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Code Issues Releases Activity

Get the Revolution bootloader working

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This commit is contained in:
James Cotton 2011-11-13 17:13:42 -06:00
parent 2b37d4bbb5
commit ec84fc4058
21 changed files with 110 additions and 272 deletions
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151
flight/Bootloaders/INS/pios_board.c
View File

@ -1,151 +0,0 @@
/**
******************************************************************************
*
* @file pios_board.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Defines board specific static initializers for hardware for the AHRS board.
* @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.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_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 "bl_fsm.h" /* lfsm_* */
static bool board_init_complete = false;
void PIOS_Board_Init() {
if (board_init_complete) {
return;
}
#if defined(PIOS_INCLUDE_SPI)
/* 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);
}
lfsm_attach(pios_spi_op_id);
lfsm_init();
#endif
board_init_complete = true;
}

86
flight/Bootloaders/INS/Makefile → flight/Bootloaders/Revolution/Makefile
View File

@ -49,44 +49,36 @@ endif
FLASH_TOOL = OPENOCD FLASH_TOOL = OPENOCD
# Paths # Paths
INS_BL = ./ REVO_BL = ./
INS_BLINC = $(INS_BL)/inc REVO_BLINC = $(REVO_BL)/inc
PIOS = ../../PiOS PIOS = ../../PiOS
PIOSINC = $(PIOS)/inc PIOSINC = $(PIOS)/inc
FLIGHTLIB = ../Libraries FLIGHTLIB = ../../Libraries
FLIGHTLIBINC = ../Libraries/inc FLIGHTLIBINC = ../../Libraries/inc
PIOSSTM32FXX = $(PIOS)/STM32F2xx PIOSSTM32F4XX = $(PIOS)/STM32F4xx
PIOSCOMMON = $(PIOS)/Common PIOSCOMMON = $(PIOS)/Common
PIOSBOARDS = $(PIOS)/Boards PIOSBOARDS = $(PIOS)/Boards
APPLIBDIR = $(PIOSSTM32FXX)/Libraries PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries
APPLIBDIR = $(PIOSSTM32F4XX)/Libraries
STMLIBDIR = $(APPLIBDIR) STMLIBDIR = $(APPLIBDIR)
STMSPDDIR = $(STMLIBDIR)/STM32F2xx_StdPeriph_Driver STMSPDDIR = $(STMLIBDIR)/STM32F4xx_StdPeriph_Driver
STMSPDSRCDIR = $(STMSPDDIR)/src STMSPDSRCDIR = $(STMSPDDIR)/src
STMSPDINCDIR = $(STMSPDDIR)/inc STMSPDINCDIR = $(STMSPDDIR)/inc
CMSISDIR = $(STMLIBDIR)/CMSIS/Core/CM3
# List C source files here. (C dependencies are automatically generated.) # List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files # use file-extension c for "c-only"-files
## BOOTLOADER: ## BOOTLOADER:
SRC = main.c SRC += main.c
SRC += pios_board.c SRC += pios_board.c
SRC += bl_fsm.c SRC += bl_fsm.c
#SRC += insgps.c
#SRC += $(FLIGHTLIB)/CoordinateConversions.c
## PIOS Hardware (STM32F2xx) ## PIOS Hardware (STM32F4xx)
SRC += $(PIOSSTM32FXX)/pios_sys.c include $(PIOS)/STM32F4xx/library.mk
SRC += $(PIOSSTM32FXX)/pios_led.c
SRC += $(PIOSSTM32FXX)/pios_delay.c ## Library files
SRC += $(PIOSSTM32FXX)/pios_usart.c SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(PIOSSTM32FXX)/pios_irq.c
#SRC += $(PIOSSTM32FXX)/pios_i2c.c
#SRC += $(PIOSSTM32FXX)/pios_gpio.c
SRC += $(PIOSSTM32FXX)/pios_spi.c
SRC += $(PIOSSTM32FXX)/pios_iap.c
#SRC += $(PIOSSTM32FXX)/pios_debug.c
## PIOS Hardware (Common) ## PIOS Hardware (Common)
#SRC += $(PIOSCOMMON)/pios_com.c #SRC += $(PIOSCOMMON)/pios_com.c
@ -96,28 +88,6 @@ SRC += $(PIOSCOMMON)/pios_opahrs_proto.c
SRC += $(PIOSCOMMON)/printf-stdarg.c SRC += $(PIOSCOMMON)/printf-stdarg.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c SRC += $(PIOSCOMMON)/pios_bl_helper.c
## CMSIS for STM32
SRC += $(CMSISDIR)/core_cm3.c
SRC += $(CMSISDIR)/system_stm32f4xx.c
## Used parts of the STM-Library
SRC += $(STMSPDSRCDIR)/stm32f2xx_adc.c
