloaders/OpenPilot/pios_board.c
View File

@ -25,170 +25,16 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Pull in the board-specific static HW definitions.
* Including .c files is a bit ugly but this allows all of
* the HW definitions to be const and static to limit their
* scope.
*
* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
*/
#include "board_hw_defs.c"
#include <pios.h>
//#include <openpilot.h>
//#include <uavobjectsinit.h>
#if defined(PIOS_INCLUDE_SPI)
#include <pios_spi_priv.h>
/* AHRS Interface
*
* NOTE: Leave this declared as const data so that it ends up in the
* .rodata section (ie. Flash) rather than in the .bss section (RAM).
*/
void PIOS_SPI_ahrs_irq_handler(void);
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
const struct pios_spi_cfg
pios_spi_ahrs_cfg = {
.regs = SPI2,
.init = {
.SPI_Mode = SPI_Mode_Master,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
.SPI_DataSize = SPI_DataSize_8b,
.SPI_NSS = SPI_NSS_Soft,
.SPI_FirstBit = SPI_FirstBit_MSB,
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
},
.use_crc = TRUE,
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
.init = {
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA1_Channel4,
.init = {
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
.DMA_DIR = DMA_DIR_PeripheralSRC,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_M2M = DMA_M2M_Disable,
},
},
.tx = {
.channel = DMA1_Channel5,
.init = {
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
.DMA_DIR = DMA_DIR_PeripheralDST,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_M2M = DMA_M2M_Disable,
},
},
}, .ssel = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
}, .sclk = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_13,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
}, .miso = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_14,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
}, .mosi = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
}, };
uint32_t pios_spi_ahrs_id;
void PIOS_SPI_ahrs_irq_handler(void) {
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_ahrs_id);
}
#endif /* PIOS_INCLUDE_SPI */
#if defined(PIOS_INCLUDE_USART)
#include "pios_usart_priv.h"
/*
* Telemetry USART
*/
const struct pios_usart_cfg pios_usart_telem_cfg = {
.regs = USART2,
.init = {
#if defined (PIOS_COM_TELEM_BAUDRATE)
.USART_BaudRate = PIOS_COM_TELEM_BAUDRATE,
#else
.USART_BaudRate = 57600,
#endif
.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 = USART2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
}, .rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_3,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
}, .tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_2,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
}, };
#endif /* PIOS_INCLUDE_USART */
#if defined(PIOS_INCLUDE_COM)
#include "pios_com_priv.h"
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
@ -196,25 +42,6 @@ static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
static uint8_t pios_com_telem_rf_rx_buffer[PIOS_COM_TELEM_RF_RX_BUF_LEN];
static uint8_t pios_com_telem_rf_tx_buffer[PIOS_COM_TELEM_RF_TX_BUF_LEN];
#endif /* PIOS_INCLUDE_COM */
#if defined(PIOS_INCLUDE_USB_HID)
#include "pios_usb_hid_priv.h"
static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
.irq = {
.init = {
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
#endif /* PIOS_INCLUDE_USB_HID */
extern const struct pios_com_driver pios_usb_com_driver;
uint32_t pios_com_telem_rf_id;
uint32_t pios_com_telem_usb_id;
@ -256,17 +83,32 @@ void PIOS_Board_Init(void) {
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_USB_HID)
uint32_t pios_usb_hid_id;
PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg);
#if defined(PIOS_INCLUDE_COM)
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_USB)
/* Initialize board specific USB data */
PIOS_USB_BOARD_DATA_Init();
/* Activate the HID-only USB configuration */
PIOS_USB_DESC_HID_ONLY_Init();
uint32_t pios_usb_id;
if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_USB_HID */
#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
uint32_t pios_usb_hid_id;
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */
#endif /* PIOS_INCLUDE_USB */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar

119
flight/Bootloaders/OpenPilot/pios_usb_board_data.c Normal file
View File

@ -0,0 +1,119 @@
/**
******************************************************************************
* @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[20] = {
sizeof(usb_product_id),
USB_DESC_TYPE_STRING,
'O', 0,
'p', 0,
'e', 0,
'n', 0,
'P', 0,
'i', 0,
'l', 0,
'o', 0,
't', 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;
}

10
flight/Bootloaders/PipXtreme/Makefile
View File

@ -105,15 +105,17 @@ SRC += $(PIOSSTM32F10X)/pios_debug.c
SRC += $(PIOSSTM32F10X)/pios_gpio.c
# PIOS USB related files (seperated to make code maintenance more easy)
SRC += $(PIOSSTM32F10X)/pios_usb.c
SRC += $(PIOSSTM32F10X)/pios_usbhook.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
SRC += $(OPSYSTEM)/pios_usb_board_data.c
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_board_info.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_com_msg.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/pios_iap.c
SRC += $(PIOSCOMMON)/printf-stdarg.c
@ -285,7 +287,7 @@ CSTANDARD = -std=gnu99
# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
ifeq ($(DEBUG),YES)
CFLAGS = -DDEBUG
CFLAGS += -DDEBUG
endif
CFLAGS += -g$(DEBUGF)

6
flight/Bootloaders/PipXtreme/inc/pios_config.h
View File

@ -31,16 +31,16 @@
#define PIOS_CONFIG_H
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
#define USB_HID
/* Enable/Disable PiOS Modules */
#define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_USB
#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_COM_MSG
#define PIOS_INCLUDE_GPIO
//#define DEBUG_SSP
#define PIOS_INCLUDE_IAP
/* Defaults for Logging */
#define LOG_FILENAME "PIOS.LOG"

85
flight/Bootloaders/PipXtreme/inc/pios_usb.h
View File

@ -1,85 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_USB USB Functions
* @brief PIOS USB interface code
* @{
*
* @file pios_usb.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief USB functions header.
* @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_H
#define PIOS_USB_H
/* Local defines */
/* Following settings allow to customise the USB device descriptor */
#ifndef PIOS_USB_VENDOR_ID
#define PIOS_USB_VENDOR_ID 0x20A0
#endif
#ifndef PIOS_USB_VENDOR_STR
#define PIOS_USB_VENDOR_STR "openpilot.org"
#endif
#ifndef PIOS_USB_PRODUCT_STR
#define PIOS_USB_PRODUCT_STR "PipXtreme"
#endif
#ifndef PIOS_USB_PRODUCT_ID
#define PIOS_USB_PRODUCT_ID 0x415C
#endif
#ifndef PIOS_USB_VERSION_ID
#define PIOS_USB_VERSION_ID 0x0301 /* PipXtreme (03) Bootloader (01) */
#endif
/* Internal defines which are used by PIOS USB HID (don't touch) */
#define PIOS_USB_EP_NUM 2
/* Buffer table base address */
#define PIOS_USB_BTABLE_ADDRESS 0x000
/* EP0 rx/tx buffer base address */
#define PIOS_USB_ENDP0_RXADDR 0x040
#define PIOS_USB_ENDP0_TXADDR 0x080
/* EP1 Rx/Tx buffer base address for HID driver */
#define PIOS_USB_ENDP1_TXADDR 0x0C0
#define PIOS_USB_ENDP1_RXADDR 0x100
/* Global Variables */
extern void (*pEpInt_IN[7])(void);
extern void (*pEpInt_OUT[7])(void);
/* Public Functions */
extern int32_t PIOS_USB_Init(uint32_t mode);
extern int32_t PIOS_USB_IsInitialized(void);
extern int32_t PIOS_USB_CableConnected(void);
#endif /* PIOS_USB_H */
/**
* @}
* @}
*/

51
flight/Bootloaders/PipXtreme/inc/pios_usb_board_data.h Normal file
View File

@ -0,0 +1,51 @@
/**
******************************************************************************
* @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_HID_DATA_LENGTH 64
#define PIOS_USB_BOARD_EP_NUM 2
#include "pios_usb_defs.h" /* struct usb_* */
#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_PIPXTREME
#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_PIPXTREME, USB_OP_BOARD_MODE_BL)
/*
* The bootloader uses a simplified report structure
* BL: <REPORT_ID><DATA>...<DATA>
* FW: <REPORT_ID><LENGTH><DATA>...<DATA>
* This define changes the behaviour in pios_usb_hid.c
*/
#define PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE
#endif /* PIOS_USB_BOARD_DATA_H */

34
flight/Bootloaders/PipXtreme/main.c
View File

@ -32,6 +32,7 @@
#include "usb_lib.h"
#include "pios_iap.h"
#include "fifo_buffer.h"
#include "pios_com_msg.h"
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void FLASH_Download();
@ -62,19 +63,13 @@ uint8_t JumpToApp = FALSE;
uint8_t GO_dfu = FALSE;
uint8_t USB_connected = FALSE;
uint8_t User_DFU_request = FALSE;
static uint8_t mReceive_Buffer[64];
static uint8_t mReceive_Buffer[63];
/* Private function prototypes -----------------------------------------------*/
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
uint8_t processRX();
void jump_to_app();
#define BLUE LED1
#define RED LED4
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();
if (BSL_HOLD_STATE == 0)
USB_connected = TRUE;
@ -116,7 +111,7 @@ int main() {
case DFUidle:
period1 = 5000;
sweep_steps1 = 100;
PIOS_LED_Off(RED);
PIOS_LED_Off(PIOS_LED_ALARM);
period2 = 0;
break;
case uploading:
@ -128,12 +123,12 @@ int main() {
case downloading:
period1 = 2500;
sweep_steps1 = 50;
PIOS_LED_Off(RED);
PIOS_LED_Off(PIOS_LED_ALARM);
period2 = 0;
break;
case BLidle:
period1 = 0;
PIOS_LED_On(BLUE);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
default://error
@ -145,19 +140,19 @@ int main() {
if (period1 != 0) {
if (LedPWM(period1, sweep_steps1, stopwatch))
PIOS_LED_On(BLUE);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
else
PIOS_LED_Off(BLUE);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
} else
PIOS_LED_On(BLUE);
PIOS_LED_On(PIOS_LED_HEARTBEAT);
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, stopwatch))
PIOS_LED_On(RED);
PIOS_LED_On(PIOS_LED_ALARM);
else
PIOS_LED_Off(RED);
PIOS_LED_Off(PIOS_LED_ALARM);
} else
PIOS_LED_Off(RED);
PIOS_LED_Off(PIOS_LED_ALARM);
if (stopwatch > 50 * 1000 * 1000)
stopwatch = 0;
@ -181,7 +176,6 @@ void jump_to_app() {
RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
_SetCNTR(0); // clear interrupt mask
_SetISTR(0); // clear all requests
JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
Jump_To_Application = (pFunction) JumpAddress;
/* Initialize user application's Stack Pointer */
@ -204,10 +198,8 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
}
uint8_t processRX() {
while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB) >= 63) {
if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) {
processComand(mReceive_Buffer);
}
if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
processComand(mReceive_Buffer);
}
return TRUE;
}

45
flight/Bootloaders/PipXtreme/op_dfu.c
View File

@ -30,11 +30,8 @@
#include "pios.h"
#include "op_dfu.h"
#include "pios_bl_helper.h"
#include "pios_com_msg.h"
#include <pios_board_info.h>
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
//programmable devices
Device devicesTable[10];
uint8_t numberOfDevices = 0;
@ -102,33 +99,9 @@ void DataDownload(DownloadAction action) {
currentProgrammingDestination)) {
DeviceState = Last_operation_failed;
}
/*
switch (currentProgrammingDestination) {
case Remote_flash_via_spi:
if (downType == Descript) {
SendBuffer[6 + (x * 4)]
= spi_dev_desc[(uint8_t) partoffset];
SendBuffer[7 + (x * 4)] = spi_dev_desc[(uint8_t) partoffset
+ 1];
SendBuffer[8 + (x * 4)] = spi_dev_desc[(uint8_t) partoffset
+ 2];
SendBuffer[9 + (x * 4)] = spi_dev_desc[(uint8_t) partoffset
+ 3];
}
break;
case Self_flash:
SendBuffer[6 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset);
SendBuffer[7 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 1);
SendBuffer[8 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 2);
SendBuffer[9 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 3);
break;
}
*/
}
//PIOS USB_SIL_Write(EP1_IN, (uint8_t*) SendBuffer, 64);
downPacketCurrent = downPacketCurrent + 1;
if (downPacketCurrent > downPacketTotal - 1) {
// STM_EVAL_LEDOn(LED2);
DeviceState = Last_operation_Success;
Aditionals = (uint32_t) Download;
}
@ -168,7 +141,7 @@ void processComand(uint8_t *xReceive_Buffer) {
case EnterDFU:
if (((DeviceState == BLidle) && (Data0 < numberOfDevices))
|| (DeviceState == DFUidle)) {
if (Data0 > 0)//PORQUE???
if (Data0 > 0)
OPDfuIni(TRUE);
DeviceState = DFUidle;
currentProgrammingDestination = devicesTable[Data0].programmingType;
@ -225,7 +198,7 @@ void processComand(uint8_t *xReceive_Buffer) {
}
}
if (result != 1) {
DeviceState = Last_operation_failed;//ok
DeviceState = Last_operation_failed;
Aditionals = (uint32_t) Command;
} else {
@ -276,11 +249,9 @@ void processComand(uint8_t *xReceive_Buffer) {
++Next_Packet;
} else {
DeviceState = wrong_packet_received;
Aditionals = Count;
}
// FLASH_ProgramWord(MemLocations[TransferType]+4,++Next_Packet);//+Count,Data);
} else {
DeviceState = Last_operation_failed;
Aditionals = (uint32_t) Command;
@ -322,9 +293,12 @@ void processComand(uint8_t *xReceive_Buffer) {
Buffer[15] = devicesTable[Data0 - 1].devID;
}
sendData(Buffer + 1, 63);
//PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, Buffer + 1, 63);//FIX+1
break;
case JumpFW:
if (Data == 0x5AFE) {
/* Force board into safe mode */
PIOS_IAP_WriteBootCount(0xFFFF);
}
FLASH_Lock();
JumpToApp = 1;
break;
@ -351,7 +325,6 @@ void processComand(uint8_t *xReceive_Buffer) {
DeviceState = too_few_packets;
}
}
break;
case Download_Req:
#ifdef DEBUG_SSP
@ -474,9 +447,7 @@ uint32_t CalcFirmCRC() {
}
void sendData(uint8_t * buf, uint16_t size) {
PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size);
if (DeviceState == downloading)
PIOS_DELAY_WaitmS(10);
PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size);
}
bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {

113
flight/Bootloaders/PipXtreme/pios_board.c
View File

@ -25,26 +25,69 @@
#include <pios.h>
// ***********************************************************************************
#if defined(PIOS_INCLUDE_LED)
#if defined(PIOS_INCLUDE_COM)
#include <pios_led_priv.h>
static const struct pios_led pios_leds[] = {
[PIOS_LED_USB] = {
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_3,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
[PIOS_LED_LINK] = {
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_5,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
[PIOS_LED_RX] = {
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
[PIOS_LED_TX] = {
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
};
#include <pios_com_priv.h>
static const struct pios_led_cfg pios_led_cfg = {
.leds = pios_leds,
.num_leds = NELEMENTS(pios_leds),
};
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
#endif /* PIOS_INCLUDE_LED */
static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
#if defined(PIOS_INCLUDE_COM_MSG)
#endif /* PIOS_INCLUDE_COM */
#include <pios_com_msg_priv.h>
// ***********************************************************************************
#endif /* PIOS_INCLUDE_COM_MSG */
#if defined(PIOS_INCLUDE_USB_HID)
#include "pios_usb_hid_priv.h"
#if defined(PIOS_INCLUDE_USB)
#include "pios_usb_priv.h"
static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
static const struct pios_usb_cfg pios_usb_main_cfg = {
.irq = {
.init = {
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
@ -54,9 +97,22 @@ static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
},
},
};
#endif /* PIOS_INCLUDE_USB_HID */
extern const struct pios_com_driver pios_usb_com_driver;
#include "pios_usb_board_data_priv.h"
#include "pios_usb_desc_hid_only_priv.h"
#endif /* PIOS_INCLUDE_USB */
#if defined(PIOS_INCLUDE_USB_HID)
#include <pios_usb_hid_priv.h>
const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
.data_if = 0,
.data_rx_ep = 1,
.data_tx_ep = 1,
};
#endif /* PIOS_INCLUDE_USB_HID */
uint32_t pios_com_telem_usb_id;
@ -83,17 +139,28 @@ void PIOS_Board_Init(void) {
/* Initialize the PiOS library */
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_USB_HID)
uint32_t pios_usb_hid_id;
PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg);
#if defined(PIOS_INCLUDE_COM)
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
#if defined(PIOS_INCLUDE_USB)
/* Initialize board specific USB data */
PIOS_USB_BOARD_DATA_Init();
/* Activate the HID-only USB configuration */
PIOS_USB_DESC_HID_ONLY_Init();
uint32_t pios_usb_id;
if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_USB_HID */
#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
uint32_t pios_usb_hid_id;
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */
#endif /* PIOS_INCLUDE_USB */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar

119
flight/Bootloaders/PipXtreme/pios_usb_board_data.c Normal file
View File

@ -0,0 +1,119 @@
/**
******************************************************************************
* @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[20] = {
sizeof(usb_product_id),
USB_DESC_TYPE_STRING,
'P', 0,
'i', 0,
'p', 0,
'X', 0,
't', 0,
'r', 0,
'e', 0,
'm', 0,
'e', 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;
}

64
flight/CopterControl/Makefile
View File

@ -48,10 +48,6 @@ ENABLE_DEBUG_PINS ?= NO
# Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
ENABLE_AUX_UART ?= NO
USE_GPS ?= YES
USE_I2C ?= NO
# Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= YES
@ -64,13 +60,41 @@ endif
FLASH_TOOL = OPENOCD
# List of modules to include
OPTMODULES = CameraStab
# Optional module and driver defaults
USE_CAMERASTAB ?= YES
USE_COMUSBBRIDGE ?= YES
USE_GPS ?= YES
USE_TXPID ?= YES
USE_I2C ?= NO
USE_ALTITUDE ?= NO
TEST_FAULTS ?= NO
# List of optional modules to include
OPTMODULES =
ifeq ($(USE_CAMERASTAB), YES)
OPTMODULES += CameraStab
endif
ifeq ($(USE_COMUSBBRIDGE), YES)
OPTMODULES += ComUsbBridge
endif
ifeq ($(USE_GPS), YES)
OPTMODULES += GPS
endif
ifeq ($(USE_TXPID), YES)
OPTMODULES += TxPID
endif
ifeq ($(USE_ALTITUDE), YES)
ifeq ($(USE_I2C), YES)
OPTMODULES += Altitude
else
$(error "Altitude module (USE_ALTITUDE=YES) requires i2c (USE_I2C=YES)")
endif
endif
ifeq ($(TEST_FAULTS), YES)
OPTMODULES += Fault
endif
# List of mandatory modules to include
MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP
# Telemetry must be last to grab the optional modules (why?)
MODULES += Telemetry
@ -118,6 +142,7 @@ PYMITEINC += $(PYMITEPLAT)
PYMITEINC += $(OUTDIR)
FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
HWDEFSINC = ../board_hw_defs/$(BOARD_NAME)
OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
@ -133,11 +158,9 @@ SRC += ${OPMODULEDIR}/System/systemmod.c
SRC += $(OPSYSTEM)/coptercontrol.c
SRC += $(OPSYSTEM)/pios_board.c
SRC += $(OPSYSTEM)/alarms.c
SRC += $(OPSYSTEM)/taskmonitor.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/eventdispatcher.c
SRC += $(OPSYSTEM)/pios_usb_hid_desc.c
else
## TESTCODE
SRC += $(OPTESTS)/test_common.c
@ -152,6 +175,7 @@ SRC += $(OPUAVSYNTHDIR)/accessorydesired.c
SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
SRC += $(OPUAVSYNTHDIR)/gcstelemetrystats.c
SRC += $(OPUAVSYNTHDIR)/flighttelemetrystats.c
SRC += $(OPUAVSYNTHDIR)/faultsettings.c
SRC += $(OPUAVSYNTHDIR)/flightstatus.c
SRC += $(OPUAVSYNTHDIR)/systemstats.c
SRC += $(OPUAVSYNTHDIR)/systemalarms.c
@ -179,6 +203,7 @@ SRC += $(OPUAVSYNTHDIR)/receiveractivity.c
SRC += $(OPUAVSYNTHDIR)/taskinfo.c
SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
SRC += $(OPUAVSYNTHDIR)/ratedesired.c
SRC += $(OPUAVSYNTHDIR)/baroaltitude.c
SRC += $(OPUAVSYNTHDIR)/txpidsettings.c
endif
@ -205,11 +230,16 @@ SRC += $(PIOSSTM32F10X)/pios_wdg.c
SRC += $(PIOSSTM32F10X)/pios_tim.c
# PIOS USB related files (seperated to make code maintenance more easy)
# PIOS USB related files (separated to make code maintenance more easy)
SRC += $(PIOSSTM32F10X)/pios_usb.c
SRC += $(PIOSSTM32F10X)/pios_usbhook.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
SRC += $(PIOSSTM32F10X)/pios_usb_cdc.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
SRC += $(OPSYSTEM)/pios_usb_board_data.c
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_crc.c
@ -218,6 +248,7 @@ SRC += $(PIOSCOMMON)/pios_flash_w25x.c
SRC += $(PIOSCOMMON)/pios_adxl345.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_i2c_esc.c
SRC += $(PIOSCOMMON)/pios_bmp085.c
SRC += $(PIOSCOMMON)/pios_iap.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/pios_rcvr.c
@ -226,6 +257,7 @@ SRC += $(PIOSCOMMON)/printf-stdarg.c
## Libraries for flight calculations
SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(FLIGHTLIB)/CoordinateConversions.c
SRC += $(FLIGHTLIB)/taskmonitor.c
## CMSIS for STM32
SRC += $(CMSISDIR)/core_cm3.c
@ -339,6 +371,7 @@ EXTRAINCDIRS += $(APPLIBDIR)
EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
EXTRAINCDIRS += $(AHRSBOOTLOADERINC)
EXTRAINCDIRS += $(PYMITEINC)
EXTRAINCDIRS += $(HWDEFSINC)
EXTRAINCDIRS += ${foreach MOD, ${OPTMODULES} ${MODULES}, ${OPMODULEDIR}/${MOD}/inc} ${OPMODULEDIR}/System/inc
@ -403,6 +436,9 @@ ifeq ($(USE_I2C), YES)
CDEFS += -DUSE_I2C
endif
# Declare all non-optional modules as built-in to force inclusion
CDEFS += ${foreach MOD, ${MODULES}, -DMODULE_$(MOD)_BUILTIN }
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -429,11 +465,15 @@ CSTANDARD = -std=gnu99
# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
ifeq ($(DEBUG),YES)
CFLAGS = -DDEBUG
CFLAGS += -DDEBUG
endif
ifeq ($(DIAGNOSTICS),YES)
CFLAGS = -DDIAGNOSTICS
CFLAGS += -DDIAGNOSTICS
endif
ifeq ($(DIAG_TASKS),YES)
CFLAGS += -DDIAG_TASKS
endif
CFLAGS += -g$(DEBUGF)

11
flight/CopterControl/System/coptercontrol.c
View File

@ -72,7 +72,9 @@ int main()
#ifdef ERASE_FLASH
PIOS_Flash_W25X_EraseChip();
PIOS_LED_Off(LED1);
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
while (1) ;
#endif
@ -88,13 +90,14 @@ int main()
/* 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);
while (1) {
PIOS_LED_Toggle(LED1);
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
PIOS_DELAY_WaitmS(100);
}
return 0;
return 0;
}
/**

2
flight/CopterControl/System/inc/FreeRTOSConfig.h
View File

@ -76,7 +76,7 @@ NVIC value of 255. */
#endif
/* Enable run time stats collection */
#if defined(DIAGNOSTICS)
#if defined(DIAG_TASKS)
#define configCHECK_FOR_STACK_OVERFLOW 2
#define configGENERATE_RUN_TIME_STATS 1

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

@ -42,6 +42,8 @@
#endif
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_IAP
#define PIOS_INCLUDE_TIM
#define PIOS_INCLUDE_RCVR
@ -61,7 +63,9 @@
#define PIOS_INCLUDE_SPI
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_USART
#define PIOS_INCLUDE_USB
#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_USB_CDC
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_SETTINGS
#define PIOS_INCLUDE_FREERTOS
@ -74,13 +78,11 @@
#define PIOS_INCLUDE_ADXL345
#define PIOS_INCLUDE_FLASH
#define PIOS_INCLUDE_BMP085
/* A really shitty setting saving implementation */
#define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS
/* Defaults for Logging */
#define LOG_FILENAME "PIOS.LOG"
#define STARTUP_LOG_ENABLED 1
/* Alarm Thresholds */
#define HEAP_LIMIT_WARNING 220
#define HEAP_LIMIT_CRITICAL 40

85
flight/CopterControl/System/inc/pios_usb.h
View File

@ -1,85 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_USB USB Functions
* @brief PIOS USB interface code
* @{
*
* @file pios_usb.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief USB functions header.
* @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_H
#define PIOS_USB_H
/* Local defines */
/* Following settings allow to customise the USB device descriptor */
#ifndef PIOS_USB_VENDOR_ID
#define PIOS_USB_VENDOR_ID 0x20A0
#endif
#ifndef PIOS_USB_VENDOR_STR
#define PIOS_USB_VENDOR_STR "openpilot.org"
#endif
#ifndef PIOS_USB_PRODUCT_STR
#define PIOS_USB_PRODUCT_STR "CopterControl"
#endif
#ifndef PIOS_USB_PRODUCT_ID
#define PIOS_USB_PRODUCT_ID 0x415B
#endif
#ifndef PIOS_USB_VERSION_ID
#define PIOS_USB_VERSION_ID 0x0402 /* CopterControl board (04), Running state (02) */
#endif
/* Internal defines which are used by PIOS USB HID (don't touch) */
#define PIOS_USB_EP_NUM 2
/* Buffer table base address */
#define PIOS_USB_BTABLE_ADDRESS 0x000
/* EP0 rx/tx buffer base address */
#define PIOS_USB_ENDP0_RXADDR 0x040
#define PIOS_USB_ENDP0_TXADDR 0x080
/* EP1 Rx/Tx buffer base address for HID driver */
#define PIOS_USB_ENDP1_TXADDR 0x0C0
#define PIOS_USB_ENDP1_RXADDR 0x100
/* Global Variables */
extern void (*pEpInt_IN[7]) (void);
extern void (*pEpInt_OUT[7]) (void);
/* Public Functions */
extern int32_t PIOS_USB_Init(uint32_t mode);
extern int32_t PIOS_USB_IsInitialized(void);
extern int32_t PIOS_USB_CableConnected(void);
#endif /* PIOS_USB_H */
/**
* @}
* @}
*/

45
flight/CopterControl/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 */

56
flight/CopterControl/System/inc/pios_usb_hid_desc.h
View File

@ -1,56 +0,0 @@
/******************** (C) COPYRIGHT 2010 STMicroelectronics ********************
* File Name : usb_desc.h
* Author : MCD Application Team
* Version : V3.2.1
* Date : 07/05/2010
* Description : Descriptor Header for Custom HID Demo
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __USB_DESC_H
#define __USB_DESC_H
/* Includes ------------------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
/* Exported define -----------------------------------------------------------*/
#define USB_DEVICE_DESCRIPTOR_TYPE 0x01
#define USB_CONFIGURATION_DESCRIPTOR_TYPE 0x02
#define USB_STRING_DESCRIPTOR_TYPE 0x03
#define USB_INTERFACE_DESCRIPTOR_TYPE 0x04
#define USB_ENDPOINT_DESCRIPTOR_TYPE 0x05
#define HID_DESCRIPTOR_TYPE 0x21
#define PIOS_HID_SIZ_HID_DESC 0x09
#define PIOS_HID_OFF_HID_DESC 0x12
#define PIOS_HID_SIZ_DEVICE_DESC 18
#define PIOS_HID_SIZ_CONFIG_DESC 41
#define PIOS_HID_SIZ_REPORT_DESC 36
#define PIOS_HID_SIZ_STRING_LANGID 4
#define PIOS_HID_SIZ_STRING_VENDOR 28
#define PIOS_HID_SIZ_STRING_PRODUCT 28
#define PIOS_HID_SIZ_STRING_SERIAL 52 /* 96 bits, 12 bytes, 24 characters, 48 in unicode */
#define STANDARD_ENDPOINT_DESC_SIZE 0x09
/* Exported functions ------------------------------------------------------- */
extern const uint8_t PIOS_HID_DeviceDescriptor[PIOS_HID_SIZ_DEVICE_DESC];
extern const uint8_t PIOS_HID_ConfigDescriptor[PIOS_HID_SIZ_CONFIG_DESC];
extern const uint8_t PIOS_HID_ReportDescriptor[PIOS_HID_SIZ_REPORT_DESC];
extern const uint8_t PIOS_HID_StringLangID[PIOS_HID_SIZ_STRING_LANGID];
extern const uint8_t PIOS_HID_StringVendor[PIOS_HID_SIZ_STRING_VENDOR];
extern const uint8_t PIOS_HID_StringProduct[PIOS_HID_SIZ_STRING_PRODUCT];
extern uint8_t PIOS_HID_StringSerial[PIOS_HID_SIZ_STRING_SERIAL];
#endif /* __USB_DESC_H */
/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/

1298
flight/CopterControl/System/pios_board.c
View File

@ -27,6 +27,15 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Pull in the board-specific static HW definitions.
* Including .c files is a bit ugly but this allows all of
* the HW definitions to be const and static to limit their
* scope.
*
* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
*/
#include "board_hw_defs.c"
#include <pios.h>
#include <openpilot.h>
#include <uavobjectsinit.h>
@ -34,1056 +43,28 @@
#include <manualcontrolsettings.h>
#include <gcsreceiver.h>
#if defined(PIOS_INCLUDE_SPI)
#include <pios_spi_priv.h>
/* Flash/Accel Interface
*
* NOTE: Leave this declared as const data so that it ends up in the
* .rodata section (ie. Flash) rather than in the .bss section (RAM).
*/
void PIOS_SPI_flash_accel_irq_handler(void);
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_flash_accel_irq_handler")));
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_flash_accel_irq_handler")));
static const struct pios_spi_cfg pios_spi_flash_accel_cfg = {
.regs = SPI2,
.init = {
.SPI_Mode = SPI_Mode_Master,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
.SPI_DataSize = SPI_DataSize_8b,
.SPI_NSS = SPI_NSS_Soft,
.SPI_FirstBit = SPI_FirstBit_MSB,
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
},
.use_crc = FALSE,
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
.init = {
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA1_Channel4,
.init = {
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
.DMA_DIR = DMA_DIR_PeripheralSRC,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_High,
.DMA_M2M = DMA_M2M_Disable,
},
},
.tx = {
.channel = DMA1_Channel5,
.init = {
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
.DMA_DIR = DMA_DIR_PeripheralDST,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_High,
.DMA_M2M = DMA_M2M_Disable,
},
},
},
.ssel = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
.sclk = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_13,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
.miso = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_14,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
.mosi = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
static uint32_t pios_spi_flash_accel_id;
void PIOS_SPI_flash_accel_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_flash_accel_id);
}
#endif /* PIOS_INCLUDE_SPI */
/*
* 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();
}
#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,
},
},
},
};
static const struct pios_tim_channel pios_tim_servoport_rcvrport_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,
},
},
},
// Receiver port pins
// S3-S6 inputs are used as outputs in this case
{
.timer = TIM3,
.timer_chan = TIM_Channel_3,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_0,
.GPIO_Mode = GPIO_Mode_AF_PP,
.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_AF_PP,
.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_AF_PP,
.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_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
};
#if defined(PIOS_INCLUDE_USART)
#include "pios_usart_priv.h"
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
/*
* Telemetry USART
*/
static const struct pios_usart_cfg pios_usart_telem_main_cfg = {
.regs = USART1,
.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 = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
static const struct pios_usart_cfg pios_usart_telem_flexi_cfg = {
.regs = USART3,
.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 = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
#if defined(PIOS_INCLUDE_GPS)
/*
* GPS USART
*/
static const struct pios_usart_cfg pios_usart_gps_main_cfg = {
.regs = USART1,
.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 = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
static const struct pios_usart_cfg pios_usart_gps_flexi_cfg = {
.regs = USART3,
.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 = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
#endif /* PIOS_INCLUDE_GPS */
#if defined(PIOS_INCLUDE_DSM)
/*
* Spektrum/JR DSM USART
*/
#include <pios_dsm_priv.h>
static const struct pios_usart_cfg pios_usart_dsm_main_cfg = {
.regs = USART1,
.init = {
.USART_BaudRate = 115200,
.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,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
};
static const struct pios_dsm_cfg pios_dsm_main_cfg = {
.bind = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
};
static const struct pios_usart_cfg pios_usart_dsm_flexi_cfg = {
.regs = USART3,
.init = {
.USART_BaudRate = 115200,
.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,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
};
static const struct pios_dsm_cfg pios_dsm_flexi_cfg = {
.bind = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
};
#endif /* PIOS_INCLUDE_DSM */
#if defined(PIOS_INCLUDE_SBUS)
/*
* S.Bus USART
*/
#include <pios_sbus_priv.h>
static const struct pios_usart_cfg pios_usart_sbus_main_cfg = {
.regs = USART1,
.init = {
.USART_BaudRate = 100000,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_Even,
.USART_StopBits = USART_StopBits_2,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
};
static const struct pios_sbus_cfg pios_sbus_cfg = {
/* Inverter configuration */
.inv = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_2,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
.gpio_clk_func = RCC_APB2PeriphClockCmd,
.gpio_clk_periph = RCC_APB2Periph_GPIOB,
.gpio_inv_enable = Bit_SET,
};
#endif /* PIOS_INCLUDE_SBUS */
#endif /* PIOS_INCLUDE_USART */
#if defined(PIOS_INCLUDE_COM)
#include "pios_com_priv.h"
#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 32
#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)
*/
#include <pios_rtc_priv.h>
void PIOS_RTC_IRQ_Handler (void);
void RTC_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
static const struct pios_rtc_cfg pios_rtc_main_cfg = {
.clksrc = RCC_RTCCLKSource_HSE_Div128,
.prescaler = 100,
.irq = {
.init = {
.NVIC_IRQChannel = RTC_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
void PIOS_RTC_IRQ_Handler (void)
{
PIOS_RTC_irq_handler ();
}
#endif
/*
* Servo outputs
*/
#include <pios_servo_priv.h>
const struct pios_servo_cfg pios_servo_cfg = {
.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_OCPolarity = TIM_OCPolarity_High,
.TIM_OCNPolarity = TIM_OCPolarity_High,
.TIM_OCIdleState = TIM_OCIdleState_Reset,
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
},
.channels = pios_tim_servoport_all_pins,
.num_channels = NELEMENTS(pios_tim_servoport_all_pins),
};
const struct pios_servo_cfg pios_servo_rcvr_cfg = {
.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_OCPolarity = TIM_OCPolarity_High,
.TIM_OCNPolarity = TIM_OCPolarity_High,
.TIM_OCIdleState = TIM_OCIdleState_Reset,
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
},
.channels = pios_tim_servoport_rcvrport_pins,
.num_channels = NELEMENTS(pios_tim_servoport_rcvrport_pins),
};
/*
* PPM Inputs
*/
#if defined(PIOS_INCLUDE_PPM)
#include <pios_ppm_priv.h>
const struct pios_ppm_cfg pios_ppm_cfg = {
.tim_ic_init = {
.TIM_ICPolarity = TIM_ICPolarity_Rising,
.TIM_ICSelection = TIM_ICSelection_DirectTI,
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
.TIM_ICFilter = 0x0,
},
/* Use only the first channel for ppm */
.channels = &pios_tim_rcvrport_all_channels[0],
.num_channels = 1,
};
#endif /* PIOS_INCLUDE_PPM */
/*
* PWM Inputs
*/
#if defined(PIOS_INCLUDE_PWM)
#include <pios_pwm_priv.h>
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_rcvrport_all_channels,
.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels),
};
#endif
#if defined(PIOS_INCLUDE_I2C)
#include <pios_i2c_priv.h>
/*
* I2C Adapters
*/
void PIOS_I2C_main_adapter_ev_irq_handler(void);
void PIOS_I2C_main_adapter_er_irq_handler(void);
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_er_irq_handler")));
static const struct pios_i2c_adapter_cfg pios_i2c_main_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_main_adapter_id;
void PIOS_I2C_main_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_main_adapter_id);
}
void PIOS_I2C_main_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_main_adapter_id);
}
#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"
/* One slot per selectable receiver group.
* eg. PWM, PPM, GCS, DSMMAINPORT, DSMFLEXIPORT, SBUS
* NOTE: No slot in this map for NONE.
*/
uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
#endif /* PIOS_INCLUDE_RCVR */
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 32
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 12
#if defined(PIOS_INCLUDE_USB_HID)
#include "pios_usb_hid_priv.h"
#define PIOS_COM_GPS_RX_BUF_LEN 32
static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
.irq = {
.init = {
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
#endif /* PIOS_INCLUDE_USB_HID */
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 65
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 65
extern const struct pios_com_driver pios_usb_com_driver;
#define PIOS_COM_BRIDGE_RX_BUF_LEN 65
#define PIOS_COM_BRIDGE_TX_BUF_LEN 12
uint32_t pios_com_telem_rf_id;
uint32_t pios_com_telem_usb_id;
uint32_t pios_com_vcp_id;
uint32_t pios_com_gps_id;
uint32_t pios_com_bridge_id;
/**
* PIOS_Board_Init()
@ -1109,16 +90,37 @@ void PIOS_Board_Init(void) {
EventDispatcherInitialize();
UAVObjInitialize();
HwSettingsInitialize();
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
#endif /* PIOS_INCLUDE_LED */
HwSettingsInitialize();
#ifndef ERASE_FLASH
/* Initialize watchdog as early as possible to catch faults during init */
PIOS_WDG_Init();
#endif
/* Initialize the alarms library */
AlarmsInitialize();
/* Check for repeated boot failures */
PIOS_IAP_Init();
uint16_t boot_count = PIOS_IAP_ReadBootCount();
if (boot_count < 3) {
PIOS_IAP_WriteBootCount(++boot_count);
AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
} else {
/* Too many failed boot attempts, force hwsettings to defaults */
HwSettingsSetDefaults(HwSettingsHandle(), 0);
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
}
/* Initialize the task monitor library */
TaskMonitorInitialize();
@ -1128,6 +130,133 @@ void PIOS_Board_Init(void) {
PIOS_TIM_InitClock(&tim_3_cfg);
PIOS_TIM_InitClock(&tim_4_cfg);
#if defined(PIOS_INCLUDE_USB)
/* Initialize board specific USB data */
PIOS_USB_BOARD_DATA_Init();
/* Flags to determine if various USB interfaces are advertised */
bool usb_hid_present = false;
bool usb_cdc_present = false;
uint8_t hwsettings_usb_devicetype;
HwSettingsUSB_DeviceTypeGet(&hwsettings_usb_devicetype);
switch (hwsettings_usb_devicetype) {
case HWSETTINGS_USB_DEVICETYPE_HIDONLY:
if (PIOS_USB_DESC_HID_ONLY_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
break;
case HWSETTINGS_USB_DEVICETYPE_HIDVCP:
if (PIOS_USB_DESC_HID_CDC_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
usb_cdc_present = true;
break;
case HWSETTINGS_USB_DEVICETYPE_VCPONLY:
break;
default:
PIOS_Assert(0);
}
uint32_t pios_usb_id;
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);
#if defined(PIOS_INCLUDE_USB_CDC)
uint8_t hwsettings_usb_vcpport;
/* Configure the USB VCP port */
HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport);
if (!usb_cdc_present) {
/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED;
}
switch (hwsettings_usb_vcpport) {
case HWSETTINGS_USB_VCPPORT_DISABLED:
break;
case HWSETTINGS_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
uint32_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
case HWSETTINGS_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
{
uint32_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
}
#endif /* PIOS_INCLUDE_USB_CDC */
#if defined(PIOS_INCLUDE_USB_HID)
/* Configure the usb HID port */
uint8_t hwsettings_usb_hidport;
HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport);
if (!usb_hid_present) {
/* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED;
}
switch (hwsettings_usb_hidport) {
case HWSETTINGS_USB_HIDPORT_DISABLED:
break;
case HWSETTINGS_USB_HIDPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
uint32_t pios_usb_hid_id;
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
}
#endif /* PIOS_INCLUDE_USB_HID */
#endif /* PIOS_INCLUDE_USB */
/* Configure the main IO port */
uint8_t hwsettings_DSMxBind;
HwSettingsDSMxBindGet(&hwsettings_DSMxBind);
@ -1140,8 +269,8 @@ void PIOS_Board_Init(void) {
case HWSETTINGS_CC_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_main_cfg)) {
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
PIOS_Assert(0);
}
@ -1149,7 +278,7 @@ void PIOS_Board_Init(void) {
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,
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_generic_id,
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
@ -1182,14 +311,14 @@ void PIOS_Board_Init(void) {
case HWSETTINGS_CC_MAINPORT_GPS:
#if defined(PIOS_INCLUDE_GPS)
{
uint32_t pios_usart_gps_id;
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_main_cfg)) {
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_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,
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_generic_id,
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
NULL, 0)) {
PIOS_Assert(0);
@ -1242,6 +371,24 @@ void PIOS_Board_Init(void) {
break;
case HWSETTINGS_CC_MAINPORT_COMAUX:
break;
case HWSETTINGS_CC_MAINPORT_COMBRIDGE:
{
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_bridge_id, &pios_usart_com_driver, pios_usart_generic_id,
rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
break;
}
/* Configure the flexi port */
@ -1254,15 +401,15 @@ void PIOS_Board_Init(void) {
case HWSETTINGS_CC_FLEXIPORT_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_flexi_cfg)) {
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_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,
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_generic_id,
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
@ -1270,16 +417,34 @@ void PIOS_Board_Init(void) {
}
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
break;
case HWSETTINGS_CC_FLEXIPORT_COMBRIDGE:
{
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_bridge_id, &pios_usart_com_driver, pios_usart_generic_id,
rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
break;
case HWSETTINGS_CC_FLEXIPORT_GPS:
#if defined(PIOS_INCLUDE_GPS)
{
uint32_t pios_usart_gps_id;
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_flexi_cfg)) {
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_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,
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_generic_id,
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
NULL, 0)) {
PIOS_Assert(0);
@ -1335,7 +500,7 @@ void PIOS_Board_Init(void) {
case HWSETTINGS_CC_FLEXIPORT_I2C:
#if defined(PIOS_INCLUDE_I2C)
{
if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) {
if (PIOS_I2C_Init(&pios_i2c_flexi_adapter_id, &pios_i2c_flexi_adapter_cfg)) {
PIOS_Assert(0);
}
}
@ -1383,15 +548,16 @@ void PIOS_Board_Init(void) {
#if defined(PIOS_INCLUDE_GCSRCVR)
GCSReceiverInitialize();
PIOS_GCSRCVR_Init();
uint32_t pios_gcsrcvr_id;
PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
uint32_t pios_gcsrcvr_rcvr_id;
if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, 0)) {
if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
#endif /* PIOS_INCLUDE_GCSRCVR */
/* Remap AFIO pin */
/* Remap AFIO pin for PB4 (Servo 5 Out)*/
GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);
#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
@ -1413,26 +579,8 @@ void PIOS_Board_Init(void) {
PIOS_ADC_Init();
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_USB_HID)
uint32_t pios_usb_hid_id;
PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg);
#if defined(PIOS_INCLUDE_COM)
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_USB_HID */
PIOS_IAP_Init();
#ifndef ERASE_FLASH
PIOS_WDG_Init();
#endif
/* Make sure we have at least one telemetry link configured or else fail initialization */
PIOS_Assert(pios_com_telem_rf_id || pios_com_telem_usb_id);
}
/**

123
flight/CopterControl/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;
}