# SRC += $(STMSPDSRCDIR)/stm32f2xx_bkp.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_crc.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_dac.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_dma.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_exti.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_flash.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_gpio.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_i2c.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_pwr.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_rcc.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_rtc.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_spi.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_tim.c
SRC += $(STMSPDSRCDIR)/stm32f2xx_usart.c
SRC += $(STMSPDSRCDIR)/misc.c
# List C source files here which must be compiled in ARM-Mode (no -mthumb). # List C source files here which must be compiled in ARM-Mode (no -mthumb).
# use file-extension c for "c-only"-files # use file-extension c for "c-only"-files
## just for testing, timer.c could be compiled in thumb-mode too ## just for testing, timer.c could be compiled in thumb-mode too
@ -132,29 +102,17 @@ CPPSRC =
#CPPSRCARM = $(TARGET).cpp #CPPSRCARM = $(TARGET).cpp
CPPSRCARM = CPPSRCARM =
# List Assembler source files here.
# Make them always end in a capital .S. Files ending in a lowercase .s
# will not be considered source files but generated files (assembler
# output from the compiler), and will be deleted upon "make clean"!
# Even though the DOS/Win* filesystem matches both .s and .S the same,
# it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line.
ASRC = $(PIOSSTM32FXX)/startup_stm32f2xx.S
# List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM =
# List any extra directories to look for include files here. # List any extra directories to look for include files here.
# Each directory must be seperated by a space. # Each directory must be seperated by a space.
EXTRAINCDIRS += $(PIOS) EXTRAINCDIRS += $(PIOS)
EXTRAINCDIRS += $(PIOSINC) EXTRAINCDIRS += $(PIOSINC)
EXTRAINCDIRS += $(FLIGHTLIBINC) EXTRAINCDIRS += $(FLIGHTLIBINC)
EXTRAINCDIRS += $(PIOSSTM32FXX) EXTRAINCDIRS += $(PIOSSTM34FXX)
EXTRAINCDIRS += $(PIOSCOMMON) EXTRAINCDIRS += $(PIOSCOMMON)
EXTRAINCDIRS += $(PIOSBOARDS) EXTRAINCDIRS += $(PIOSBOARDS)
EXTRAINCDIRS += $(STMSPDINCDIR) EXTRAINCDIRS += $(STMSPDINCDIR)
EXTRAINCDIRS += $(CMSISDIR) EXTRAINCDIRS += $(CMSISDIR)
EXTRAINCDIRS += $(INS_BLINC) EXTRAINCDIRS += $(REVO_BLINC)
# List any extra directories to look for library files here. # List any extra directories to look for library files here.
# Also add directories where the linker should search for # Also add directories where the linker should search for
@ -239,8 +197,7 @@ endif
# This is not the best place for these. Really should abstract out # This is not the best place for these. Really should abstract out
# to the board file or something # to the board file or something
CFLAGS += -DHSE_VALUE=$(OSCILLATOR_FREQ) CFLAGS += -DSTM32F4XX
CFLAGS += -DSTM32F2XX
CFLAGS += -DMEM_SIZE=1024000000 CFLAGS += -DMEM_SIZE=1024000000
CFLAGS += -g$(DEBUGF) CFLAGS += -g$(DEBUGF)
@ -293,9 +250,8 @@ LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
LDFLAGS += $(MATH_LIB) LDFLAGS += $(MATH_LIB)
LDFLAGS += -lc -lgcc LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name #Linker scripts
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_BL))
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
# Define programs and commands. # Define programs and commands.
REMOVE = $(REMOVE_CMD) -f REMOVE = $(REMOVE_CMD) -f
@ -362,7 +318,7 @@ $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION))) $(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
# Add jtag targets (program and wipe) # Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG))) $(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_CONFIG)))
.PHONY: elf lss sym hex bin bino .PHONY: elf lss sym hex bin bino
elf: $(OUTDIR)/$(TARGET).elf elf: $(OUTDIR)/$(TARGET).elf

0
flight/Bootloaders/INS/ahrs_slave_test.c → flight/Bootloaders/Revolution/ahrs_slave_test.c
View File