224
flight/CopterControl/System/pios_usb_hid_desc.c
View File

@ -1,224 +0,0 @@
/******************** (C) COPYRIGHT 2010 STMicroelectronics ********************
* File Name : usb_desc.c
* Author : MCD Application Team
* Version : V3.2.1
* Date : 07/05/2010
* Description : Descriptors for Custom HID Demo
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/
#include "usb_lib.h"
#include "pios_usb.h"
#include "pios_usb_hid.h"
#include "pios_usb_hid_desc.h"
// *************************************************
// USB Standard Device Descriptor
const uint8_t PIOS_HID_DeviceDescriptor[PIOS_HID_SIZ_DEVICE_DESC] =
{
0x12, // bLength
USB_DEVICE_DESCRIPTOR_TYPE, // bDescriptorType
0x00, // bcdUSB
0x02,
0x00, // bDeviceClass
0x00, // bDeviceSubClass
0x00, // bDeviceProtocol
0x40, // bMaxPacketSize40
(uint8_t)((PIOS_USB_VENDOR_ID) & 0xff), // idVendor
(uint8_t)((PIOS_USB_VENDOR_ID) >> 8),
(uint8_t)((PIOS_USB_PRODUCT_ID) & 0xff), // idProduct
(uint8_t)((PIOS_USB_PRODUCT_ID) >> 8),
(uint8_t)((PIOS_USB_VERSION_ID) & 0xff), // bcdDevice
(uint8_t)((PIOS_USB_VERSION_ID) >> 8),
0x01, // Index of string descriptor describing manufacturer
0x02, // Index of string descriptor describing product
0x03, // Index of string descriptor describing the device serial number
0x01 // bNumConfigurations
};
// *************************************************
// USB Configuration Descriptor
// All Descriptors (Configuration, Interface, Endpoint, Class, Vendor
const uint8_t PIOS_HID_ConfigDescriptor[PIOS_HID_SIZ_CONFIG_DESC] =
{
0x09, // bLength: Configuation Descriptor size
USB_CONFIGURATION_DESCRIPTOR_TYPE, // bDescriptorType: Configuration
PIOS_HID_SIZ_CONFIG_DESC,
// wTotalLength: Bytes returned
0x00,
0x01, // bNumInterfaces: 1 interface
0x01, // bConfigurationValue: Configuration value
0x00, // iConfiguration: Index of string descriptor describing the configuration
0xC0, // bmAttributes: Bus powered
0x7D, // MaxPower 250 mA - needed to power the RF transmitter
// ************** Descriptor of Custom HID interface ****************
// 09
0x09, // bLength: Interface Descriptor size
USB_INTERFACE_DESCRIPTOR_TYPE, // bDescriptorType: Interface descriptor type
0x00, // bInterfaceNumber: Number of Interface
0x00, // bAlternateSetting: Alternate setting
0x02, // bNumEndpoints
0x03, // bInterfaceClass: HID
0x00, // bInterfaceSubClass : 1=BOOT, 0=no boot
0x00, // nInterfaceProtocol : 0=none, 1=keyboard, 2=mouse
0, // iInterface: Index of string descriptor
// ******************** Descriptor of Custom HID HID ********************
// 18
0x09, // bLength: HID Descriptor size
HID_DESCRIPTOR_TYPE, // bDescriptorType: HID
0x10, // bcdHID: HID Class Spec release number
0x01,
0x00, // bCountryCode: Hardware target country
0x01, // bNumDescriptors: Number of HID class descriptors to follow
0x22, // bDescriptorType
PIOS_HID_SIZ_REPORT_DESC, // wItemLength: Total length of Report descriptor
0x00,
// ******************** Descriptor of Custom HID endpoints ******************
// 27
0x07, // bLength: Endpoint Descriptor size
USB_ENDPOINT_DESCRIPTOR_TYPE, // bDescriptorType:
0x81, // bEndpointAddress: Endpoint Address (IN)
0x03, // bmAttributes: Interrupt endpoint
0x40, // wMaxPacketSize: 2 Bytes max
0x00,
0x04, // bInterval: Polling Interval in ms
// 34
0x07, // bLength: Endpoint Descriptor size
USB_ENDPOINT_DESCRIPTOR_TYPE, // bDescriptorType:
// Endpoint descriptor type
0x01, // bEndpointAddress:
// Endpoint Address (OUT)
0x03, // bmAttributes: Interrupt endpoint
0x40, // wMaxPacketSize: 2 Bytes max
0x00,
0x04, // bInterval: Polling Interval in ms
// 41
};
// *************************************************
const uint8_t PIOS_HID_ReportDescriptor[PIOS_HID_SIZ_REPORT_DESC] =
{
0x06, 0x9c, 0xff, // USAGE_PAGE (Vendor Page: 0xFF00)
0x09, 0x01, // USAGE (Demo Kit)
0xa1, 0x01, // COLLECTION (Application)
// 6
// Data 1
0x85, 0x01, // REPORT_ID (1)
0x09, 0x02, // USAGE (LED 1)
0x15, 0x00, // LOGICAL_MINIMUM (0)
0x25, 0xff, // LOGICAL_MAXIMUM (255)
0x75, 0x08, // REPORT_SIZE (8)
0x95, PIOS_USB_HID_DATA_LENGTH+1, // REPORT_COUNT (1)
0x81, 0x83, // INPUT (Const,Var,Array)
// 20
// Data 1
0x85, 0x02, // REPORT_ID (2)
0x09, 0x03, // USAGE (LED 1)
0x15, 0x00, // LOGICAL_MINIMUM (0)
0x25, 0xff, // LOGICAL_MAXIMUM (255)
0x75, 0x08, // REPORT_SIZE (8)
0x95, PIOS_USB_HID_DATA_LENGTH+1, // REPORT_COUNT (1)
0x91, 0x82, // OUTPUT (Data,Var,Abs,Vol)
// 34
0xc0 // END_COLLECTION
};
// *************************************************
// USB String Descriptors (optional)
const uint8_t PIOS_HID_StringLangID[PIOS_HID_SIZ_STRING_LANGID] =
{
PIOS_HID_SIZ_STRING_LANGID,
USB_STRING_DESCRIPTOR_TYPE,
0x09, 0x08 // LangID = 0x0809: UK. English
// 0x09, 0x04 // LangID = 0x0409: U.S. English
};
const uint8_t PIOS_HID_StringVendor[PIOS_HID_SIZ_STRING_VENDOR] =
{
PIOS_HID_SIZ_STRING_VENDOR, // Size of Vendor string
USB_STRING_DESCRIPTOR_TYPE, // bDescriptorType
// Manufacturer: "STMicroelectronics"
'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
};
const uint8_t PIOS_HID_StringProduct[PIOS_HID_SIZ_STRING_PRODUCT] =
{
PIOS_HID_SIZ_STRING_PRODUCT, // bLength
USB_STRING_DESCRIPTOR_TYPE, // bDescriptorType
'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
};
uint8_t PIOS_HID_StringSerial[PIOS_HID_SIZ_STRING_SERIAL] =
{
PIOS_HID_SIZ_STRING_SERIAL, // bLength
USB_STRING_DESCRIPTOR_TYPE, // bDescriptorType
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
};
// *************************************************

131
flight/CopterControl/System/taskmonitor.c
View File

@ -1,131 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
* @file taskmonitor.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Task monitoring 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
*/
#include "openpilot.h"
//#include "taskmonitor.h"
// Private constants
// Private types
// Private variables
static xSemaphoreHandle lock;
static xTaskHandle handles[TASKINFO_RUNNING_NUMELEM];
static uint32_t lastMonitorTime;
// Private functions
/**
* Initialize library
*/
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;
}
/**
* Register a task handle with the library
*/
int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle)
{
if (task < TASKINFO_RUNNING_NUMELEM)
{
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
handles[task] = handle;
xSemaphoreGiveRecursive(lock);
return 0;
}
else
{
return -1;
}
}
/**
* Update the status of all tasks
*/
void TaskMonitorUpdateAll(void)
{
#if defined(DIAGNOSTICS)
TaskInfoData data;
int n;
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
#if ( configGENERATE_RUN_TIME_STATS == 1 )
uint32_t currentTime;
uint32_t deltaTime;
/*
* Calculate the amount of elapsed run time between the last time we
* measured and now. Scale so that we can convert task run times
* directly to percentages.
*/
currentTime = portGET_RUN_TIME_COUNTER_VALUE();
deltaTime = ((currentTime - lastMonitorTime) / 100) ? : 1; /* avoid divide-by-zero if the interval is too small */
lastMonitorTime = currentTime;
#endif
// Update all task information
for (n = 0; n < TASKINFO_RUNNING_NUMELEM; ++n)
{
if (handles[n] != 0)
{
data.Running[n] = TASKINFO_RUNNING_TRUE;
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
data.StackRemaining[n] = 10000;
#else
data.StackRemaining[n] = uxTaskGetStackHighWaterMark(handles[n]) * 4;
#if ( configGENERATE_RUN_TIME_STATS == 1 )
/* Generate run time stats */
data.RunningTime[n] = uxTaskGetRunTime(handles[n]) / deltaTime;
#endif
#endif
}
else
{
data.Running[n] = TASKINFO_RUNNING_FALSE;
data.StackRemaining[n] = 0;
data.RunningTime[n] = 0;
}
}
// Update object
TaskInfoSet(&data);
// Done
xSemaphoreGiveRecursive(lock);
#endif
}

2
flight/INS/Makefile
View File

@ -71,6 +71,7 @@ OPUAVOBJINC = $(OPUAVOBJ)/inc
OPSYSINC = $(OPDIR)/System/inc
BOOT = ../Bootloaders/INS
BOOTINC = $(BOOT)/inc
HWDEFSINC = ../board_hw_defs/$(BOARD_NAME)
OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
@ -172,6 +173,7 @@ EXTRAINCDIRS += $(CMSISDIR)
EXTRAINCDIRS += $(INSINC)
EXTRAINCDIRS += $(OPUAVSYNTHDIR)
EXTRAINCDIRS += $(BOOTINC)
EXTRAINCDIRS += $(HWDEFSINC)
# List any extra directories to look for library files here.
# Also add directories where the linker should search for

1
flight/INS/inc/pios_config.h
View File

@ -51,6 +51,7 @@
#define PIOS_INCLUDE_IMU3000
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_EXTI
#define PIOS_INCLUDE_IAP
#define PIOS_INCLUDE_BMA180

16
flight/INS/ins.c
View File

@ -94,18 +94,18 @@ void blink(int led, int times)
void test_accel()
{
if(PIOS_BMA180_Test())
blink(LED1, 1);
blink(PIOS_LED_HEARTBEAT, 1);
else
blink(LED2, 1);
blink(PIOS_LED_ALARM, 1);
}
#if defined (PIOS_INCLUDE_HMC5883)
void test_mag()
{
if(PIOS_HMC5883_Test())
blink(LED1, 2);
blink(PIOS_LED_HEARTBEAT, 2);
else
blink(LED2, 2);
blink(PIOS_LED_ALARM, 2);
}
#endif
@ -113,9 +113,9 @@ void test_mag()
void test_pressure()
{
if(PIOS_BMP085_Test())
blink(LED1, 3);
blink(PIOS_LED_HEARTBEAT, 3);
else
blink(LED2, 3);
blink(PIOS_LED_ALARM, 3);
}
#endif
@ -123,9 +123,9 @@ void test_pressure()
void test_imu()
{
if(PIOS_IMU3000_Test())
blink(LED1, 4);
blink(PIOS_LED_HEARTBEAT, 4);
else
blink(LED2, 4);
blink(PIOS_LED_ALARM, 4);
}
#endif

478
flight/INS/pios_board.c
View File

@ -29,326 +29,16 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <pios.h>
#if defined(PIOS_INCLUDE_SPI)
#include <pios_spi_priv.h>
/* SPI2 Interface
* - Used for mainboard communications and magnetometer
/* Pull in the board-specific static HW definitions.
* Including .c files is a bit ugly but this allows all of
* the HW definitions to be const and static to limit their
* scope.
*
* NOTE: Leave this declared as const data so that it ends up in the
* .rodata section (ie. Flash) rather than in the .bss section (RAM).
* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
*/
void PIOS_SPI_op_mag_irq_handler(void);
void DMA1_Channel5_IRQHandler() __attribute__ ((alias("PIOS_SPI_op_mag_irq_handler")));
void DMA1_Channel4_IRQHandler() __attribute__ ((alias("PIOS_SPI_op_mag_irq_handler")));
static const struct pios_spi_cfg pios_spi_op_mag_cfg = {
.regs = SPI2,
.init = {
.SPI_Mode = SPI_Mode_Slave,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
.SPI_DataSize = SPI_DataSize_8b,
.SPI_NSS = SPI_NSS_Hard,
.SPI_FirstBit = SPI_FirstBit_MSB,
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge,
},
.use_crc = TRUE,
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
#include "board_hw_defs.c"
.irq = {
.flags =
(DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 |
DMA1_FLAG_GL4),
.init = {
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA1_Channel4,
.init = {
.DMA_PeripheralBaseAddr =
(uint32_t) & (SPI2->DR),
.DMA_DIR = DMA_DIR_PeripheralSRC,
.DMA_PeripheralInc =
DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize =
DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize =
DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_M2M = DMA_M2M_Disable,
},
},
.tx = {
.channel = DMA1_Channel5,
.init = {
.DMA_PeripheralBaseAddr =
(uint32_t) & (SPI2->DR),
.DMA_DIR = DMA_DIR_PeripheralDST,
.DMA_PeripheralInc =
DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize =
DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize =
DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_M2M = DMA_M2M_Disable,
},
},
},
.ssel = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
.sclk = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_13,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
.miso = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_14,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
.mosi = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
};
uint32_t pios_spi_op_mag_id;
void PIOS_SPI_op_mag_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_op_mag_id);
}
/* SPI1 Interface
* - Used for BMA180 accelerometer
*/
void PIOS_SPI_accel_irq_handler(void);
void DMA1_Channel2_IRQHandler() __attribute__ ((alias("PIOS_SPI_accel_irq_handler")));
void DMA1_Channel3_IRQHandler() __attribute__ ((alias("PIOS_SPI_accel_irq_handler")));
static const struct pios_spi_cfg pios_spi_accel_cfg = {
.regs = SPI1,
.init = {
.SPI_Mode = SPI_Mode_Master,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
.SPI_DataSize = SPI_DataSize_8b,
.SPI_NSS = SPI_NSS_Soft,
.SPI_FirstBit = SPI_FirstBit_MSB,
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_1Edge,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
},
.use_crc = FALSE,
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
.init = {
.NVIC_IRQChannel = DMA1_Channel2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA1_Channel2,
.init = {
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
.DMA_DIR = DMA_DIR_PeripheralSRC,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_M2M = DMA_M2M_Disable,
},
},
.tx = {
.channel = DMA1_Channel3,
.init = {
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
.DMA_DIR = DMA_DIR_PeripheralDST,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_High,
.DMA_M2M = DMA_M2M_Disable,
},
},
},
.ssel = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_4,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
.sclk = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_5,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
.miso = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
.mosi = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
static uint32_t pios_spi_accel_id;
void PIOS_SPI_accel_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_accel_id);
}
#endif /* PIOS_INCLUDE_SPI */
#if defined(PIOS_INCLUDE_GPS)
#include <pios_usart_priv.h>
/*
* GPS USART
*/
static const struct pios_usart_cfg pios_usart_gps_cfg = {
.regs = USART1,
.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 = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
#endif /* PIOS_INCLUDE_GPS */
#ifdef PIOS_COM_AUX
/*
* AUX USART
*/
static const struct pios_usart_cfg pios_usart_aux_cfg = {
.regs = USART4,
.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 = USART4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
#endif /* PIOS_COM_AUX */
#if defined(PIOS_INCLUDE_COM)
#include <pios_com_priv.h>
#include <pios.h>
#if 0
#define PIOS_COM_AUX_TX_BUF_LEN 192
@ -358,156 +48,6 @@ static uint8_t pios_com_aux_tx_buffer[PIOS_COM_AUX_TX_BUF_LEN];
#define PIOS_COM_GPS_RX_BUF_LEN 96
static uint8_t pios_com_gps_rx_buffer[PIOS_COM_GPS_RX_BUF_LEN];
#endif /* PIOS_INCLUDE_COM */
#if defined(PIOS_INCLUDE_I2C)
#include <pios_i2c_priv.h>
/*
* I2C Adapters
*/
void PIOS_I2C_pres_mag_adapter_ev_irq_handler(void);
void PIOS_I2C_pres_mag_adapter_er_irq_handler(void);
void I2C1_EV_IRQHandler()
__attribute__ ((alias("PIOS_I2C_pres_mag_adapter_ev_irq_handler")));
void I2C1_ER_IRQHandler()
__attribute__ ((alias("PIOS_I2C_pres_mag_adapter_er_irq_handler")));
static const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
.regs = I2C1,
.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 = 200000, /* bits/s */
},
.transfer_timeout_ms = 50,
.scl = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_AF_OD,
},
},
.sda = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_AF_OD,
},
},
.event = {
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_EV_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.error = {
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C1_ER_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
uint32_t pios_i2c_pres_mag_adapter_id;
void PIOS_I2C_pres_mag_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_pres_mag_adapter_id);
}
void PIOS_I2C_pres_mag_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_pres_mag_adapter_id);
}
void PIOS_I2C_gyro_adapter_ev_irq_handler(void);
void PIOS_I2C_gyro_adapter_er_irq_handler(void);
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_gyro_adapter_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_gyro_adapter_er_irq_handler")));
static const struct pios_i2c_adapter_cfg pios_i2c_gyro_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_gyro_adapter_id;
void PIOS_I2C_gyro_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_gyro_adapter_id);
}
void PIOS_I2C_gyro_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_gyro_adapter_id);
}
#endif /* PIOS_INCLUDE_I2C */
extern const struct pios_com_driver pios_usart_com_driver;
uint32_t pios_com_aux_id;
uint32_t pios_com_gps_id;
@ -520,6 +60,10 @@ void PIOS_Board_Init(void) {
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
#endif /* PIOS_INCLUDE_LED */
/* Delay system */
PIOS_DELAY_Init();

0
flight/OpenPilot/System/inc/taskmonitor.h → flight/Libraries/inc/taskmonitor.h
View File

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

@ -47,7 +47,7 @@ int32_t TaskMonitorInitialize(void)
lock = xSemaphoreCreateRecursiveMutex();
memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM);
lastMonitorTime = 0;
#if defined(DIAGNOSTICS)
#if defined(DIAG_TASKS)
lastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
#endif
return 0;
@ -94,7 +94,7 @@ int32_t TaskMonitorRemove(TaskInfoRunningElem task)
*/
void TaskMonitorUpdateAll(void)
{
#if defined(DIAGNOSTICS)
#if defined(DIAG_TASKS)
TaskInfoData data;
int n;
@ -128,7 +128,6 @@ void TaskMonitorUpdateAll(void)
#if ( configGENERATE_RUN_TIME_STATS == 1 )
/* Generate run time stats */
data.RunningTime[n] = uxTaskGetRunTime(handles[n]) / deltaTime;
#endif
#endif

80
flight/Modules/Altitude/altitude.c
View File

@ -37,6 +37,7 @@
*/
#include "openpilot.h"
#include "hwsettings.h"
#include "altitude.h"
#include "baroaltitude.h" // object that will be updated by the module
#if defined(PIOS_INCLUDE_HCSR04)
@ -46,8 +47,7 @@
// Private constants
#define STACK_SIZE_BYTES 500
#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
//#define UPDATE_PERIOD 100
#define UPDATE_PERIOD 25
#define UPDATE_PERIOD 50
// Private types
@ -60,6 +60,8 @@ static int32_t alt_ds_temp = 0;
static int32_t alt_ds_pres = 0;
static int alt_ds_count = 0;
static bool altitudeEnabled;
// Private functions
static void altitudeTask(void *parameters);
@ -69,17 +71,19 @@ 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);
return 0;
if (altitudeEnabled) {
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);
return 0;
}
return -1;
}
/**
@ -88,11 +92,23 @@ int32_t AltitudeStart()
*/
int32_t AltitudeInitialize()
{
#ifdef MODULE_Altitude_BUILTIN
altitudeEnabled = 1;
#else
HwSettingsInitialize();
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
if (optionalModules[HWSETTINGS_OPTIONALMODULES_ALTITUDE] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
altitudeEnabled = 1;
} else {
altitudeEnabled = 0;
}
#endif
// init down-sampling data
alt_ds_temp = 0;
alt_ds_pres = 0;
alt_ds_count = 0;
alt_ds_temp = 0;
alt_ds_pres = 0;
alt_ds_count = 0;
return 0;
}
@ -144,34 +160,42 @@ static void altitudeTask(void *parameters)
#endif
// Update the temperature data
PIOS_BMP085_StartADC(TemperatureConv);
#ifdef PIOS_BMP085_HAS_GPIOS
xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
#else
vTaskDelay(5 / portTICK_RATE_MS);
#endif
PIOS_BMP085_ReadADC();
alt_ds_temp += PIOS_BMP085_GetTemperature();
// Update the pressure data
PIOS_BMP085_StartADC(PressureConv);
#ifdef PIOS_BMP085_HAS_GPIOS
xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
#else
vTaskDelay(26 / portTICK_RATE_MS);
#endif
PIOS_BMP085_ReadADC();
alt_ds_pres += PIOS_BMP085_GetPressure();
if (++alt_ds_count >= alt_ds_size)
{
alt_ds_count = 0;
{
alt_ds_count = 0;
// Convert from 1/10ths of degC to degC
data.Temperature = alt_ds_temp / (10.0 * alt_ds_size);
alt_ds_temp = 0;
// Convert from 1/10ths of degC to degC
data.Temperature = alt_ds_temp / (10.0 * alt_ds_size);
alt_ds_temp = 0;
// Convert from Pa to kPa
data.Pressure = alt_ds_pres / (1000.0f * alt_ds_size);
alt_ds_pres = 0;
// Convert from Pa to kPa
data.Pressure = alt_ds_pres / (1000.0f * alt_ds_size);
alt_ds_pres = 0;
// Compute the current altitude (all pressures in kPa)
data.Altitude = 44330.0 * (1.0 - powf((data.Pressure / (BMP085_P0 / 1000.0)), (1.0 / 5.255)));
// Compute the current altitude (all pressures in kPa)
data.Altitude = 44330.0 * (1.0 - powf((data.Pressure / (BMP085_P0 / 1000.0)), (1.0 / 5.255)));
// Update the AltitudeActual UAVObject
BaroAltitudeSet(&data);
}
// Update the AltitudeActual UAVObject
BaroAltitudeSet(&data);
}
// Delay until it is time to read the next sample
vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD / portTICK_RATE_MS);

98
flight/Modules/CameraStab/camerastab.c
View File

@ -61,10 +61,15 @@
// Private types
// Private variables
static struct CameraStab_data {
portTickType lastSysTime;
float inputs[CAMERASTABSETTINGS_INPUT_NUMELEM];
float inputs_filtered[CAMERASTABSETTINGS_INPUT_NUMELEM];
} *csd;
// Private functions
static void attitudeUpdated(UAVObjEvent* ev);
static float bound(float val);
static float bound(float val, float limit);
/**
* Initialise the module, called on startup
@ -72,9 +77,11 @@ static float bound(float val);
*/
int32_t CameraStabInitialize(void)
{
static UAVObjEvent ev;
bool cameraStabEnabled;
#ifdef MODULE_CameraStab_BUILTIN
cameraStabEnabled = true;
#else
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsInitialize();
@ -84,18 +91,28 @@ int32_t CameraStabInitialize(void)
cameraStabEnabled = true;
else
cameraStabEnabled = false;
#endif
if (cameraStabEnabled) {
// allocate and initialize the static data storage only if module is enabled
csd = (struct CameraStab_data *) pvPortMalloc(sizeof(struct CameraStab_data));
if (!csd)
return -1;
// make sure that all inputs[] and inputs_filtered[] are zeroed
memset(csd, 0, sizeof(struct CameraStab_data));
csd->lastSysTime = xTaskGetTickCount();
AttitudeActualInitialize();
ev.obj = AttitudeActualHandle();
ev.instId = 0;
ev.event = 0;
CameraStabSettingsInitialize();
CameraDesiredInitialize();
UAVObjEvent ev = {
.obj = AttitudeActualHandle(),
.instId = 0,
.event = 0,
};
EventPeriodicCallbackCreate(&ev, attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
return 0;
@ -117,47 +134,68 @@ 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];
// Check how long since last update, time delta between calls in ms
portTickType thisSysTime = xTaskGetTickCount();
float dT = (thisSysTime > csd->lastSysTime) ?
(thisSysTime - csd->lastSysTime) / portTICK_RATE_MS :
(float)SAMPLE_PERIOD_MS / 1000.0f;
csd->lastSysTime = thisSysTime;
// Read any input channels and apply LPF
for (uint8_t i = 0; i < CAMERASTABSETTINGS_INPUT_NUMELEM; i++) {
if (cameraStab.Input[i] != CAMERASTABSETTINGS_INPUT_NONE) {
if (AccessoryDesiredInstGet(cameraStab.Input[i] - CAMERASTABSETTINGS_INPUT_ACCESSORY0, &accessory) == 0) {
float input_rate;
switch (cameraStab.StabilizationMode[i]) {
case CAMERASTABSETTINGS_STABILIZATIONMODE_ATTITUDE:
csd->inputs[i] = accessory.AccessoryVal * cameraStab.InputRange[i];
break;
case CAMERASTABSETTINGS_STABILIZATIONMODE_AXISLOCK:
input_rate = accessory.AccessoryVal * cameraStab.InputRate[i];
if (fabs(input_rate) > cameraStab.MaxAxisLockRate)
csd->inputs[i] = bound(csd->inputs[i] + input_rate * dT / 1000.0f, cameraStab.InputRange[i]);
break;
default:
PIOS_Assert(0);
}
// bypass LPF calculation if ResponseTime is zero
float rt = (float)cameraStab.ResponseTime[i];
if (rt)
csd->inputs_filtered[i] = (rt / (rt + dT)) * csd->inputs_filtered[i]
+ (dT / (rt + dT)) * csd->inputs[i];
else
csd->inputs_filtered[i] = csd->inputs[i];
}
}
}
// Set output channels
float attitude;
float output;
AttitudeActualRollGet(&attitude);
output = bound((attitude + inputs[0]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL]);
output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUT_ROLL]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL], 1.0f);
CameraDesiredRollSet(&output);
AttitudeActualPitchGet(&attitude);
output = bound((attitude + inputs[1]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH]);
output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUT_PITCH]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH], 1.0f);
CameraDesiredPitchSet(&output);
AttitudeActualYawGet(&attitude);
output = bound((attitude + inputs[2]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW]);
output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUT_YAW]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW], 1.0f);
CameraDesiredYawSet(&output);
}
float bound(float val)
float bound(float val, float limit)
{
return (val > 1) ? 1 :
(val < -1) ? -1 :
return (val > limit) ? limit :
(val < -limit) ? -limit :
val;
}
/**

199
flight/Modules/ComUsbBridge/ComUsbBridge.c Normal file
View File

@ -0,0 +1,199 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup ComUsbBridgeModule Com Port to USB VCP Bridge Module
* @brief Bridge Com and USB VCP ports
* @{
*
* @file ComUsbBridge.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @brief Bridges selected Com Port to the USB VCP emulated serial port
* @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 "hwsettings.h"
#include <stdbool.h>
// ****************
// Private functions
static void com2UsbBridgeTask(void *parameters);
static void usb2ComBridgeTask(void *parameters);
static void updateSettings();
// ****************
// Private constants
#define STACK_SIZE_BYTES 280
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
#define BRIDGE_BUF_LEN 10
// ****************
// Private variables
static xTaskHandle com2UsbBridgeTaskHandle;
static xTaskHandle usb2ComBridgeTaskHandle;
static uint8_t * com2usb_buf;
static uint8_t * usb2com_buf;
static uint32_t usart_port;
static uint32_t vcp_port;
static bool bridge_enabled = false;
/**
* Initialise the module
* \return -1 if initialisation failed
* \return 0 on success
*/
static int32_t comUsbBridgeStart(void)
{
if (bridge_enabled) {
// Start tasks
xTaskCreate(com2UsbBridgeTask, (signed char *)"Com2UsbBridge", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &com2UsbBridgeTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_COM2USBBRIDGE, com2UsbBridgeTaskHandle);
xTaskCreate(usb2ComBridgeTask, (signed char *)"Usb2ComBridge", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &usb2ComBridgeTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_USB2COMBRIDGE, usb2ComBridgeTaskHandle);
return 0;
}
return -1;
}
/**
* Initialise the module
* \return -1 if initialisation failed
* \return 0 on success
*/
static int32_t comUsbBridgeInitialize(void)
{
// TODO: Get from settings object
usart_port = PIOS_COM_BRIDGE;
vcp_port = PIOS_COM_VCP;
#ifdef MODULE_ComUsbBridge_BUILTIN
bridge_enabled = true;
#else
HwSettingsInitialize();
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
if (usart_port && vcp_port &&
(optionalModules[HWSETTINGS_OPTIONALMODULES_COMUSBBRIDGE] == HWSETTINGS_OPTIONALMODULES_ENABLED))
bridge_enabled = true;
else
bridge_enabled = false;
#endif
if (bridge_enabled) {
com2usb_buf = pvPortMalloc(BRIDGE_BUF_LEN);
PIOS_Assert(com2usb_buf);
usb2com_buf = pvPortMalloc(BRIDGE_BUF_LEN);
PIOS_Assert(usb2com_buf);
updateSettings();
}
return 0;
}
MODULE_INITCALL(comUsbBridgeInitialize, comUsbBridgeStart)
/**
* Main task. It does not return.
*/
static void com2UsbBridgeTask(void *parameters)
{
/* Handle usart -> vcp direction */
volatile uint32_t tx_errors = 0;
while (1) {
uint32_t rx_bytes;
rx_bytes = PIOS_COM_ReceiveBuffer(usart_port, com2usb_buf, BRIDGE_BUF_LEN, 500);
if (rx_bytes > 0) {
/* Bytes available to transfer */
if (PIOS_COM_SendBuffer(vcp_port, com2usb_buf, rx_bytes) != rx_bytes) {
/* Error on transmit */
tx_errors++;
}
}
}
}
static void usb2ComBridgeTask(void * parameters)
{
/* Handle vcp -> usart direction */
volatile uint32_t tx_errors = 0;
while (1) {
uint32_t rx_bytes;
rx_bytes = PIOS_COM_ReceiveBuffer(vcp_port, usb2com_buf, BRIDGE_BUF_LEN, 500);
if (rx_bytes > 0) {
/* Bytes available to transfer */
if (PIOS_COM_SendBuffer(usart_port, usb2com_buf, rx_bytes) != rx_bytes) {
/* Error on transmit */
tx_errors++;
}
}
}
}
static void updateSettings()
{
if (usart_port) {
// Retrieve settings
uint8_t speed;
HwSettingsComUsbBridgeSpeedGet(&speed);
// Set port speed
switch (speed) {
case HWSETTINGS_COMUSBBRIDGESPEED_2400:
PIOS_COM_ChangeBaud(usart_port, 2400);
break;
case HWSETTINGS_COMUSBBRIDGESPEED_4800:
PIOS_COM_ChangeBaud(usart_port, 4800);
break;
case HWSETTINGS_COMUSBBRIDGESPEED_9600:
PIOS_COM_ChangeBaud(usart_port, 9600);
break;
case HWSETTINGS_COMUSBBRIDGESPEED_19200:
PIOS_COM_ChangeBaud(usart_port, 19200);
break;
case HWSETTINGS_COMUSBBRIDGESPEED_38400:
PIOS_COM_ChangeBaud(usart_port, 38400);
break;
case HWSETTINGS_COMUSBBRIDGESPEED_57600:
PIOS_COM_ChangeBaud(usart_port, 57600);
break;
case HWSETTINGS_COMUSBBRIDGESPEED_115200:
PIOS_COM_ChangeBaud(usart_port, 115200);
break;
}
}
}

135
flight/Modules/Fault/Fault.c Normal file
View File

@ -0,0 +1,135 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup FaultModule Fault Module
* @brief Insert various fault conditions for testing
* @{
*
* @file Fault.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Fault module, inserts faults for testing
* @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 <stdbool.h>
#include "hwsettings.h"
#include "faultsettings.h"
static bool module_enabled;
static uint8_t active_fault;
static int32_t fault_initialize(void)
{
#ifdef MODULE_Fault_BUILTIN
module_enabled = true;
#else
HwSettingsInitialize();
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
if (optionalModules[HWSETTINGS_OPTIONALMODULES_FAULT] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
module_enabled = true;
} else {
module_enabled = false;
}
#endif
/* Do this outside the module_enabled test so that it
* can be changed even when the module has been disabled.
* This is important so we can remove faults even when
* we've booted in BootFault recovery mode with all optional
* modules disabled.
*/
FaultSettingsInitialize();
if (module_enabled) {
FaultSettingsActivateFaultGet(&active_fault);
switch (active_fault) {
case FAULTSETTINGS_ACTIVATEFAULT_MODULEINITASSERT:
/* Simulate an assert during module init */
PIOS_Assert(0);
break;
case FAULTSETTINGS_ACTIVATEFAULT_INITOUTOFMEMORY:
/* Leak all available memory */
while (pvPortMalloc(10)) ;
break;
case FAULTSETTINGS_ACTIVATEFAULT_INITBUSERROR:
{
/* Force a bad access */
uint32_t * bad_ptr = (uint32_t *)0xFFFFFFFF;
*bad_ptr = 0xAA55AA55;
}
break;
}
}
return 0;
}
static void fault_task(void *parameters);
static int32_t fault_start(void)
{
xTaskHandle fault_task_handle;
if (module_enabled) {
switch (active_fault) {
case FAULTSETTINGS_ACTIVATEFAULT_RUNAWAYTASK:
case FAULTSETTINGS_ACTIVATEFAULT_TASKOUTOFMEMORY:
xTaskCreate(fault_task,
(signed char *)"Fault",
configMINIMAL_STACK_SIZE,
NULL,
configMAX_PRIORITIES-1,
&fault_task_handle);
return 0;
break;
}
}
return -1;
}
MODULE_INITCALL(fault_initialize, fault_start)
static void fault_task(void *parameters)
{
switch (active_fault) {
case FAULTSETTINGS_ACTIVATEFAULT_RUNAWAYTASK:
/* Consume all realtime, not letting the systemtask run */
while(1);
break;
case FAULTSETTINGS_ACTIVATEFAULT_TASKOUTOFMEMORY:
/* Leak all available memory and then sleep */
while (pvPortMalloc(10)) ;
while (1) {
vTaskDelay(1000);
}
break;
}
}
/**
* @}
* @}
*/

13
flight/Modules/FirmwareIAP/firmwareiap.c
View File

@ -230,11 +230,14 @@ static uint32_t get_time(void)
* Executed by event dispatcher callback to reset INS before resetting OP
*/
static void resetTask(UAVObjEvent * ev)
{
PIOS_LED_Toggle(LED1);
#if (PIOS_LED_NUM > 1)
PIOS_LED_Toggle(LED2);
#endif
{
#if defined (PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
#if defined (PIOS_LED_ALARM)
PIOS_LED_Toggle(PIOS_LED_ALARM);
#endif /* PIOS_LED_ALARM */
if((portTickType) (xTaskGetTickCount() - lastResetSysTime) > RESET_DELAY / portTICK_RATE_MS) {
lastResetSysTime = xTaskGetTickCount();

4
flight/Modules/GPS/GPS.c
View File

@ -121,6 +121,9 @@ int32_t GPSInitialize(void)
{
gpsPort = PIOS_COM_GPS;
#ifdef MODULE_GPS_BUILTIN
gpsEnabled = true;
#else
HwSettingsInitialize();
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
@ -130,6 +133,7 @@ int32_t GPSInitialize(void)
gpsEnabled = true;
else
gpsEnabled = false;
#endif
if (gpsPort && gpsEnabled) {
GPSPositionInitialize();

35
flight/Modules/System/systemmod.c
View File

@ -49,7 +49,6 @@
#include "watchdogstatus.h"
#include "taskmonitor.h"
// Private constants
#define SYSTEM_UPDATE_PERIOD_MS 1000
#define LED_BLINK_RATE_HZ 5
@ -115,8 +114,10 @@ int32_t SystemModInitialize(void)
SystemStatsInitialize();
FlightStatusInitialize();
ObjectPersistenceInitialize();
#if defined(DIAGNOSTICS)
#if defined(DIAG_TASKS)
TaskInfoInitialize();
#endif
#if defined(DIAGNOSTICS)
I2CStatsInitialize();
WatchdogStatusInitialize();
#endif
@ -135,7 +136,20 @@ static void systemTask(void *parameters)
portTickType lastSysTime;
/* create all modules thread */
MODULE_TASKCREATE_ALL
MODULE_TASKCREATE_ALL;
if (mallocFailed) {
/* We failed to malloc during task creation,
* system behaviour is undefined. Reset and let
* the BootFault code recover for us.
*/
PIOS_SYS_Reset();
}
#if defined(PIOS_INCLUDE_IAP)
/* Record a successful boot */
PIOS_IAP_WriteBootCount(0);
#endif
// Initialize vars
idleCounter = 0;
@ -156,20 +170,25 @@ static void systemTask(void *parameters)
updateI2Cstats();
updateWDGstats();
#endif
#if defined(DIAG_TASKS)
// Update the task status object
TaskMonitorUpdateAll();
#endif
// Flash the heartbeat LED
PIOS_LED_Toggle(LED1);
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
// Turn on the error LED if an alarm is set
#if (PIOS_LED_NUM > 1)
#if defined (PIOS_LED_ALARM)
if (AlarmsHasWarnings()) {
PIOS_LED_On(LED2);
PIOS_LED_On(PIOS_LED_ALARM);
} else {
PIOS_LED_Off(LED2);
PIOS_LED_Off(PIOS_LED_ALARM);
}
#endif
#endif /* PIOS_LED_ALARM */
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);

19
flight/Modules/Telemetry/telemetry.c
View File

@ -133,7 +133,7 @@ int32_t TelemetryInitialize(void)
updateSettings();
// Initialise UAVTalk
uavTalkCon = UAVTalkInitialize(&transmitData,256);
uavTalkCon = UAVTalkInitialize(&transmitData);
// Create periodic event that will be used to update the telemetry stats
txErrors = 0;
@ -308,12 +308,12 @@ static void telemetryRxTask(void *parameters)
// Task loop
while (1) {
#if defined(PIOS_INCLUDE_USB_HID)
#if defined(PIOS_INCLUDE_USB)
// Determine input port (USB takes priority over telemetry port)
if (PIOS_USB_HID_CheckAvailable(0)) {
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB) {
inputPort = PIOS_COM_TELEM_USB;
} else
#endif /* PIOS_INCLUDE_USB_HID */
#endif /* PIOS_INCLUDE_USB */
{
inputPort = telemetryPort;
}
@ -339,24 +339,25 @@ static void telemetryRxTask(void *parameters)
* Transmit data buffer to the modem or USB port.
* \param[in] data Data buffer to send
* \param[in] length Length of buffer
* \return 0 Success
* \return -1 on failure
* \return number of bytes transmitted on success
*/
static int32_t transmitData(uint8_t * data, int32_t length)
{
uint32_t outputPort;
// Determine input port (USB takes priority over telemetry port)
#if defined(PIOS_INCLUDE_USB_HID)
if (PIOS_USB_HID_CheckAvailable(0)) {
#if defined(PIOS_INCLUDE_USB)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB) {
outputPort = PIOS_COM_TELEM_USB;
} else
#endif /* PIOS_INCLUDE_USB_HID */
#endif /* PIOS_INCLUDE_USB */
{
outputPort = telemetryPort;
}
if (outputPort) {
return PIOS_COM_SendBufferNonBlocking(outputPort, data, length);
return PIOS_COM_SendBuffer(outputPort, data, length);
} else {
return -1;
}

25
flight/OpenPilot/Makefile
View File

@ -39,6 +39,7 @@ DEBUG ?= YES
# Include objects that are just nice information to show
DIAGNOSTICS ?= YES
DIAG_TASKS ?= YES
# Set to YES to use the Servo output pins for debugging via scope or logic analyser
ENABLE_DEBUG_PINS ?= NO
@ -112,6 +113,7 @@ PYMITEINC += $(PYMITEPLAT)
PYMITEINC += $(OUTDIR)
FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
HWDEFSINC = ../board_hw_defs/$(BOARD_NAME)
UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
@ -138,7 +140,6 @@ SRC += ${OPMODULEDIR}/System/systemmod.c
SRC += $(OPSYSTEM)/openpilot.c
SRC += $(OPSYSTEM)/pios_board.c
SRC += $(OPSYSTEM)/alarms.c
SRC += $(OPSYSTEM)/taskmonitor.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/eventdispatcher.c
@ -180,12 +181,15 @@ SRC += $(PIOSSTM32F10X)/pios_wdg.c
# PIOS USB related files (seperated to make code maintenance more easy)
SRC += $(PIOSSTM32F10X)/pios_usb.c
SRC += $(PIOSSTM32F10X)/pios_usbhook.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c
#SRC += $(PIOSSTM32F10X)/pios_usb_hid_endp.c
SRC += $(PIOSSTM32F10X)/pios_usb_cdc.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
SRC += $(OPSYSTEM)/pios_usb_board_data.c
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_crc.c
@ -204,6 +208,7 @@ SRC += $(FLIGHTLIB)/ahrs_comm_objects.c
SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(FLIGHTLIB)/WorldMagModel.c
SRC += $(FLIGHTLIB)/CoordinateConversions.c
SRC += $(FLIGHTLIB)/taskmonitor.c
## CMSIS for STM32
SRC += $(CMSISDIR)/core_cm3.c
@ -313,6 +318,7 @@ EXTRAINCDIRS += $(APPLIBDIR)
EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
EXTRAINCDIRS += $(AHRSBOOTLOADERINC)
EXTRAINCDIRS += $(PYMITEINC)
EXTRAINCDIRS += $(HWDEFSINC)
EXTRAINCDIRS += ${foreach MOD, ${OPTMODULES} ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
@ -366,6 +372,9 @@ ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
endif
# Declare all non-optional modules as built-in to force inclusion
CDEFS += ${foreach MOD, ${MODULES}, -DMODULE_$(MOD)_BUILTIN }
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -392,11 +401,15 @@ CSTANDARD = -std=gnu99
# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
ifeq ($(DEBUG),YES)
CFLAGS = -DDEBUG
CFLAGS += -DDEBUG
endif
ifeq ($(DIAGNOSTICS),YES)
CFLAGS = -DDIAGNOSTICS
CFLAGS += -DDIAGNOSTICS
endif
ifeq ($(DIAG_TASKS),YES)
CFLAGS += -DDIAG_TASKS
endif
CFLAGS += -g$(DEBUGF)

2
flight/OpenPilot/Makefile.posix
View File

@ -149,7 +149,6 @@ SRC += ${OPMODULEDIR}/System/systemmod.c
SRC += $(OPSYSTEM)/openpilot.c
SRC += $(OPSYSTEM)/pios_board_posix.c
SRC += $(OPSYSTEM)/alarms.c
SRC += $(OPSYSTEM)/taskmonitor.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/eventdispatcher.c
@ -189,6 +188,7 @@ SRC += $(PIOSPOSIX)/pios_rcvr.c
SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(FLIGHTLIB)/WorldMagModel.c
SRC += $(FLIGHTLIB)/CoordinateConversions.c
SRC += $(FLIGHTLIB)/taskmonitor.c
## RTOS and RTOS Portable
SRC += $(RTOSSRCDIR)/list.c
SRC += $(RTOSSRCDIR)/queue.c

4
flight/OpenPilot/System/inc/pios_config.h
View File

@ -41,6 +41,8 @@
#define PIOS_INCLUDE_I2C
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_IAP
#define PIOS_INCLUDE_TIM
#define PIOS_INCLUDE_RCVR
@ -55,7 +57,9 @@
#define PIOS_INCLUDE_SPI
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_USART
#define PIOS_INCLUDE_USB
#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_USB_CDC
#define PIOS_INCLUDE_BMP085
//#define PIOS_INCLUDE_HCSR04
#define PIOS_INCLUDE_OPAHRS

45
flight/OpenPilot/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" /* struct usb_* */
#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_OPENPILOT_MAIN
#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_OPENPILOT_MAIN, USB_OP_BOARD_MODE_FW)
#endif /* PIOS_USB_BOARD_DATA_H */

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

@ -110,13 +110,12 @@ int main()
/* 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;
while (1) {
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
PIOS_DELAY_WaitmS(100);
}
}