0
flight/Bootloaders/INS/ahrs_spi_program.c → flight/Bootloaders/Revolution/ahrs_spi_program.c
View File

0
flight/Bootloaders/INS/ahrs_spi_program_master.c → flight/Bootloaders/Revolution/ahrs_spi_program_master.c
View File

0
flight/Bootloaders/INS/ahrs_spi_program_slave.c → flight/Bootloaders/Revolution/ahrs_spi_program_slave.c
View File

0
flight/Bootloaders/INS/bl_fsm.c → flight/Bootloaders/Revolution/bl_fsm.c
View File

0
flight/Bootloaders/INS/inc/ahrs_bl.h → flight/Bootloaders/Revolution/inc/ahrs_bl.h
View File

0
flight/Bootloaders/INS/inc/ahrs_spi_program.h → flight/Bootloaders/Revolution/inc/ahrs_spi_program.h
View File

0
flight/Bootloaders/INS/inc/ahrs_spi_program_master.h → flight/Bootloaders/Revolution/inc/ahrs_spi_program_master.h
View File

0
flight/Bootloaders/INS/inc/ahrs_spi_program_slave.h → flight/Bootloaders/Revolution/inc/ahrs_spi_program_slave.h
View File

0
flight/Bootloaders/INS/inc/bl_fsm.h → flight/Bootloaders/Revolution/inc/bl_fsm.h
View File

0
flight/Bootloaders/INS/inc/ins_bl.h → flight/Bootloaders/Revolution/inc/ins_bl.h
View File

3
flight/Bootloaders/INS/inc/pios_config.h → flight/Bootloaders/Revolution/inc/pios_config.h
View File

@ -31,10 +31,9 @@
#define PIOS_INCLUDE_DELAY #define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_IRQ #define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_LED #define PIOS_INCLUDE_LED
//#define PIOS_INCLUDE_SPI #define PIOS_INCLUDE_SPI
#define PIOS_INCLUDE_SYS #define PIOS_INCLUDE_SYS
//#define PIOS_INCLUDE_BL_HELPER //#define PIOS_INCLUDE_BL_HELPER
//#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT //#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
#define PIOS_INCLUDE_GPIO
#endif /* PIOS_CONFIG_H */ #endif /* PIOS_CONFIG_H */

2
flight/Bootloaders/INS/main.c → flight/Bootloaders/Revolution/main.c
View File

@ -36,7 +36,7 @@
#include <pios_board_info.h> #include <pios_board_info.h>
#include "pios_opahrs_proto.h" #include "pios_opahrs_proto.h"
#include "bl_fsm.h" /* lfsm_state */ #include "bl_fsm.h" /* lfsm_state */
#include "stm32f2xx_flash.h" //#include "stm32f2xx_flash.h"
extern void PIOS_Board_Init(void); extern void PIOS_Board_Init(void);

37
flight/Bootloaders/Revolution/pios_board.c Normal file
View File

@ -0,0 +1,37 @@
/**
******************************************************************************
*
* @file pios_board.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Defines board specific static initializers for hardware for the AHRS board.
* @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.h>
#include "bl_fsm.h" /* lfsm_* */
static bool board_init_complete = false;
void PIOS_Board_Init() {
if (board_init_complete) {
return;
}
board_init_complete = true;
}

2
flight/PiOS/STM32F4xx/library.mk
View File

@ -13,7 +13,7 @@ PIOS_DEVLIB := $(dir $(lastword $(MAKEFILE_LIST)))
LINKER_SCRIPTS_APP = $(PIOS_DEVLIB)/link_STM32F4xx_OP_memory.ld \ LINKER_SCRIPTS_APP = $(PIOS_DEVLIB)/link_STM32F4xx_OP_memory.ld \
$(PIOS_DEVLIB)/link_STM32F4xx_sections.ld $(PIOS_DEVLIB)/link_STM32F4xx_sections.ld
LINKER_SCRIPTS_BL = $(PIOS_DEVLIB)/link_STM32F4xx_OP_memory.ld \ LINKER_SCRIPTS_BL = $(PIOS_DEVLIB)/link_STM32F4xx_BL_memory.ld \
$(PIOS_DEVLIB)/link_STM32F4xx_sections.ld $(PIOS_DEVLIB)/link_STM32F4xx_sections.ld
# #