1198
flight/OpenPilot/System/pios_board.c
View File

@ -27,6 +27,16 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Pull in the board-specific static HW definitions.
* Including .c files is a bit ugly but this allows all of
* the HW definitions to be const and static to limit their
* scope.
*
* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
*/
#include "board_hw_defs.c"
#include <pios.h>
#include <openpilot.h>
#include <uavobjectsinit.h>
@ -36,572 +46,11 @@
//#define I2C_DEBUG_PIN 0
//#define USART_GPS_DEBUG_PIN 1
#if defined(PIOS_INCLUDE_SPI)
#include <pios_spi_priv.h>
/* MicroSD Interface
*
* NOTE: Leave this declared as const data so that it ends up in the
* .rodata section (ie. Flash) rather than in the .bss section (RAM).
/* One slot per selectable receiver group.
* eg. PWM, PPM, GCS, DSMMAINPORT, DSMFLEXIPORT, SBUS
* NOTE: No slot in this map for NONE.
*/
void PIOS_SPI_sdcard_irq_handler(void);
void DMA1_Channel2_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler")));
void DMA1_Channel3_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler")));
static const struct pios_spi_cfg pios_spi_sdcard_cfg = {
.regs = SPI1,
.init = {
.SPI_Mode = SPI_Mode_Master,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
.SPI_DataSize = SPI_DataSize_8b,
.SPI_NSS = SPI_NSS_Soft,
.SPI_FirstBit = SPI_FirstBit_MSB,
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256, /* Maximum divider (ie. slowest clock rate) */
},
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
.init = {
.NVIC_IRQChannel = DMA1_Channel2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA1_Channel2,
.init = {
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
.DMA_DIR = DMA_DIR_PeripheralSRC,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_M2M = DMA_M2M_Disable,
},
},
.tx = {
.channel = DMA1_Channel3,
.init = {
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
.DMA_DIR = DMA_DIR_PeripheralDST,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_M2M = DMA_M2M_Disable,
},
},
},
.ssel = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_4,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
.sclk = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_5,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
.miso = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.mosi = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
/* AHRS Interface
*
* NOTE: Leave this declared as const data so that it ends up in the
* .rodata section (ie. Flash) rather than in the .bss section (RAM).
*/
void PIOS_SPI_ahrs_irq_handler(void);
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
static const struct pios_spi_cfg pios_spi_ahrs_cfg = {
.regs = SPI2,
.init = {
.SPI_Mode = SPI_Mode_Master,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
.SPI_DataSize = SPI_DataSize_8b,
.SPI_NSS = SPI_NSS_Soft,
.SPI_FirstBit = SPI_FirstBit_MSB,
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16,
},
.use_crc = TRUE,
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
.irq = {
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
.init = {
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA1_Channel4,
.init = {
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
.DMA_DIR = DMA_DIR_PeripheralSRC,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_High,
.DMA_M2M = DMA_M2M_Disable,
},
},
.tx = {
.channel = DMA1_Channel5,
.init = {
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
.DMA_DIR = DMA_DIR_PeripheralDST,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_High,
.DMA_M2M = DMA_M2M_Disable,
},
},
},
.ssel = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
.sclk = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_13,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
.miso = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_14,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
.mosi = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
static uint32_t pios_spi_sdcard_id;
void PIOS_SPI_sdcard_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_sdcard_id);
}
uint32_t pios_spi_ahrs_id;
void PIOS_SPI_ahrs_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_ahrs_id);
}
#endif /* PIOS_INCLUDE_SPI */
/*
* 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_LOW,
.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_Low,
.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();
}
#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"
/*
* Telemetry USART
*/
static const struct pios_usart_cfg pios_usart_telem_cfg = {
.regs = USART2,
.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 = USART2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_3,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_2,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
/*
* GPS USART
*/
static const struct pios_usart_cfg pios_usart_gps_cfg = {
.regs = USART3,
.remap = GPIO_PartialRemap_USART3,
.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 = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
#ifdef PIOS_COM_AUX
/*
* AUX USART
*/
static const struct pios_usart_cfg pios_usart_aux_cfg = {
.regs = USART1,
.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 = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.remap = GPIO_Remap_USART1,
.rx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF_PP,
},
},
};
#endif
#if defined(PIOS_INCLUDE_RTC)
/*
* Realtime Clock (RTC)
*/
#include <pios_rtc_priv.h>
void PIOS_RTC_IRQ_Handler (void);
void RTC_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
static const struct pios_rtc_cfg pios_rtc_main_cfg = {
.clksrc = RCC_RTCCLKSource_HSE_Div128,
.prescaler = 100,
.irq = {
.init = {
.NVIC_IRQChannel = RTC_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
void PIOS_RTC_IRQ_Handler (void)
{
PIOS_RTC_irq_handler ();
}
#endif
#if defined(PIOS_INCLUDE_DSM)
/*
* Spektrum/JR DSM USART
*/
#include <pios_dsm_priv.h>
static const struct pios_usart_cfg pios_usart_dsm_cfg = {
.regs = USART1,
.init = {
.USART_BaudRate = 115200,
.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,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
};
static const struct pios_dsm_cfg pios_dsm_cfg = {
.bind = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
};
#endif /* PIOS_COM_DSM */
#if defined(PIOS_INCLUDE_SBUS)
#error PIOS_INCLUDE_SBUS not implemented
#endif /* PIOS_INCLUDE_SBUS */
#endif /* PIOS_INCLUDE_USART */
#if defined(PIOS_INCLUDE_COM)
#include "pios_com_priv.h"
uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
@ -611,455 +60,12 @@ static const struct pios_dsm_cfg pios_dsm_cfg = {
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
#endif /* PIOS_INCLUDE_COM */
/**
* Pios servo configuration structures
*/
#include <pios_servo_priv.h>
static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
{
.timer = TIM4,
.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,
.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,
.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_4,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Mode = GPIO_Mode_AF_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
},
{
.timer = TIM8,
.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,
.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,
.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,
.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_oc_init = {
.TIM_OCMode = TIM_OCMode_PWM1,
.TIM_OutputState = TIM_OutputState_Enable,
.TIM_OutputNState = TIM_OutputNState_Disable,
.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,
},
.channels = pios_tim_servoport_all_pins,
.num_channels = NELEMENTS(pios_tim_servoport_all_pins),
};
/*
* PWM Inputs
*/
#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM)
#include <pios_pwm_priv.h>
static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = {
{
.timer = TIM1,
.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,
.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,
.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,
.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,
.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,
.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_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,
.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,
},
};
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_rcvrport_all_channels,
.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels),
};
#endif
/*
* PPM Input
*/
#if defined(PIOS_INCLUDE_PPM)
#include <pios_ppm_priv.h>
static const struct pios_ppm_cfg pios_ppm_cfg = {
.tim_ic_init = {
.TIM_ICPolarity = TIM_ICPolarity_Rising,
.TIM_ICSelection = TIM_ICSelection_DirectTI,
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
.TIM_ICFilter = 0x0,
.TIM_Channel = TIM_Channel_2,
},
/* Use only the first channel for ppm */
.channels = &pios_tim_rcvrport_all_channels[0],
.num_channels = 1,
};
#endif //PPM
#if defined(PIOS_INCLUDE_I2C)
#include <pios_i2c_priv.h>
/*
* I2C Adapters
*/
void PIOS_I2C_main_adapter_ev_irq_handler(void);
void PIOS_I2C_main_adapter_er_irq_handler(void);
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_er_irq_handler")));
static const struct pios_i2c_adapter_cfg pios_i2c_main_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_main_adapter_id;
void PIOS_I2C_main_adapter_ev_irq_handler(void)
{
#ifdef I2C_DEBUG_PIN
PIOS_DEBUG_PinHigh(I2C_DEBUG_PIN);
#endif
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_I2C_EV_IRQ_Handler(pios_i2c_main_adapter_id);
#ifdef I2C_DEBUG_PIN
PIOS_DEBUG_PinLow(I2C_DEBUG_PIN);
#endif
}
void PIOS_I2C_main_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_main_adapter_id);
}
#endif /* PIOS_INCLUDE_I2C */
#if defined(PIOS_ENABLE_DEBUG_PINS)
static const struct stm32_gpio pios_debug_pins[] = {
#define PIOS_DEBUG_PIN_SERVO_1 0
{
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
#define PIOS_DEBUG_PIN_SERVO_2 1
{
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
#define PIOS_DEBUG_PIN_SERVO_3 2
{
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_8,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
#define PIOS_DEBUG_PIN_SERVO_4 3
{
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
#define PIOS_DEBUG_PIN_SERVO_5 4
{
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
#define PIOS_DEBUG_PIN_SERVO_6 5
{
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
#define PIOS_DEBUG_PIN_SERVO_7 6
{
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_8,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
#define PIOS_DEBUG_PIN_SERVO_8 7
{
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
},
};
#endif /* PIOS_ENABLE_DEBUG_PINS */
#if defined(PIOS_INCLUDE_RCVR)
#include "pios_rcvr_priv.h"
/* One slot per selectable receiver group.
* eg. PWM, PPM, GCS, DSMMAINPORT, DSMFLEXIPORT, 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)
#include "pios_usb_hid_priv.h"
static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
.irq = {
.init = {
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
#endif /* PIOS_INCLUDE_USB_HID */
extern const struct pios_com_driver pios_usb_com_driver;
#define PIOS_COM_BRIDGE_RX_BUF_LEN 65
#define PIOS_COM_BRIDGE_TX_BUF_LEN 12
uint32_t pios_com_telem_rf_id;
uint32_t pios_com_telem_usb_id;
uint32_t pios_com_vcp_id;
uint32_t pios_com_gps_id;
uint32_t pios_com_aux_id;
uint32_t pios_com_dsm_id;
@ -1098,16 +104,33 @@ void PIOS_Board_Init(void) {
EventDispatcherInitialize();
UAVObjInitialize();
HwSettingsInitialize();
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
#endif /* PIOS_INCLUDE_LED */
HwSettingsInitialize();
PIOS_WDG_Init();
/* Initialize the alarms library */
AlarmsInitialize();
PIOS_IAP_Init();
uint16_t boot_count = PIOS_IAP_ReadBootCount();
if (boot_count < 3) {
PIOS_IAP_WriteBootCount(++boot_count);
AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
} else {
/* Too many failed boot attempts, force hwsettings to defaults */
HwSettingsSetDefaults(HwSettingsHandle(), 0);
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
}
/* Initialize the task monitor library */
TaskMonitorInitialize();
@ -1115,7 +138,6 @@ void PIOS_Board_Init(void) {
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);
@ -1130,6 +152,133 @@ void PIOS_Board_Init(void) {
/* Bind the AHRS comms layer to the AHRS SPI link */
AhrsConnect(pios_spi_ahrs_id);
#if defined(PIOS_INCLUDE_USB)
/* Initialize board specific USB data */
PIOS_USB_BOARD_DATA_Init();
/* Flags to determine if various USB interfaces are advertised */
bool usb_hid_present = false;
bool usb_cdc_present = false;
uint8_t hwsettings_usb_devicetype;
HwSettingsUSB_DeviceTypeGet(&hwsettings_usb_devicetype);
switch (hwsettings_usb_devicetype) {
case HWSETTINGS_USB_DEVICETYPE_HIDONLY:
if (PIOS_USB_DESC_HID_ONLY_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
break;
case HWSETTINGS_USB_DEVICETYPE_HIDVCP:
if (PIOS_USB_DESC_HID_CDC_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
usb_cdc_present = true;
break;
case HWSETTINGS_USB_DEVICETYPE_VCPONLY:
break;
default:
PIOS_Assert(0);
}
uint32_t pios_usb_id;
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);
#if defined(PIOS_INCLUDE_USB_CDC)
/* Configure the USB VCP port */
uint8_t hwsettings_usb_vcpport;
HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport);
if (!usb_cdc_present) {
/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED;
}
switch (hwsettings_usb_vcpport) {
case HWSETTINGS_USB_VCPPORT_DISABLED:
break;
case HWSETTINGS_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
uint32_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
case HWSETTINGS_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
{
uint32_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
}
#endif /* PIOS_INCLUDE_USB_CDC */
#if defined(PIOS_INCLUDE_USB_HID)
/* Configure the usb HID port */
uint8_t hwsettings_usb_hidport;
HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport);
if (!usb_hid_present) {
/* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED;
}
switch (hwsettings_usb_hidport) {
case HWSETTINGS_USB_HIDPORT_DISABLED:
break;
case HWSETTINGS_USB_HIDPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
uint32_t pios_usb_hid_id;
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
}
#endif /* PIOS_INCLUDE_USB_HID */
#endif /* PIOS_INCLUDE_USB */
/* Configure the main IO port */
uint8_t hwsettings_op_mainport;
HwSettingsOP_MainPortGet(&hwsettings_op_mainport);
@ -1276,29 +425,14 @@ void PIOS_Board_Init(void) {
break;
}
#if defined(PIOS_INCLUDE_USB_HID)
uint32_t pios_usb_hid_id;
PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg);
#if defined(PIOS_INCLUDE_COM)
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_USB_HID */
#if defined(PIOS_INCLUDE_I2C)
if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_I2C */
PIOS_IAP_Init();
PIOS_WDG_Init();
/* Make sure we have at least one telemetry link configured or else fail initialization */
PIOS_Assert(pios_com_telem_rf_id || pios_com_telem_usb_id);
}
/**

120
flight/OpenPilot/System/pios_usb_board_data.c Normal file
View File

@ -0,0 +1,120 @@
/**
******************************************************************************
* @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[20] = {
sizeof(usb_product_id),
USB_DESC_TYPE_STRING,
'O', 0,
'p', 0,
'e', 0,
'n', 0,
'P', 0,
'i', 0,
'l', 0,
'o', 0,
't', 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;
}

2
flight/PiOS.posix/posix/pios_debug.c
View File

@ -72,7 +72,7 @@ void PIOS_DEBUG_PinValue4BitL(uint8_t value)
/**
* Report a serious error and halt
*/
void PIOS_DEBUG_Panic(const char *msg)
void PIOS_DEBUG_Panic(const char *msg) __attribute__ ((noreturn))
{
#ifdef PIOS_COM_DEBUG
register int *lr asm("lr"); // Link-register holds the PC of the caller

8
flight/PiOS/Boards/STM32103CB_AHRS.h
View File

@ -71,13 +71,7 @@ TIM8 | | | |
//------------------------
// PIOS_LED
//------------------------
#define PIOS_LED_LED1_GPIO_PORT GPIOA
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_3
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
#define PIOS_LED_NUM 1
#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT }
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN }
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK }
#define PIOS_LED_HEARTBEAT 0
//-------------------------
// System Settings

31
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
View File

@ -83,13 +83,7 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
//------------------------
// PIOS_LED
//------------------------
#define PIOS_LED_LED1_GPIO_PORT GPIOA
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_6
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
#define PIOS_LED_NUM 1
#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT }
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN }
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK }
#define PIOS_LED_HEARTBEAT 0
//-------------------------
// System Settings
@ -110,8 +104,15 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
// See also pios_board.c
//------------------------
#define PIOS_I2C_MAX_DEVS 1
extern uint32_t pios_i2c_main_adapter_id;
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_main_adapter_id)
extern uint32_t pios_i2c_flexi_adapter_id;
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_flexi_adapter_id)
#define PIOS_I2C_ESC_ADAPTER (pios_i2c_flexi_adapter_id)
#define PIOS_I2C_BMP085_ADAPTER (pios_i2c_flexi_adapter_id)
//------------------------
// PIOS_BMP085
//------------------------
#define PIOS_BMP085_OVERSAMPLING 3
//-------------------------
// SPI
@ -141,6 +142,12 @@ extern uint32_t pios_com_gps_id;
#define PIOS_COM_GPS (pios_com_gps_id)
#endif /* PIOS_INCLUDE_GPS */
extern uint32_t pios_com_bridge_id;
#define PIOS_COM_BRIDGE (pios_com_bridge_id)
extern uint32_t pios_com_vcp_id;
#define PIOS_COM_VCP (pios_com_vcp_id)
extern uint32_t pios_com_telem_usb_id;
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
@ -265,10 +272,10 @@ extern uint32_t pios_com_telem_usb_id;
//-------------------------
// USB
//-------------------------
#define PIOS_USB_ENABLED 1
#define PIOS_USB_HID_MAX_DEVS 1
#define PIOS_USB_ENABLED 1
#define PIOS_USB_DETECT_GPIO_PORT GPIOC
#define PIOS_USB_MAX_DEVS 1
#define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_15
#define PIOS_USB_DETECT_EXTI_LINE EXTI_Line15
#define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID
#endif /* STM32103CB_AHRS_H_ */

52
flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
View File

@ -80,42 +80,29 @@ TIM4 | STOPWATCH |
// *****************************************************************
// PIOS_LED
#define PIOS_LED_LED1_GPIO_PORT GPIOA // USB Activity LED
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_3
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
#define PIOS_LED_USB 0
#define PIOS_LED_LINK 1
#define PIOS_LED_RX 2
#define PIOS_LED_TX 3
#define PIOS_LED_LED2_GPIO_PORT GPIOB // LINK LED
#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_5
#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOB
#define PIOS_LED_HEARTBEAT PIOS_LED_USB
#define PIOS_LED_ALARM PIOS_LED_TX
#define PIOS_LED_LED3_GPIO_PORT GPIOB // RX LED
#define PIOS_LED_LED3_GPIO_PIN GPIO_Pin_6
#define PIOS_LED_LED3_GPIO_CLK RCC_APB2Periph_GPIOB
#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 PIOS_LED_LED4_GPIO_PORT GPIOB // TX LED
#define PIOS_LED_LED4_GPIO_PIN GPIO_Pin_7
#define PIOS_LED_LED4_GPIO_CLK RCC_APB2Periph_GPIOB
#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 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 }
#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 USB_LED_ON PIOS_LED_On(LED1)
#define USB_LED_OFF PIOS_LED_Off(LED1)
#define USB_LED_TOGGLE PIOS_LED_Toggle(LED1)
#define LINK_LED_ON PIOS_LED_On(LED2)
#define LINK_LED_OFF PIOS_LED_Off(LED2)
#define LINK_LED_TOGGLE PIOS_LED_Toggle(LED2)
#define RX_LED_ON PIOS_LED_On(LED3)
#define RX_LED_OFF PIOS_LED_Off(LED3)
#define RX_LED_TOGGLE PIOS_LED_Toggle(LED3)
#define TX_LED_ON PIOS_LED_On(LED4)
#define TX_LED_OFF PIOS_LED_Off(LED4)
#define TX_LED_TOGGLE PIOS_LED_Toggle(LED4)
#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)
// *****************************************************************
// Timer interrupt
@ -393,12 +380,13 @@ extern uint32_t pios_com_telem_usb_id;
#if defined(PIOS_INCLUDE_USB_HID)
#define PIOS_USB_ENABLED 1
#define PIOS_USB_HID_MAX_DEVS 1
#define PIOS_USB_MAX_DEVS 1
#define PIOS_USB_DETECT_GPIO_PORT GPIO_IN_2_PORT
#define PIOS_USB_DETECT_GPIO_PIN GPIO_IN_2_PIN
#define PIOS_USB_DETECT_EXTI_LINE EXTI_Line4
#define PIOS_IRQ_USB_PRIORITY 8
#endif
#define PIOS_USB_HID_MAX_DEVS 1
// *****************************************************************
// RFM22

14
flight/PiOS/Boards/STM3210E_INS.h
View File

@ -76,16 +76,8 @@ TIM8 | | | |
//------------------------
// PIOS_LED
//------------------------
#define PIOS_LED_LED1_GPIO_PORT GPIOA
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_3
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
#define PIOS_LED_LED2_GPIO_PORT GPIOA
#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_2
#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOA
#define PIOS_LED_NUM 2
#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
#define PIOS_LED_HEARTBEAT 0
#define PIOS_LED_ALARM 1
//------------------------
// PIOS_SPI
@ -100,12 +92,14 @@ TIM8 | | | |
#define PIOS_I2C_MAX_DEVS 3
extern uint32_t pios_i2c_pres_mag_adapter_id;
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_pres_mag_adapter_id)
#define PIOS_I2C_BMP085_ADAPTER (pios_i2c_pres_mag_adapter_id)
extern uint32_t pios_i2c_gyro_adapter_id;
#define PIOS_I2C_GYRO_ADAPTER (pios_i2c_gyro_adapter_id)
//------------------------
// PIOS_BMP085
//------------------------
#define PIOS_BMP085_HAS_GPIOS
#define PIOS_BMP085_EOC_GPIO_PORT GPIOC
#define PIOS_BMP085_EOC_GPIO_PIN GPIO_Pin_2
#define PIOS_BMP085_EOC_PORT_SOURCE GPIO_PortSourceGPIOC

20
flight/PiOS/Boards/STM3210E_OP.h
View File

@ -91,16 +91,8 @@ TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
//------------------------
// PIOS_LED
//------------------------
#define PIOS_LED_LED1_GPIO_PORT GPIOC
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_12
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOC
#define PIOS_LED_LED2_GPIO_PORT GPIOC
#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_13
#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOC
#define PIOS_LED_NUM 2
#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
#define PIOS_LED_HEARTBEAT 0
#define PIOS_LED_ALARM 1
//------------------------
// PIOS_SPI
@ -115,10 +107,13 @@ TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
#define PIOS_I2C_MAX_DEVS 1
extern uint32_t pios_i2c_main_adapter_id;
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_main_adapter_id)
#define PIOS_I2C_ESC_ADAPTER (pios_i2c_main_adapter_id)
#define PIOS_I2C_BMP085_ADAPTER (pios_i2c_main_adapter_id)
//------------------------
// PIOS_BMP085
//------------------------
#define PIOS_BMP085_HAS_GPIOS
#define PIOS_BMP085_EOC_GPIO_PORT GPIOC
#define PIOS_BMP085_EOC_GPIO_PIN GPIO_Pin_15
#define PIOS_BMP085_EOC_PORT_SOURCE GPIO_PortSourceGPIOC
@ -309,11 +304,10 @@ extern uint32_t pios_com_aux_id;
// USB
//-------------------------
#define PIOS_USB_ENABLED 1
#define PIOS_USB_HID_MAX_DEVS 1
#define PIOS_USB_DETECT_GPIO_PORT GPIOC
#define PIOS_USB_MAX_DEVS 1
#define PIOS_USB_HID_MAX_DEVS 1
#define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_4
#define PIOS_USB_DETECT_EXTI_LINE EXTI_Line4
#define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID
/**
* glue macros for file IO

96
flight/PiOS/Common/pios_bmp085.c
View File

@ -36,13 +36,10 @@
#error PIOS_EXTI Must be included in the project!
#endif /* PIOS_INCLUDE_EXTI */
#include <pios_exti.h>
/* Glocal Variables */
ConversionTypeTypeDef CurrentRead;
#if defined(PIOS_INCLUDE_FREERTOS)
xSemaphoreHandle PIOS_BMP085_EOC;
#else
int32_t PIOS_BMP085_EOC;
#endif
/* Local Variables */
static BMP085CalibDataTypeDef CalibData;
@ -55,14 +52,68 @@ static volatile uint32_t RawPressure;
static volatile uint32_t Pressure;
static volatile uint16_t Temperature;
#ifdef PIOS_BMP085_HAS_GPIOS
#if defined(PIOS_INCLUDE_FREERTOS)
xSemaphoreHandle PIOS_BMP085_EOC;
#else
int32_t PIOS_BMP085_EOC;
#endif
void PIOS_BMP085_EndOfConversion (void)
{
#if defined(PIOS_INCLUDE_FREERTOS)
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#endif
/* Read the ADC Value */
#if defined(PIOS_INCLUDE_FREERTOS)
xSemaphoreGiveFromISR(PIOS_BMP085_EOC, &xHigherPriorityTaskWoken);
#else
PIOS_BMP085_EOC=1;
#endif
#if defined(PIOS_INCLUDE_FREERTOS)
/* Yield From ISR if needed */
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
static const struct pios_exti_cfg pios_exti_bmp085_cfg __exti_config = {
.vector = PIOS_BMP085_EndOfConversion,
.line = PIOS_BMP085_EOC_EXTI_LINE,
.pin = {
.gpio = PIOS_BMP085_EOC_GPIO_PORT,
.init = {
.GPIO_Pin = PIOS_BMP085_EOC_GPIO_PIN,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
.irq = {
.init = {
.NVIC_IRQChannel = PIOS_BMP085_EOC_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_BMP085_EOC_PRIO,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.exti = {
.init = {
.EXTI_Line = PIOS_BMP085_EOC_EXTI_LINE,
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Rising,
.EXTI_LineCmd = ENABLE,
},
},
};
#endif /* PIOS_BMP085_HAS_GPIOS */
/**
* Initialise the BMP085 sensor
*/
void PIOS_BMP085_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
#ifdef PIOS_BMP085_HAS_GPIOS
#if defined(PIOS_INCLUDE_FREERTOS)
/* Semaphore used by ISR to signal End-Of-Conversion */
@ -76,31 +127,18 @@ void PIOS_BMP085_Init(void)
/* Enable EOC GPIO clock */
RCC_APB2PeriphClockCmd(PIOS_BMP085_EOC_CLK | RCC_APB2Periph_AFIO, ENABLE);
/* Configure EOC pin as input floating */
GPIO_InitStructure.GPIO_Pin = PIOS_BMP085_EOC_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(PIOS_BMP085_EOC_GPIO_PORT, &GPIO_InitStructure);
/* Configure the End Of Conversion (EOC) interrupt */
GPIO_EXTILineConfig(PIOS_BMP085_EOC_PORT_SOURCE, PIOS_BMP085_EOC_PIN_SOURCE);
EXTI_InitStructure.EXTI_Line = PIOS_BMP085_EOC_EXTI_LINE;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
/* Enable and set EOC EXTI Interrupt to the lowest priority */
NVIC_InitStructure.NVIC_IRQChannel = PIOS_BMP085_EOC_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_BMP085_EOC_PRIO;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
if (PIOS_EXTI_Init(&pios_exti_bmp085_cfg)) {
PIOS_Assert(0);
}
/* Configure XCLR pin as push/pull alternate funtion output */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = PIOS_BMP085_XCLR_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(PIOS_BMP085_XCLR_GPIO_PORT, &GPIO_InitStructure);
#endif /* PIOS_BMP085_HAS_GPIOS */
/* Read all 22 bytes of calibration data in one transfer, this is a very optimized way of doing things */
uint8_t Data[BMP085_CALIB_LEN];
while (!PIOS_BMP085_Read(BMP085_CALIB_ADDR, Data, BMP085_CALIB_LEN))
@ -235,7 +273,7 @@ bool PIOS_BMP085_Read(uint8_t address, uint8_t * buffer, uint8_t len)
}
};
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
return PIOS_I2C_Transfer(PIOS_I2C_BMP085_ADAPTER, txn_list, NELEMENTS(txn_list));
}
/**
@ -264,7 +302,7 @@ bool PIOS_BMP085_Write(uint8_t address, uint8_t buffer)
,
};
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
return PIOS_I2C_Transfer(PIOS_I2C_BMP085_ADAPTER, txn_list, NELEMENTS(txn_list));
}
/**

102
flight/PiOS/Common/pios_com.c
View File

@ -8,7 +8,6 @@
*
* @file pios_com.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief COM layer functions
* @see The GNU Public License (GPL) Version 3
*
@ -161,7 +160,7 @@ out_fail:
static void PIOS_COM_UnblockRx(struct pios_com_dev * com_dev, bool * need_yield)
{
#if defined(PIOS_INCLUDE_FREERTOS)
static signed portBASE_TYPE xHigherPriorityTaskWoken;
static signed portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
xSemaphoreGiveFromISR(com_dev->rx_sem, &xHigherPriorityTaskWoken);
if (xHigherPriorityTaskWoken != pdFALSE) {
@ -177,7 +176,7 @@ static void PIOS_COM_UnblockRx(struct pios_com_dev * com_dev, bool * need_yield)
static void PIOS_COM_UnblockTx(struct pios_com_dev * com_dev, bool * need_yield)
{
#if defined(PIOS_INCLUDE_FREERTOS)
static signed portBASE_TYPE xHigherPriorityTaskWoken;
static signed portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
xSemaphoreGiveFromISR(com_dev->tx_sem, &xHigherPriorityTaskWoken);
if (xHigherPriorityTaskWoken != pdFALSE) {
@ -272,7 +271,7 @@ int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud)
* \return -1 if port not available
* \return -2 if non-blocking mode activated: buffer is full
* caller should retry until buffer is free again
* \return 0 on success
* \return number of bytes transmitted on success
*/
int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, uint16_t len)
{
@ -285,7 +284,7 @@ int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, u
PIOS_Assert(com_dev->has_tx);
if (len >= fifoBuf_getFree(&com_dev->tx)) {
if (len > fifoBuf_getFree(&com_dev->tx)) {
/* Buffer cannot accept all requested bytes (retry) */
return -2;
}
@ -302,7 +301,7 @@ int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, u
}
}
return (0);
return (bytes_into_fifo);
}
/**
@ -312,7 +311,7 @@ int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, u
* \param[in] buffer character buffer
* \param[in] len buffer length
* \return -1 if port not available
* \return 0 on success
* \return number of bytes transmitted on success
*/
int32_t PIOS_COM_SendBuffer(uint32_t com_id, const uint8_t *buffer, uint16_t len)
{
@ -325,25 +324,46 @@ int32_t PIOS_COM_SendBuffer(uint32_t com_id, const uint8_t *buffer, uint16_t len
PIOS_Assert(com_dev->has_tx);
int32_t rc;
do {
rc = PIOS_COM_SendBufferNonBlocking(com_id, buffer, len);
uint32_t max_frag_len = fifoBuf_getSize(&com_dev->tx);
uint32_t bytes_to_send = len;
while (bytes_to_send) {
uint32_t frag_size;
if (bytes_to_send > max_frag_len) {
frag_size = max_frag_len;
} else {
frag_size = bytes_to_send;
}
int32_t rc = PIOS_COM_SendBufferNonBlocking(com_id, buffer, frag_size);
if (rc >= 0) {
bytes_to_send -= rc;
buffer += rc;
} else {
switch (rc) {
case -1:
/* Device is invalid, this will never work */
return -1;
case -2:
/* Device is busy, wait for the underlying device to free some space and retry */
/* Make sure the transmitter is running while we wait */
if (com_dev->driver->tx_start) {
(com_dev->driver->tx_start)(com_dev->lower_id,
fifoBuf_getUsed(&com_dev->tx));
}
#if defined(PIOS_INCLUDE_FREERTOS)
if (rc == -2) {
/* Make sure the transmitter is running while we wait */
if (com_dev->driver->tx_start) {
(com_dev->driver->tx_start)(com_dev->lower_id,
fifoBuf_getUsed(&com_dev->tx));
}
if (xSemaphoreTake(com_dev->tx_sem, portMAX_DELAY) != pdTRUE) {
return -3;
}
}
if (xSemaphoreTake(com_dev->tx_sem, 5000) != pdTRUE) {
return -3;
}
#endif
} while (rc == -2);
continue;
default:
/* Unhandled return code */
return rc;
}
}
}
return rc;
return len;
}
/**
@ -463,7 +483,7 @@ uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len
uint16_t bytes_from_fifo = fifoBuf_getData(&com_dev->rx, buf, buf_len);
PIOS_IRQ_Enable();
if (bytes_from_fifo == 0 && timeout_ms > 0) {
if (bytes_from_fifo == 0) {
/* No more bytes in receive buffer */
/* Make sure the receiver is running while we wait */
if (com_dev->driver->rx_start) {
@ -471,41 +491,25 @@ uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len
(com_dev->driver->rx_start)(com_dev->lower_id,
fifoBuf_getFree(&com_dev->rx));
}
if (timeout_ms > 0) {
#if defined(PIOS_INCLUDE_FREERTOS)
if (xSemaphoreTake(com_dev->rx_sem, timeout_ms / portTICK_RATE_MS) == pdTRUE) {
/* Make sure we don't come back here again */
timeout_ms = 0;
goto check_again;
}
if (xSemaphoreTake(com_dev->rx_sem, timeout_ms / portTICK_RATE_MS) == pdTRUE) {
/* Make sure we don't come back here again */
timeout_ms = 0;
goto check_again;
}
#else
PIOS_DELAY_WaitmS(1);
timeout_ms--;
goto check_again;
PIOS_DELAY_WaitmS(1);
timeout_ms--;
goto check_again;
#endif
}
}
/* Return received byte */
return (bytes_from_fifo);
}
/**
* Get the number of bytes waiting in the buffer
* \param[in] port COM port
* \return Number of bytes used in buffer
*/
int32_t PIOS_COM_ReceiveBufferUsed(uint32_t com_id)
{
struct pios_com_dev * com_dev = (struct pios_com_dev *)com_id;
if (!PIOS_COM_validate(com_dev)) {
/* Undefined COM port for this board (see pios_board.c) */
PIOS_Assert(0);
}
PIOS_Assert(com_dev->has_rx);
return (fifoBuf_getUsed(&com_dev->rx));
}
#endif
/**

185
flight/PiOS/Common/pios_com_msg.c Normal file
View File

@ -0,0 +1,185 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_COM COM MSG layer functions
* @brief Hardware communication layer
* @{
*
* @file pios_com_msg.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief COM MSG layer 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
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_COM_MSG)
#include "pios_com.h"
#define PIOS_COM_MSG_MAX_LEN 63
struct pios_com_msg_dev {
uint32_t lower_id;
const struct pios_com_driver * driver;
uint8_t rx_msg_buffer[PIOS_COM_MSG_MAX_LEN];
volatile bool rx_msg_full;
uint8_t tx_msg_buffer[PIOS_COM_MSG_MAX_LEN];
volatile bool tx_msg_full;
};
static struct pios_com_msg_dev com_msg_dev;
static uint16_t PIOS_COM_MSG_TxOutCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield);
static uint16_t PIOS_COM_MSG_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield);
int32_t PIOS_COM_MSG_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id)
{
PIOS_Assert(com_id);
PIOS_Assert(driver);
PIOS_Assert(driver->bind_tx_cb);
PIOS_Assert(driver->bind_rx_cb);
struct pios_com_msg_dev * com_dev = &com_msg_dev;
com_dev->driver = driver;
com_dev->lower_id = lower_id;
com_dev->rx_msg_full = false;
(com_dev->driver->bind_rx_cb)(lower_id, PIOS_COM_MSG_RxInCallback, (uint32_t)com_dev);
(com_dev->driver->rx_start)(com_dev->lower_id, sizeof(com_dev->rx_msg_buffer));
com_dev->tx_msg_full = false;
(com_dev->driver->bind_tx_cb)(lower_id, PIOS_COM_MSG_TxOutCallback, (uint32_t)com_dev);
*com_id = (uint32_t)com_dev;
return(0);
}
static uint16_t PIOS_COM_MSG_TxOutCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
{
struct pios_com_msg_dev * com_dev = (struct pios_com_msg_dev *)context;
PIOS_Assert(buf);
PIOS_Assert(buf_len);
uint16_t bytes_from_fifo = 0;
if (com_dev->tx_msg_full && (buf_len >= sizeof(com_dev->tx_msg_buffer))) {
/* Room for an entire message, send it */
memcpy(buf, com_dev->tx_msg_buffer, sizeof(com_dev->tx_msg_buffer));
bytes_from_fifo = sizeof(com_dev->tx_msg_buffer);
com_dev->tx_msg_full = false;
}
if (headroom) {
if (com_dev->tx_msg_full) {
*headroom = sizeof(com_dev->tx_msg_buffer);
} else {
*headroom = 0;
}
}
return (bytes_from_fifo);
}
static uint16_t PIOS_COM_MSG_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
{
struct pios_com_msg_dev * com_dev = (struct pios_com_msg_dev *)context;
uint16_t bytes_into_fifo = 0;
if (!com_dev->rx_msg_full && (buf_len >= sizeof(com_dev->rx_msg_buffer))) {
memcpy(com_dev->rx_msg_buffer, buf, sizeof(com_dev->rx_msg_buffer));
bytes_into_fifo = sizeof(com_dev->rx_msg_buffer);
com_dev->rx_msg_full = true;
}
if (headroom) {
if (!com_dev->rx_msg_full) {
*headroom = sizeof(com_dev->rx_msg_buffer);
} else {
*headroom = 0;
}
}
return (bytes_into_fifo);
}
int32_t PIOS_COM_MSG_Send(uint32_t com_id, const uint8_t *msg, uint16_t msg_len)
{
PIOS_Assert(msg);
PIOS_Assert(msg_len);
struct pios_com_msg_dev * com_dev = (struct pios_com_msg_dev *)com_id;
PIOS_Assert(msg_len == sizeof(com_dev->tx_msg_buffer));
/* Wait forever for room in the tx buffer */
while (com_dev->tx_msg_full) {
/* Kick the transmitter while we wait */
if (com_dev->driver->tx_start) {
(com_dev->driver->tx_start)(com_dev->lower_id, sizeof(com_dev->tx_msg_buffer));
}
}
memcpy((void *) com_dev->tx_msg_buffer, msg, msg_len);
com_dev->tx_msg_full = true;
/* Kick the transmitter now that we've queued our message */
if (com_dev->driver->tx_start) {
(com_dev->driver->tx_start)(com_dev->lower_id, sizeof(com_dev->tx_msg_buffer));
}
return 0;
}
uint16_t PIOS_COM_MSG_Receive(uint32_t com_id, uint8_t * msg, uint16_t msg_len)
{
PIOS_Assert(msg);
PIOS_Assert(msg_len);
struct pios_com_msg_dev * com_dev = (struct pios_com_msg_dev *)com_id;
PIOS_Assert(msg_len == sizeof(com_dev->rx_msg_buffer));
if (!com_dev->rx_msg_full) {
/* There's room in our buffer, kick the receiver */
(com_dev->driver->rx_start)(com_dev->lower_id, sizeof(com_dev->rx_msg_buffer));
} else {
memcpy(msg, com_dev->rx_msg_buffer, msg_len);
com_dev->rx_msg_full = false;
return msg_len;
}
return 0;
}
#endif /* PIOS_INCLUDE_COM_MSG */
/**
* @}
* @}
*/

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

@ -81,7 +81,9 @@ int32_t PIOS_FLASHFS_Init()
if(object_table_magic != OBJECT_TABLE_MAGIC) {
if(magic_fail_count++ > MAX_BADMAGIC) {
PIOS_FLASHFS_ClearObjectTableHeader();
PIOS_LED_Toggle(LED1);
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
magic_fail_count = 0;
magic_good = true;
} else {

102
flight/PiOS/Common/pios_gcsrcvr.c
View File

@ -39,22 +39,97 @@ static GCSReceiverData gcsreceiverdata;
/* Provide a RCVR driver */
static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel);
static void PIOS_gcsrcvr_Supervisor(uint32_t ppm_id);
const struct pios_rcvr_driver pios_gcsrcvr_rcvr_driver = {
.read = PIOS_GCSRCVR_Get,
};
/* Local Variables */
enum pios_gcsrcvr_dev_magic {
PIOS_GCSRCVR_DEV_MAGIC = 0xe9da5c56,
};
struct pios_gcsrcvr_dev {
enum pios_gcsrcvr_dev_magic magic;
uint8_t supv_timer;
bool Fresh;
};
static struct pios_gcsrcvr_dev *global_gcsrcvr_dev;
static bool PIOS_gcsrcvr_validate(struct pios_gcsrcvr_dev *gcsrcvr_dev)
{
return (gcsrcvr_dev->magic == PIOS_GCSRCVR_DEV_MAGIC);
}
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_gcsrcvr_dev *PIOS_gcsrcvr_alloc(void)
{
struct pios_gcsrcvr_dev * gcsrcvr_dev;
gcsrcvr_dev = (struct pios_gcsrcvr_dev *)pvPortMalloc(sizeof(*gcsrcvr_dev));
if (!gcsrcvr_dev) return(NULL);
gcsrcvr_dev->magic = PIOS_GCSRCVR_DEV_MAGIC;
gcsrcvr_dev->Fresh = FALSE;
gcsrcvr_dev->supv_timer = 0;
/* The update callback cannot receive the device pointer, so set it in a global */
global_gcsrcvr_dev = gcsrcvr_dev;
return(gcsrcvr_dev);
}
#else
static struct pios_gcsrcvr_dev pios_gcsrcvr_devs[PIOS_GCSRCVR_MAX_DEVS];
static uint8_t pios_gcsrcvr_num_devs;
static struct pios_gcsrcvr_dev *PIOS_gcsrcvr_alloc(void)
{
struct pios_gcsrcvr_dev *gcsrcvr_dev;
if (pios_gcsrcvr_num_devs >= PIOS_GCSRCVR_MAX_DEVS) {
return (NULL);
}
gcsrcvr_dev = &pios_gcsrcvr_devs[pios_gcsrcvr_num_devs++];
gcsrcvr_dev->magic = PIOS_GCSRCVR_DEV_MAGIC;
gcsrcvr_dev->Fresh = FALSE;
gcsrcvr_dev->supv_timer = 0;
global_gcsrcvr_dev = gcsrcvr_dev;
return (gcsrcvr_dev);
}
#endif
static void gcsreceiver_updated(UAVObjEvent * ev)
{
struct pios_gcsrcvr_dev *gcsrcvr_dev = global_gcsrcvr_dev;
if (ev->obj == GCSReceiverHandle()) {
GCSReceiverGet(&gcsreceiverdata);
gcsrcvr_dev->Fresh = TRUE;
}
}
void PIOS_GCSRCVR_Init(void)
extern int32_t PIOS_GCSRCVR_Init(uint32_t *gcsrcvr_id)
{
struct pios_gcsrcvr_dev *gcsrcvr_dev;
/* Allocate the device structure */
gcsrcvr_dev = (struct pios_gcsrcvr_dev *)PIOS_gcsrcvr_alloc();
if (!gcsrcvr_dev)
return -1;
/* Register uavobj callback */
GCSReceiverConnectCallback (gcsreceiver_updated);
/* Register the failsafe timer callback. */
if (!PIOS_RTC_RegisterTickCallback(PIOS_gcsrcvr_Supervisor, (uint32_t)gcsrcvr_dev)) {
PIOS_DEBUG_Assert(0);
}
return 0;
}
static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel)
@ -67,6 +142,31 @@ static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel)
return (gcsreceiverdata.Channel[channel]);
}
static void PIOS_gcsrcvr_Supervisor(uint32_t gcsrcvr_id) {
/* Recover our device context */
struct pios_gcsrcvr_dev * gcsrcvr_dev = (struct pios_gcsrcvr_dev *)gcsrcvr_id;
if (!PIOS_gcsrcvr_validate(gcsrcvr_dev)) {
/* Invalid device specified */
return;
}
/*
* RTC runs at 625Hz so divide down the base rate so
* that this loop runs at 25Hz.
*/
if(++(gcsrcvr_dev->supv_timer) < 25) {
return;
}
gcsrcvr_dev->supv_timer = 0;
if (!gcsrcvr_dev->Fresh)
for (int32_t i = 0; i < GCSRECEIVER_CHANNEL_NUMELEM; i++)
gcsreceiverdata.Channel[i] = PIOS_RCVR_TIMEOUT;
gcsrcvr_dev->Fresh = FALSE;
}
#endif /* PIOS_INCLUDE_GCSRCVR */
/**

66
flight/PiOS/Common/pios_hmc5843.c
View File

@ -34,6 +34,8 @@
#if defined(PIOS_INCLUDE_HMC5843)
#include <pios_exti.h>
/* HMC5843 Addresses */
#define PIOS_HMC5843_I2C_ADDR 0x1E
#define PIOS_HMC5843_CONFIG_REG_A (uint8_t)0x00
@ -107,37 +109,48 @@ static void PIOS_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef * HMC5843_Config_Stru
static bool PIOS_HMC5843_Read(uint8_t address, uint8_t * buffer, uint8_t len);
static bool PIOS_HMC5843_Write(uint8_t address, uint8_t buffer);
void PIOS_HMC5843_EndOfConversion (void)
{
pios_hmc5843_data_ready = true;
}
static const struct pios_exti_cfg pios_exti_hmc5843_cfg __exti_config = {
.vector = PIOS_HMC5843_EndOfConversion,
.line = PIOS_HMC5843_DRDY_EXTI_LINE,
.pin = {
.gpio = PIOS_HMC5843_DRDY_GPIO_PORT,
.init = {
.GPIO_Pin = PIOS_HMC5843_DRDY_GPIO_PIN,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
.irq = {
.init = {
.NVIC_IRQChannel = PIOS_HMC5843_DRDY_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_HMC5843_DRDY_PRIO,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.exti = {
.init = {
.EXTI_Line = PIOS_HMC5843_DRDY_EXTI_LINE,
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Rising,
.EXTI_LineCmd = ENABLE,
},
},
};
/**
* @brieft Initialise the HMC5843 sensor
* @brief Initialise the HMC5843 sensor
*/
void PIOS_HMC5843_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
/* Enable DRDY GPIO clock */
RCC_APB2PeriphClockCmd(PIOS_HMC5843_DRDY_CLK | RCC_APB2Periph_AFIO, ENABLE);
/* Configure EOC pin as input floating */
GPIO_InitStructure.GPIO_Pin = PIOS_HMC5843_DRDY_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(PIOS_HMC5843_DRDY_GPIO_PORT, &GPIO_InitStructure);
/* Configure the End Of Conversion (EOC) interrupt */
GPIO_EXTILineConfig(PIOS_HMC5843_DRDY_PORT_SOURCE, PIOS_HMC5843_DRDY_PIN_SOURCE);
EXTI_InitStructure.EXTI_Line = PIOS_HMC5843_DRDY_EXTI_LINE;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
/* Enable and set EOC EXTI Interrupt to the lowest priority */
NVIC_InitStructure.NVIC_IRQChannel = PIOS_HMC5843_DRDY_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_HMC5843_DRDY_PRIO;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
PIOS_EXTI_Init(&pios_exti_hmc5843_cfg);
/* Configure the HMC5843 Sensor */
PIOS_HMC5843_ConfigTypeDef HMC5843_InitStructure;
@ -362,11 +375,6 @@ static bool PIOS_HMC5843_Write(uint8_t address, uint8_t buffer)
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
}
void PIOS_HMC5843_IRQHandler(void)
{
pios_hmc5843_data_ready = true;
}
#endif
/**

8
flight/PiOS/Common/pios_i2c_esc.c
View File

@ -93,7 +93,7 @@ bool PIOS_I2C_ESC_SetSpeed(uint8_t speed[4])
}
};
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
return PIOS_I2C_Transfer(PIOS_I2C_ESC_ADAPTER, txn_list, NELEMENTS(txn_list));
}
bool PIOS_SetMKSpeed(uint8_t motornum, uint8_t speed) {
@ -115,7 +115,7 @@ bool PIOS_SetMKSpeed(uint8_t motornum, uint8_t speed) {
}
};
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
return PIOS_I2C_Transfer(PIOS_I2C_ESC_ADAPTER, txn_list, NELEMENTS(txn_list));
}
bool PIOS_SetAstec4Address(uint8_t new_address) {
@ -134,7 +134,7 @@ bool PIOS_SetAstec4Address(uint8_t new_address) {
}
};
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
return PIOS_I2C_Transfer(PIOS_I2C_ESC_ADAPTER, txn_list, NELEMENTS(txn_list));
}
bool PIOS_SetAstec4Speed(uint8_t motornum, uint8_t speed) {
@ -161,7 +161,7 @@ bool PIOS_SetAstec4Speed(uint8_t motornum, uint8_t speed) {
}
};
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
return PIOS_I2C_Transfer(PIOS_I2C_ESC_ADAPTER, txn_list, NELEMENTS(txn_list));
}
#endif

21
flight/PiOS/Common/pios_iap.c
View File

@ -20,17 +20,6 @@
#define IAP_MAGIC_WORD_1 0x1122
#define IAP_MAGIC_WORD_2 0xAA55
#define IAP_REQLOC_1 BKP_DR1
#define IAP_CRCLOC_LOW BKP_DR2
#define IAP_CRCLOC_UPPER BKP_DR3
#define IAP_PORTLOC BKP_DR4
#define IAP_REQLOC_2 BKP_RR5
#define IAP_UPLOAD_REQ_1 0x20AA
#define IAP_UPLOAD_REQ_2 0x2055
#define IAP_DNLOAD_REQ_1 0x30AA
#define IAP_DNLOAD_REQ_2 0x3055
#define UPPERWORD16(lw) (uint16_t)((uint32_t)(lw)>>16)
#define LOWERWORD16(lw) (uint16_t)((uint32_t)(lw)&0x0000ffff)
#define UPPERBYTE(w) (uint8_t)((w)>>8)
@ -121,3 +110,13 @@ void PIOS_IAP_ClearRequest(void)
BKP_WriteBackupRegister( MAGIC_REG_1, 0);
BKP_WriteBackupRegister( MAGIC_REG_2, 0);
}
uint16_t PIOS_IAP_ReadBootCount(void)
{
return BKP_ReadBackupRegister ( IAP_BOOTCOUNT );
}
void PIOS_IAP_WriteBootCount (uint16_t boot_count)
{
BKP_WriteBackupRegister ( IAP_BOOTCOUNT, boot_count );
}

256
flight/PiOS/Common/pios_usb_desc_hid_cdc.c Normal file
View File

@ -0,0 +1,256 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_USB_DESC USB Descriptor definitions
* @brief USB Descriptor definitions for HID and CDC
* @{
*
* @file pios_usb_desc_hid_cdc.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief USB Descriptor definitions for HID and CDC
* @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_desc_hid_cdc_priv.h" /* exported API */
#include "pios_usb_defs.h" /* struct usb_*, USB_* */
#include "pios_usb_board_data.h" /* PIOS_USB_BOARD_* */
#include "pios_usbhook.h" /* PIOS_USBHOOK_Register* */
static const struct usb_device_desc device_desc = {
.bLength = sizeof(struct usb_device_desc),
.bDescriptorType = USB_DESC_TYPE_DEVICE,
.bcdUSB = htousbs(0x0200),
.bDeviceClass = 0x02,
.bDeviceSubClass = 0x00,
.bDeviceProtocol = 0x00,
.bMaxPacketSize0 = 64, /* Must be 64 for high-speed devices */
.idVendor = htousbs(USB_VENDOR_ID_OPENPILOT),
.idProduct = htousbs(PIOS_USB_BOARD_PRODUCT_ID),
.bcdDevice = htousbs(PIOS_USB_BOARD_DEVICE_VER),
.iManufacturer = USB_STRING_DESC_VENDOR,
.iProduct = USB_STRING_DESC_PRODUCT,
.iSerialNumber = USB_STRING_DESC_SERIAL,
.bNumConfigurations = 1,
};
static const uint8_t hid_report_desc[36] = {
HID_GLOBAL_ITEM_2 (HID_TAG_GLOBAL_USAGE_PAGE),
0x9C, 0xFF, /* Usage Page 0xFF9C (Vendor Defined) */
HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE),
0x01, /* Usage ID 0x0001 (0x01-0x1F uaually for top-level collections) */
HID_MAIN_ITEM_1 (HID_TAG_MAIN_COLLECTION),
0x01, /* Application */
/* Device -> Host emulated serial channel */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_ID),
0x01, /* OpenPilot emulated serial channel (Device -> Host) */
HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE),
0x02,
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MIN),
0x00, /* Values range from min = 0x00 */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MAX),
0xFF, /* Values range to max = 0xFF */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_SIZE),
0x08, /* 8 bits wide */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_CNT),
PIOS_USB_BOARD_HID_DATA_LENGTH-1, /* Need to leave room for a report ID */
HID_MAIN_ITEM_1 (HID_TAG_MAIN_INPUT),
0x03, /* Variable, Constant (read-only) */
/* Host -> Host emulated serial channel */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_ID),
0x02, /* OpenPilot emulated Serial Channel (Host -> Device) */
HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE),
0x02,
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MIN),
0x00, /* Values range from min = 0x00 */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MAX),
0xFF, /* Values range to max = 0xFF */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_SIZE),
0x08, /* 8 bits wide */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_CNT),
PIOS_USB_BOARD_HID_DATA_LENGTH-1, /* Need to leave room for a report ID */
HID_MAIN_ITEM_1 (HID_TAG_MAIN_OUTPUT),
0x82, /* Volatile, Variable */
HID_MAIN_ITEM_0 (HID_TAG_MAIN_ENDCOLLECTION),
};
struct usb_config_hid_cdc {
struct usb_configuration_desc config;
struct usb_interface_association_desc iad;
struct usb_interface_desc hid_if;
struct usb_hid_desc hid;
struct usb_endpoint_desc hid_in;
struct usb_endpoint_desc hid_out;
struct usb_interface_desc cdc_control_if;
struct usb_cdc_header_func_desc cdc_header;
struct usb_cdc_callmgmt_func_desc cdc_callmgmt;
struct usb_cdc_acm_func_desc cdc_acm;
struct usb_cdc_union_func_desc cdc_union;
struct usb_endpoint_desc cdc_mgmt_in;
struct usb_interface_desc cdc_data_if;
struct usb_endpoint_desc cdc_in;
struct usb_endpoint_desc cdc_out;
} __attribute__((packed));
static const struct usb_config_hid_cdc config_hid_cdc = {
.config = {
.bLength = sizeof(struct usb_configuration_desc),
.bDescriptorType = USB_DESC_TYPE_CONFIGURATION,
.wTotalLength = htousbs(sizeof(struct usb_config_hid_cdc)),
.bNumInterfaces = 3,
.bConfigurationValue = 1,
.iConfiguration = 0,
.bmAttributes = 0xC0,
.bMaxPower = 250/2, /* in units of 2ma */
},
.iad = {
.bLength = sizeof(struct usb_interface_association_desc),
.bDescriptorType = USB_DESC_TYPE_IAD,
.bFirstInterface = 0,
.bInterfaceCount = 2,
.bFunctionClass = 2, /* Communication */
.bFunctionSubClass = 2, /* Abstract Control Model */
.bFunctionProtocol = 0, /* V.25ter, Common AT commands */
.iInterface = 0,
},
.hid_if = {
.bLength = sizeof(struct usb_interface_desc),
.bDescriptorType = USB_DESC_TYPE_INTERFACE,
.bInterfaceNumber = 0,
.bAlternateSetting = 0,
.bNumEndpoints = 2,
.bInterfaceClass = USB_INTERFACE_CLASS_HID,
.bInterfaceSubClass = 0, /* no boot */
.nInterfaceProtocol = 0, /* none */
.iInterface = 0,
},
.hid = {
.bLength = sizeof(struct usb_hid_desc),
.bDescriptorType = USB_DESC_TYPE_HID,
.bcdHID = htousbs(0x0110),
.bCountryCode = 0,
.bNumDescriptors = 1,
.bClassDescriptorType = USB_DESC_TYPE_REPORT,
.wItemLength = htousbs(sizeof(hid_report_desc)),
},
.hid_in = {
.bLength = sizeof(struct usb_endpoint_desc),
.bDescriptorType = USB_DESC_TYPE_ENDPOINT,
.bEndpointAddress = USB_EP_IN(1),
.bmAttributes = USB_EP_ATTR_TT_INTERRUPT,
.wMaxPacketSize = htousbs(PIOS_USB_BOARD_HID_DATA_LENGTH),
.bInterval = 4, /* ms */
},
.hid_out = {
.bLength = sizeof(struct usb_endpoint_desc),
.bDescriptorType = USB_DESC_TYPE_ENDPOINT,
.bEndpointAddress = USB_EP_OUT(1),
.bmAttributes = USB_EP_ATTR_TT_INTERRUPT,
.wMaxPacketSize = htousbs(PIOS_USB_BOARD_HID_DATA_LENGTH),
.bInterval = 4, /* ms */
},
.cdc_control_if = {
.bLength = sizeof(struct usb_interface_desc),
.bDescriptorType = USB_DESC_TYPE_INTERFACE,
.bInterfaceNumber = 1,
.bAlternateSetting = 0,
.bNumEndpoints = 1,
.bInterfaceClass = USB_INTERFACE_CLASS_CDC,
.bInterfaceSubClass = 2, /* Abstract Control Model */
.nInterfaceProtocol = 1, /* V.25ter, Common AT commands */
.iInterface = 0,
},
.cdc_header = {
.bLength = sizeof(struct usb_cdc_header_func_desc),
.bDescriptorType = USB_DESC_TYPE_CLASS_SPECIFIC,
.bDescriptorSubType = USB_CDC_DESC_SUBTYPE_HEADER,
.bcdCDC = htousbs(0x0110),
},
.cdc_callmgmt = {
.bLength = sizeof(struct usb_cdc_callmgmt_func_desc),
.bDescriptorType = USB_DESC_TYPE_CLASS_SPECIFIC,
.bDescriptorSubType = USB_CDC_DESC_SUBTYPE_CALLMGMT,
.bmCapabilities = 0x00, /* No call handling */
.bDataInterface = 2,
},
.cdc_acm = {
.bLength = sizeof(struct usb_cdc_acm_func_desc),
.bDescriptorType = USB_DESC_TYPE_CLASS_SPECIFIC,
.bDescriptorSubType = USB_CDC_DESC_SUBTYPE_ABSTRACT_CTRL,
.bmCapabilities = 0,
},
.cdc_union = {
.bLength = sizeof(struct usb_cdc_union_func_desc),
.bDescriptorType = USB_DESC_TYPE_CLASS_SPECIFIC,
.bDescriptorSubType = USB_CDC_DESC_SUBTYPE_UNION,
.bMasterInterface = 1,
.bSlaveInterface = 2,
},
.cdc_mgmt_in = {
.bLength = sizeof(struct usb_endpoint_desc),
.bDescriptorType = USB_DESC_TYPE_ENDPOINT,
.bEndpointAddress = USB_EP_IN(2),
.bmAttributes = USB_EP_ATTR_TT_INTERRUPT,
.wMaxPacketSize = htousbs(PIOS_USB_BOARD_CDC_MGMT_LENGTH),
.bInterval = 4, /* ms */
},
.cdc_data_if = {
.bLength = sizeof(struct usb_interface_desc),
.bDescriptorType = USB_DESC_TYPE_INTERFACE,
.bInterfaceNumber = 2,
.bAlternateSetting = 0,
.bNumEndpoints = 2,
.bInterfaceClass = USB_INTERFACE_CLASS_DATA,
.bInterfaceSubClass = 0,
.nInterfaceProtocol = 0, /* No class specific protocol */
.iInterface = 0,
},
.cdc_in = {
.bLength = sizeof(struct usb_endpoint_desc),
.bDescriptorType = USB_DESC_TYPE_ENDPOINT,
.bEndpointAddress = USB_EP_IN(3),
.bmAttributes = USB_EP_ATTR_TT_BULK,
.wMaxPacketSize = htousbs(PIOS_USB_BOARD_CDC_DATA_LENGTH),
.bInterval = 0, /* ms */
},
.cdc_out = {
.bLength = sizeof(struct usb_endpoint_desc),
.bDescriptorType = USB_DESC_TYPE_ENDPOINT,
.bEndpointAddress = USB_EP_OUT(3),
.bmAttributes = USB_EP_ATTR_TT_BULK, /* Bulk */
.wMaxPacketSize = htousbs(PIOS_USB_BOARD_CDC_DATA_LENGTH),
.bInterval = 0, /* ms */
},
};
int32_t PIOS_USB_DESC_HID_CDC_Init(void)
{
PIOS_USBHOOK_RegisterConfig(1, (uint8_t *)&config_hid_cdc, sizeof(config_hid_cdc));
PIOS_USBHOOK_RegisterDevice((uint8_t *)&device_desc, sizeof(device_desc));
PIOS_USBHOOK_RegisterHidInterface((uint8_t *)&(config_hid_cdc.hid_if), sizeof(config_hid_cdc.hid_if));
PIOS_USBHOOK_RegisterHidReport((uint8_t *)hid_report_desc, sizeof(hid_report_desc));
return 0;
}

164
flight/PiOS/Common/pios_usb_desc_hid_only.c Normal file
View File

@ -0,0 +1,164 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_USB_DESC USB Descriptor definitions
* @brief USB Descriptor definitions for HID only
* @{
*
* @file pios_usb_desc_hid_only.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief USB Descriptor definitions for HID only
* @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_desc_hid_only_priv.h" /* exported API */
#include "pios_usb_defs.h" /* struct usb_*, USB_* */
#include "pios_usb_board_data.h" /* PIOS_USB_BOARD_* */
#include "pios_usbhook.h" /* PIOS_USBHOOK_Register* */
static const struct usb_device_desc device_desc = {
.bLength = sizeof(struct usb_device_desc),
.bDescriptorType = USB_DESC_TYPE_DEVICE,
.bcdUSB = htousbs(0x0200),
.bDeviceClass = 0x00,
.bDeviceSubClass = 0x00,
.bDeviceProtocol = 0x00,
.bMaxPacketSize0 = 64, /* Must be 64 for high-speed devices */
.idVendor = htousbs(USB_VENDOR_ID_OPENPILOT),
.idProduct = htousbs(PIOS_USB_BOARD_PRODUCT_ID),
.bcdDevice = htousbs(PIOS_USB_BOARD_DEVICE_VER),
.iManufacturer = 1,
.iProduct = 2,
.iSerialNumber = 3,
.bNumConfigurations = 1,
};
static const uint8_t hid_report_desc[36] = {
HID_GLOBAL_ITEM_2 (HID_TAG_GLOBAL_USAGE_PAGE),
0x9C, 0xFF, /* Usage Page 0xFF9C (Vendor Defined) */
HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE),
0x01, /* Usage ID 0x0001 (0x01-0x1F uaually for top-level collections) */
HID_MAIN_ITEM_1 (HID_TAG_MAIN_COLLECTION),
0x01, /* Application */
/* Device -> Host emulated serial channel */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_ID),
0x01, /* OpenPilot emulated serial channel (Device -> Host) */
HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE),
0x02,
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MIN),
0x00, /* Values range from min = 0x00 */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MAX),
0xFF, /* Values range to max = 0xFF */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_SIZE),
0x08, /* 8 bits wide */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_CNT),
PIOS_USB_BOARD_HID_DATA_LENGTH-1, /* Need to leave room for a report ID */
HID_MAIN_ITEM_1 (HID_TAG_MAIN_INPUT),
0x03, /* Variable, Constant (read-only) */
/* Host -> Host emulated serial channel */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_ID),
0x02, /* OpenPilot emulated Serial Channel (Host -> Device) */
HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE),
0x02,
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MIN),
0x00, /* Values range from min = 0x00 */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MAX),
0xFF, /* Values range to max = 0xFF */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_SIZE),
0x08, /* 8 bits wide */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_CNT),
PIOS_USB_BOARD_HID_DATA_LENGTH-1, /* Need to leave room for a report ID */
HID_MAIN_ITEM_1 (HID_TAG_MAIN_OUTPUT),
0x82, /* Volatile, Variable */
HID_MAIN_ITEM_0 (HID_TAG_MAIN_ENDCOLLECTION),
};
struct usb_config_hid_only {
struct usb_configuration_desc config;
struct usb_interface_desc hid_if;
struct usb_hid_desc hid;
struct usb_endpoint_desc hid_in;
struct usb_endpoint_desc hid_out;
} __attribute__((packed));
const struct usb_config_hid_only config_hid_only = {
.config = {
.bLength = sizeof(struct usb_configuration_desc),
.bDescriptorType = USB_DESC_TYPE_CONFIGURATION,
.wTotalLength = htousbs(sizeof(struct usb_config_hid_only)),
.bNumInterfaces = 1,
.bConfigurationValue = 1,
.iConfiguration = 0,
.bmAttributes = 0xC0,
.bMaxPower = 250/2, /* in units of 2ma */
},
.hid_if = {
.bLength = sizeof(struct usb_interface_desc),
.bDescriptorType = USB_DESC_TYPE_INTERFACE,
.bInterfaceNumber = 0,
.bAlternateSetting = 0,
.bNumEndpoints = 2,
.bInterfaceClass = USB_INTERFACE_CLASS_HID,
.bInterfaceSubClass = 0, /* no boot */
.nInterfaceProtocol = 0, /* none */
.iInterface = 0,
},
.hid = {
.bLength = sizeof(struct usb_hid_desc),
.bDescriptorType = USB_DESC_TYPE_HID,
.bcdHID = htousbs(0x0110),
.bCountryCode = 0,
.bNumDescriptors = 1,
.bClassDescriptorType = USB_DESC_TYPE_REPORT,
.wItemLength = htousbs(sizeof(hid_report_desc)),
},
.hid_in = {
.bLength = sizeof(struct usb_endpoint_desc),
.bDescriptorType = USB_DESC_TYPE_ENDPOINT,
.bEndpointAddress = USB_EP_IN(1),
.bmAttributes = USB_EP_ATTR_TT_INTERRUPT,
.wMaxPacketSize = htousbs(PIOS_USB_BOARD_HID_DATA_LENGTH),
.bInterval = 4, /* ms */
},
.hid_out = {
.bLength = sizeof(struct usb_endpoint_desc),
.bDescriptorType = USB_DESC_TYPE_ENDPOINT,
.bEndpointAddress = USB_EP_OUT(1),
.bmAttributes = USB_EP_ATTR_TT_INTERRUPT,
.wMaxPacketSize = htousbs(PIOS_USB_BOARD_HID_DATA_LENGTH),
.bInterval = 4, /* ms */
},
};
int32_t PIOS_USB_DESC_HID_ONLY_Init(void)
{
PIOS_USBHOOK_RegisterConfig(1, (uint8_t *)&config_hid_only, sizeof(config_hid_only));
PIOS_USBHOOK_RegisterDevice((uint8_t *)&device_desc, sizeof(device_desc));
PIOS_USBHOOK_RegisterHidInterface((uint8_t *)&(config_hid_only.hid_if), sizeof(config_hid_only.hid_if));
PIOS_USBHOOK_RegisterHidReport((uint8_t *)hid_report_desc, sizeof(hid_report_desc));
return 0;
}

2
flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h
View File

@ -155,7 +155,7 @@ typedef struct
*/
void EXTI_DeInit(void);
void EXTI_Init(EXTI_InitTypeDef* EXTI_InitStruct);
void EXTI_Init(const EXTI_InitTypeDef* EXTI_InitStruct);
void EXTI_StructInit(EXTI_InitTypeDef* EXTI_InitStruct);
void EXTI_GenerateSWInterrupt(uint32_t EXTI_Line);
FlagStatus EXTI_GetFlagStatus(uint32_t EXTI_Line);

2
flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c
View File

@ -97,7 +97,7 @@ void EXTI_DeInit(void)
* that contains the configuration information for the EXTI peripheral.
* @retval None
*/
void EXTI_Init(EXTI_InitTypeDef* EXTI_InitStruct)
void EXTI_Init(const EXTI_InitTypeDef* EXTI_InitStruct)
{
uint32_t tmp = 0;

27
flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h
View File

@ -35,7 +35,7 @@ typedef enum _CONTROL_STATE
typedef struct OneDescriptor
{
uint8_t *Descriptor;
const uint8_t *Descriptor;
uint16_t Descriptor_Size;
}
ONE_DESCRIPTOR, *PONE_DESCRIPTOR;
@ -80,7 +80,8 @@ typedef struct _ENDPOINT_INFO
uint16_t Usb_wLength;
uint16_t Usb_wOffset;
uint16_t PacketSize;
uint8_t *(*CopyData)(uint16_t Length);
const uint8_t *(*CopyDataIn)(uint16_t Length);
uint8_t *(*CopyDataOut)(uint16_t Length);
}ENDPOINT_INFO;
/*-*-*-*-*-*-*-*-*-*-*-* Definitions for device level -*-*-*-*-*-*-*-*-*-*-*-*/
@ -169,9 +170,9 @@ typedef struct _DEVICE_PROP
RESULT (*Class_Get_Interface_Setting)(uint8_t Interface, uint8_t AlternateSetting);
uint8_t* (*GetDeviceDescriptor)(uint16_t Length);
uint8_t* (*GetConfigDescriptor)(uint16_t Length);
uint8_t* (*GetStringDescriptor)(uint16_t Length);
const uint8_t* (*GetDeviceDescriptor)(uint16_t Length);
const uint8_t* (*GetConfigDescriptor)(uint16_t Length);
const uint8_t* (*GetStringDescriptor)(uint16_t Length);
/* This field is not used in current library version. It is kept only for
compatibility with previous versions */
@ -221,21 +222,21 @@ uint8_t In0_Process(void);
RESULT Standard_SetEndPointFeature(void);
RESULT Standard_SetDeviceFeature(void);
uint8_t *Standard_GetConfiguration(uint16_t Length);
const uint8_t *Standard_GetConfiguration(uint16_t Length);
RESULT Standard_SetConfiguration(void);
uint8_t *Standard_GetInterface(uint16_t Length);
const uint8_t *Standard_GetInterface(uint16_t Length);
RESULT Standard_SetInterface(void);
uint8_t *Standard_GetDescriptorData(uint16_t Length, PONE_DESCRIPTOR pDesc);
const uint8_t *Standard_GetDescriptorData(uint16_t Length, ONE_DESCRIPTOR *pDesc);
uint8_t *Standard_GetStatus(uint16_t Length);
const uint8_t *Standard_GetStatus(uint16_t Length);
RESULT Standard_ClearFeature(void);
void SetDeviceAddress(uint8_t);
void NOP_Process(void);
/*extern*/ DEVICE_PROP Device_Property;
/*extern*/ USER_STANDARD_REQUESTS User_Standard_Requests;
/*extern*/ DEVICE Device_Table;
/*extern*/ DEVICE_INFO Device_Info;
extern DEVICE_PROP Device_Property;
extern USER_STANDARD_REQUESTS User_Standard_Requests;
extern DEVICE Device_Table;
extern DEVICE_INFO Device_Info;
/* cells saving status during interrupt servicing */
extern __IO uint16_t SaveRState;

2
flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_mem.h
View File

@ -22,7 +22,7 @@
/* Exported constants --------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
/* Exported functions ------------------------------------------------------- */
void UserToPMABufferCopy(uint8_t *pbUsrBuf, uint16_t wPMABufAddr, uint16_t wNBytes);
void UserToPMABufferCopy(const uint8_t *pbUsrBuf, uint16_t wPMABufAddr, uint16_t wNBytes);
void PMAToUserBufferCopy(uint8_t *pbUsrBuf, uint16_t wPMABufAddr, uint16_t wNBytes);
/* External variables --------------------------------------------------------*/

20
flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_core.c
View File

@ -58,7 +58,7 @@ static void Data_Setup0(void);
* Return : Return 1 , if the request is invalid when "Length" is 0.
* Return "Buffer" if the "Length" is not 0.
*******************************************************************************/
uint8_t *Standard_GetConfiguration(uint16_t Length)
const uint8_t *Standard_GetConfiguration(uint16_t Length)
{
if (Length == 0)
{
@ -104,7 +104,7 @@ RESULT Standard_SetConfiguration(void)
* Return : Return 0, if the request is invalid when "Length" is 0.
* Return "Buffer" if the "Length" is not 0.
*******************************************************************************/
uint8_t *Standard_GetInterface(uint16_t Length)
const uint8_t *Standard_GetInterface(uint16_t Length)
{
if (Length == 0)
{
@ -160,7 +160,7 @@ RESULT Standard_SetInterface(void)
* Return : Return 0, if the request is at end of data block,
* or is invalid when "Length" is 0.
*******************************************************************************/
uint8_t *Standard_GetStatus(uint16_t Length)
const uint8_t *Standard_GetStatus(uint16_t Length)
{
if (Length == 0)
{
@ -415,7 +415,7 @@ RESULT Standard_SetDeviceFeature(void)
* wOffset The buffer pointed by this address contains at least
* Length bytes.
*******************************************************************************/
uint8_t *Standard_GetDescriptorData(uint16_t Length, ONE_DESCRIPTOR *pDesc)
const uint8_t *Standard_GetDescriptorData(uint16_t Length, PONE_DESCRIPTOR pDesc)
{
uint32_t wOffset;
@ -443,7 +443,7 @@ void DataStageOut(void)
save_rLength = pEPinfo->Usb_rLength;
if (pEPinfo->CopyData && save_rLength)
if (pEPinfo->CopyDataOut && save_rLength)
{
uint8_t *Buffer;
uint32_t Length;
@ -454,7 +454,7 @@ void DataStageOut(void)
Length = save_rLength;
}
Buffer = (*pEPinfo->CopyData)(Length);
Buffer = (*pEPinfo->CopyDataOut)(Length);
pEPinfo->Usb_rLength -= Length;
pEPinfo->Usb_rOffset += Length;
@ -503,7 +503,7 @@ void DataStageIn(void)
uint32_t save_wLength = pEPinfo->Usb_wLength;
uint32_t ControlState = pInformation->ControlState;
uint8_t *DataBuffer;
const uint8_t *DataBuffer;
uint32_t Length;
if ((save_wLength == 0) && (ControlState == LAST_IN_DATA))
@ -540,7 +540,7 @@ void DataStageIn(void)
Length = save_wLength;
}
DataBuffer = (*pEPinfo->CopyData)(Length);
DataBuffer = (*pEPinfo->CopyDataIn)(Length);
#ifdef STM32F10X_CL
PCD_EP_Write (ENDP0, DataBuffer, Length);
@ -697,7 +697,7 @@ exit_NoData_Setup0:
*******************************************************************************/
void Data_Setup0(void)
{
uint8_t *(*CopyRoutine)(uint16_t);
const uint8_t *(*CopyRoutine)(uint16_t);
RESULT Result;
uint32_t Request_No = pInformation->USBbRequest;
@ -802,7 +802,7 @@ void Data_Setup0(void)
if (CopyRoutine)
{
pInformation->Ctrl_Info.Usb_wOffset = wOffset;
pInformation->Ctrl_Info.CopyData = CopyRoutine;
pInformation->Ctrl_Info.CopyDataIn = CopyRoutine;
/* sb in the original the cast to word was directly */
/* now the cast is made step by step */
(*CopyRoutine)(0);

2
flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_mem.c
View File

@ -33,7 +33,7 @@
* Output : None.
* Return : None .
*******************************************************************************/
void UserToPMABufferCopy(uint8_t *pbUsrBuf, uint16_t wPMABufAddr, uint16_t wNBytes)
void UserToPMABufferCopy(const uint8_t *pbUsrBuf, uint16_t wPMABufAddr, uint16_t wNBytes)
{
uint32_t n = (wNBytes + 1) >> 1; /* n = (wNBytes + 1) / 2 */
uint32_t i, temp1, temp2;

11
flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld
View File

@ -98,16 +98,9 @@ SECTIONS
_init_stack_top = . - 4 ;
} > SRAM
_eram = ORIGIN(SRAM) + LENGTH(SRAM) ;
_ebss = _eram ;
_free_ram = . ;
.free_ram (NOLOAD) :
{
. = ORIGIN(SRAM) + LENGTH(SRAM) - _free_ram ;
/* This is used by the startup in order to initialize the .bss section */
_ebss = . ;
_eram = . ;
} > SRAM
/* keep the heap section at the end of the SRAM
* this will allow to claim the remaining bytes not used
* at run time! (done by the reset vector).

10
flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld
View File

@ -275,14 +275,8 @@ SECTIONS
_init_stack_top = . - 4 ;
} > RAM
_free_ram = . ;
.free_ram (NOLOAD) :
{
. = ORIGIN(RAM) + LENGTH(RAM) - _free_ram ;
/* This is used by the startup in order to initialize the .bss section */
_ebss = . ;
_eram = . ;
} > RAM
_eram = ORIGIN(SRAM) + LENGTH(SRAM) ;
_ebss = _eram ;
/* keep the heap section at the end of the SRAM
* this will allow to claim the remaining bytes not used

222
flight/PiOS/STM32F10x/pios_exti.c
View File

@ -5,7 +5,6 @@
* @{
* @addtogroup PIOS_EXTI External Interrupt Handlers
* @brief External interrupt handler functions
* @note Currently deals with BMP085 readings
* @{
*
* @file pios_exti.c
@ -35,61 +34,196 @@
#if defined(PIOS_INCLUDE_EXTI)
/**
* Handle external lines 15 to 10 interrupt requests
*/
void EXTI15_10_IRQHandler(void)
/* Map EXTI line to full config */
#define EXTI_MAX_LINES 16
#define PIOS_EXTI_INVALID 0xFF
static uint8_t pios_exti_line_to_cfg_map[EXTI_MAX_LINES] = {
[0 ... EXTI_MAX_LINES-1] = PIOS_EXTI_INVALID,
};
/* Table of exti configs registered at compile time */
extern struct pios_exti_cfg __start__exti __attribute__((weak));
extern struct pios_exti_cfg __stop__exti __attribute__((weak));
static uint8_t PIOS_EXTI_line_to_index (uint32_t line)
{
#if defined(PIOS_INCLUDE_FREERTOS)
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#endif
#if defined(PIOS_INCLUDE_BMP085)
if (EXTI_GetITStatus(PIOS_BMP085_EOC_EXTI_LINE) != RESET) {
/* Read the ADC Value */
#if defined(PIOS_INCLUDE_FREERTOS)
xSemaphoreGiveFromISR(PIOS_BMP085_EOC, &xHigherPriorityTaskWoken);
#else
PIOS_BMP085_EOC=1;
#endif
/* Clear the EXTI line pending bit */
EXTI_ClearITPendingBit(PIOS_BMP085_EOC_EXTI_LINE);
switch (line) {
case EXTI_Line0: return 0;
case EXTI_Line1: return 1;
case EXTI_Line2: return 2;
case EXTI_Line3: return 3;
case EXTI_Line4: return 4;
case EXTI_Line5: return 5;
case EXTI_Line6: return 6;
case EXTI_Line7: return 7;
case EXTI_Line8: return 8;
case EXTI_Line9: return 9;
case EXTI_Line10: return 10;
case EXTI_Line11: return 11;
case EXTI_Line12: return 12;
case EXTI_Line13: return 13;
case EXTI_Line14: return 14;
case EXTI_Line15: return 15;
}
#endif
#if defined(PIOS_INCLUDE_FREERTOS)
/* Yield From ISR if needed */
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
PIOS_Assert(0);
return 0xFF;
}
/**
* Handle external lines 9 to 5 interrupt requests
*/
extern void PIOS_HMC5843_IRQHandler(void);
void EXTI9_5_IRQHandler(void)
uint8_t PIOS_EXTI_gpio_port_to_exti_source_port(GPIO_TypeDef * gpio_port)
{
#if defined(PIOS_INCLUDE_HMC5843)
if (EXTI_GetITStatus(PIOS_HMC5843_DRDY_EXTI_LINE) != RESET) {
PIOS_HMC5843_IRQHandler();
EXTI_ClearITPendingBit(PIOS_HMC5843_DRDY_EXTI_LINE);
switch((uint32_t)gpio_port) {
case (uint32_t)GPIOA: return (GPIO_PortSourceGPIOA);
case (uint32_t)GPIOB: return (GPIO_PortSourceGPIOB);
case (uint32_t)GPIOC: return (GPIO_PortSourceGPIOC);
case (uint32_t)GPIOD: return (GPIO_PortSourceGPIOD);
case (uint32_t)GPIOE: return (GPIO_PortSourceGPIOE);
case (uint32_t)GPIOF: return (GPIO_PortSourceGPIOF);
case (uint32_t)GPIOG: return (GPIO_PortSourceGPIOG);
}
#endif
PIOS_Assert(0);
return 0xFF;
}
/**
* Handle external line 4 interrupt requests
*/
#if defined(PIOS_INCLUDE_USB)
void EXTI4_IRQHandler(void)
uint8_t PIOS_EXTI_gpio_pin_to_exti_source_pin(uint32_t gpio_pin)
{
if (EXTI_GetITStatus(PIOS_USB_DETECT_EXTI_LINE) != RESET) {
/* Clear the EXTI line pending bit */
EXTI_ClearITPendingBit(PIOS_USB_DETECT_EXTI_LINE);
switch((uint32_t)gpio_pin) {
case GPIO_Pin_0: return (GPIO_PinSource0);
case GPIO_Pin_1: return (GPIO_PinSource1);
case GPIO_Pin_2: return (GPIO_PinSource2);
case GPIO_Pin_3: return (GPIO_PinSource3);
case GPIO_Pin_4: return (GPIO_PinSource4);
case GPIO_Pin_5: return (GPIO_PinSource5);
case GPIO_Pin_6: return (GPIO_PinSource6);
case GPIO_Pin_7: return (GPIO_PinSource7);
case GPIO_Pin_8: return (GPIO_PinSource8);
case GPIO_Pin_9: return (GPIO_PinSource9);
case GPIO_Pin_10: return (GPIO_PinSource10);
case GPIO_Pin_11: return (GPIO_PinSource11);
case GPIO_Pin_12: return (GPIO_PinSource12);
case GPIO_Pin_13: return (GPIO_PinSource13);
case GPIO_Pin_14: return (GPIO_PinSource14);
case GPIO_Pin_15: return (GPIO_PinSource15);
}
PIOS_Assert(0);
return 0xFF;
}
#endif
int32_t PIOS_EXTI_Init(const struct pios_exti_cfg * cfg)
{
PIOS_Assert(cfg);
PIOS_Assert(&__start__exti);
PIOS_Assert(cfg >= &__start__exti);
PIOS_Assert(cfg < &__stop__exti);
uint8_t cfg_index = cfg - &__start__exti;
/* Connect this config to the requested vector */
uint8_t line_index = PIOS_EXTI_line_to_index(cfg->line);
if (pios_exti_line_to_cfg_map[line_index] != PIOS_EXTI_INVALID) {
/* Someone else already has this mapped */
goto out_fail;
}
/* Bind the config to the exti line */
pios_exti_line_to_cfg_map[line_index] = cfg_index;
/* Initialize the GPIO pin */
GPIO_Init(cfg->pin.gpio, &cfg->pin.init);
/* Set up the EXTI interrupt source */
uint8_t exti_source_port = PIOS_EXTI_gpio_port_to_exti_source_port(cfg->pin.gpio);
uint8_t exti_source_pin = PIOS_EXTI_gpio_pin_to_exti_source_pin(cfg->pin.init.GPIO_Pin);
GPIO_EXTILineConfig(exti_source_port, exti_source_pin);
EXTI_Init(&cfg->exti.init);
/* Enable the interrupt channel */
NVIC_Init(&cfg->irq.init);
return 0;
out_fail:
return -1;
}
static void PIOS_EXTI_generic_irq_handler(uint8_t line_index)
{
uint8_t cfg_index = pios_exti_line_to_cfg_map[line_index];
PIOS_Assert(&__start__exti);
if (cfg_index > NELEMENTS(pios_exti_line_to_cfg_map) ||
cfg_index == PIOS_EXTI_INVALID) {
/* Unconfigured interrupt just fired! */
return;
}
struct pios_exti_cfg * cfg = &__start__exti + cfg_index;
cfg->vector();
}
/* Bind Interrupt Handlers */
#define PIOS_EXTI_HANDLE_LINE(line) \
if (EXTI_GetITStatus(EXTI_Line##line) != RESET) { \
EXTI_ClearITPendingBit(EXTI_Line##line); \
PIOS_EXTI_generic_irq_handler(line); \
}
static void PIOS_EXTI_0_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(0);
}
void EXTI0_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_0_irq_handler")));
static void PIOS_EXTI_1_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(1);
}
void EXTI1_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_1_irq_handler")));
static void PIOS_EXTI_2_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(2);
}
void EXTI2_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_2_irq_handler")));
static void PIOS_EXTI_3_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(3);
}
void EXTI3_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_3_irq_handler")));
static void PIOS_EXTI_4_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(4);
}
void EXTI4_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_4_irq_handler")));
static void PIOS_EXTI_9_5_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(5);
PIOS_EXTI_HANDLE_LINE(6);
PIOS_EXTI_HANDLE_LINE(7);
PIOS_EXTI_HANDLE_LINE(8);
PIOS_EXTI_HANDLE_LINE(9);
}
void EXTI9_5_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_9_5_irq_handler")));
static void PIOS_EXTI_15_10_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(10);
PIOS_EXTI_HANDLE_LINE(11);
PIOS_EXTI_HANDLE_LINE(12);
PIOS_EXTI_HANDLE_LINE(13);
PIOS_EXTI_HANDLE_LINE(14);
PIOS_EXTI_HANDLE_LINE(15);
}
void EXTI15_10_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_15_10_irq_handler")));
#endif
/**

5
flight/PiOS/STM32F10x/pios_i2c.c
View File

@ -8,7 +8,6 @@
*
* @file pios_i2c.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
* @brief I2C Enable/Disable routines
* @see The GNU Public License (GPL) Version 3
*
@ -892,6 +891,10 @@ int32_t PIOS_I2C_Init(uint32_t * i2c_id, const struct pios_i2c_adapter_cfg * cfg
break;
}
if (i2c_adapter->cfg->remap) {
GPIO_PinRemapConfig(i2c_adapter->cfg->remap, ENABLE);
}
/* Initialize the state machine */
i2c_adapter_fsm_init(i2c_adapter);

98
flight/PiOS/STM32F10x/pios_led.c
View File

@ -33,57 +33,107 @@
#if defined(PIOS_INCLUDE_LED)
/* Private Function Prototypes */
#include <pios_led_priv.h>
/* Local Variables */
static GPIO_TypeDef *LED_GPIO_PORT[PIOS_LED_NUM] = PIOS_LED_PORTS;
static const uint32_t LED_GPIO_PIN[PIOS_LED_NUM] = PIOS_LED_PINS;
static const uint32_t LED_GPIO_CLK[PIOS_LED_NUM] = PIOS_LED_CLKS;
const static struct pios_led_cfg * led_cfg;
/**
* Initialises all the LED's
*/
void PIOS_LED_Init(void)
int32_t PIOS_LED_Init(const struct pios_led_cfg * cfg)
{
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
PIOS_Assert(cfg);
for (int LEDNum = 0; LEDNum < PIOS_LED_NUM; LEDNum++) {
RCC_APB2PeriphClockCmd(LED_GPIO_CLK[LEDNum], ENABLE);
GPIO_InitStructure.GPIO_Pin = LED_GPIO_PIN[LEDNum];
GPIO_Init(LED_GPIO_PORT[LEDNum], &GPIO_InitStructure);
/* Store away the config in a global used by API functions */
led_cfg = cfg;
/* LED's Off */
LED_GPIO_PORT[LEDNum]->BSRR = LED_GPIO_PIN[LEDNum];
for (uint8_t i = 0; i < cfg->num_leds; i++) {
const struct pios_led * led = &(cfg->leds[i]);
/* Enable the peripheral clock for the GPIO */
switch ((uint32_t)led->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;
}
if (led->remap) {
GPIO_PinRemapConfig(led->remap, ENABLE);
}
GPIO_Init(led->pin.gpio, &led->pin.init);
PIOS_LED_Off(i);
}
return 0;
}
/**
* Turn on LED
* \param[in] LED LED Name (LED1, LED2)
* \param[in] LED LED id
*/
void PIOS_LED_On(LedTypeDef LED)
void PIOS_LED_On(uint32_t led_id)
{
LED_GPIO_PORT[LED]->BRR = LED_GPIO_PIN[LED];
PIOS_Assert(led_cfg);
if (led_id >= led_cfg->num_leds) {
/* LED index out of range */
return;
}
const struct pios_led * led = &(led_cfg->leds[led_id]);
GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
}
/**
* Turn off LED
* \param[in] LED LED Name (LED1, LED2)
* \param[in] LED LED id
*/
void PIOS_LED_Off(LedTypeDef LED)
void PIOS_LED_Off(uint32_t led_id)
{
LED_GPIO_PORT[LED]->BSRR = LED_GPIO_PIN[LED];
PIOS_Assert(led_cfg);
if (led_id >= led_cfg->num_leds) {
/* LED index out of range */
return;
}
const struct pios_led * led = &(led_cfg->leds[led_id]);
GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
}
/**
* Toggle LED on/off
* \param[in] LED LED Name (LED1, LED2)
* \param[in] LED LED id
*/
void PIOS_LED_Toggle(LedTypeDef LED)
void PIOS_LED_Toggle(uint32_t led_id)
{
LED_GPIO_PORT[LED]->ODR ^= LED_GPIO_PIN[LED];
PIOS_Assert(led_cfg);
if (led_id >= led_cfg->num_leds) {
/* LED index out of range */
return;
}
const struct pios_led * led = &(led_cfg->leds[led_id]);
if (GPIO_ReadOutputDataBit(led->pin.gpio, led->pin.init.GPIO_Pin) == Bit_SET) {
PIOS_LED_On(led_id);
} else {
PIOS_LED_Off(led_id);
}
}
#endif

1
flight/PiOS/STM32F10x/pios_spi.c
View File

@ -8,7 +8,6 @@
*
* @file pios_spi.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
* @brief Hardware Abstraction Layer for SPI ports of STM32
* @see The GNU Public License (GPL) Version 3
* @notes

36
flight/PiOS/STM32F10x/pios_sys.c
View File

@ -77,10 +77,6 @@ void PIOS_SYS_Init(void)
/* Initialise Basic NVIC */
NVIC_Configuration();
#if defined(PIOS_INCLUDE_LED)
/* Initialise LEDs */
PIOS_LED_Init();
#endif
}
/**
@ -105,16 +101,12 @@ int32_t PIOS_SYS_Reset(void)
PIOS_IRQ_Disable();
// turn off all board LEDs
#if (PIOS_LED_NUM == 1)
PIOS_LED_Off(LED1);
#elif (PIOS_LED_NUM == 2)
PIOS_LED_Off(LED1);
PIOS_LED_Off(LED2);
#endif
/* Reset STM32 */
//RCC_APB2PeriphResetCmd(0xfffffff8, ENABLE); /* MBHP_CORE_STM32: don't reset GPIOA/AF due to USB pins */
//RCC_APB1PeriphResetCmd(0xff7fffff, ENABLE); /* don't reset USB, so that the connection can survive! */
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
#if defined(PIOS_LED_ALARM)
PIOS_LED_Off(PIOS_LED_ALARM);
#endif /* PIOS_LED_ALARM */
RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
@ -210,13 +202,21 @@ void assert_failed(uint8_t * file, uint32_t line)
/* printf("Wrong parameters value: file %s on line %d\r\n", file, line); */
/* Setup the LEDs to Alternate */
PIOS_LED_On(LED1);
PIOS_LED_Off(LED2);
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_On(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
#if defined(PIOS_LED_ALARM)
PIOS_LED_Off(PIOS_LED_ALARM);
#endif /* PIOS_LED_ALARM */
/* Infinite loop */
while (1) {
PIOS_LED_Toggle(LED1);
PIOS_LED_Toggle(LED2);
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
#if defined(PIOS_LED_ALARM)
PIOS_LED_Toggle(PIOS_LED_ALARM);
#endif /* PIOS_LED_ALARM */
for (int i = 0; i < 1000000; i++) ;
}
}

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