2
flight/PiOS/pios.h
View File

@ -123,9 +123,7 @@
#include <pios_adxl345.h> #include <pios_adxl345.h>
#endif #endif
#if defined(PIOS_INCLUDE_BMA180)
#include <pios_bma180.h> #include <pios_bma180.h>
#endif
#if defined(PIOS_INCLUDE_FLASH) #if defined(PIOS_INCLUDE_FLASH)
#include <pios_flash_w25x.h> #include <pios_flash_w25x.h>

93
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -210,21 +210,6 @@
6560A38D13EE26B700105DA5 /* vectors_stm32f2xx.S */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.asm; path = vectors_stm32f2xx.S; sourceTree = "<group>"; }; 6560A38D13EE26B700105DA5 /* vectors_stm32f2xx.S */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.asm; path = vectors_stm32f2xx.S; sourceTree = "<group>"; };
6560A39B13EE270C00105DA5 /* startup_stm32f10x_HD_OP.S */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.asm; path = startup_stm32f10x_HD_OP.S; sourceTree = "<group>"; }; 6560A39B13EE270C00105DA5 /* startup_stm32f10x_HD_OP.S */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.asm; path = startup_stm32f10x_HD_OP.S; sourceTree = "<group>"; };
6560A39C13EE270C00105DA5 /* startup_stm32f10x_MD_CC.S */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.asm; path = startup_stm32f10x_MD_CC.S; sourceTree = "<group>"; }; 6560A39C13EE270C00105DA5 /* startup_stm32f10x_MD_CC.S */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.asm; path = startup_stm32f10x_MD_CC.S; sourceTree = "<group>"; };
6560A3A013EE2E8B00105DA5 /* ahrs_slave_test.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs_slave_test.c; path = INS/ahrs_slave_test.c; sourceTree = "<group>"; };
6560A3A113EE2E8B00105DA5 /* ahrs_spi_program_master.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs_spi_program_master.c; path = INS/ahrs_spi_program_master.c; sourceTree = "<group>"; };
6560A3A213EE2E8B00105DA5 /* ahrs_spi_program_slave.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs_spi_program_slave.c; path = INS/ahrs_spi_program_slave.c; sourceTree = "<group>"; };
6560A3A313EE2E8B00105DA5 /* ahrs_spi_program.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs_spi_program.c; path = INS/ahrs_spi_program.c; sourceTree = "<group>"; };
6560A3A413EE2E8B00105DA5 /* bl_fsm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = bl_fsm.c; path = INS/bl_fsm.c; sourceTree = "<group>"; };
6560A3A613EE2E8B00105DA5 /* ahrs_bl.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_bl.h; sourceTree = "<group>"; };
6560A3A713EE2E8B00105DA5 /* ahrs_spi_program.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_spi_program.h; sourceTree = "<group>"; };
6560A3A813EE2E8B00105DA5 /* ahrs_spi_program_master.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_spi_program_master.h; sourceTree = "<group>"; };
6560A3A913EE2E8B00105DA5 /* ahrs_spi_program_slave.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_spi_program_slave.h; sourceTree = "<group>"; };
6560A3AA13EE2E8B00105DA5 /* bl_fsm.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = bl_fsm.h; sourceTree = "<group>"; };
6560A3AB13EE2E8B00105DA5 /* ins_bl.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ins_bl.h; sourceTree = "<group>"; };
6560A3AC13EE2E8B00105DA5 /* pios_config.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_config.h; sourceTree = "<group>"; };
6560A3AD13EE2E8B00105DA5 /* main.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = main.c; path = INS/main.c; sourceTree = "<group>"; };
6560A3AE13EE2E8B00105DA5 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; name = Makefile; path = INS/Makefile; sourceTree = "<group>"; };
6560A3AF13EE2E8B00105DA5 /* pios_board.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_board.c; path = INS/pios_board.c; sourceTree = "<group>"; };
6560A3B313EE2FCB00105DA5 /* ahrs_timer.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_timer.h; sourceTree = "<group>"; }; 6560A3B313EE2FCB00105DA5 /* ahrs_timer.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_timer.h; sourceTree = "<group>"; };
6560A3B413EE2FCB00105DA5 /* ins.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ins.h; sourceTree = "<group>"; }; 6560A3B413EE2FCB00105DA5 /* ins.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ins.h; sourceTree = "<group>"; };
6560A3B513EE2FCB00105DA5 /* ins_fsm.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ins_fsm.h; sourceTree = "<group>"; }; 6560A3B513EE2FCB00105DA5 /* ins_fsm.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ins_fsm.h; sourceTree = "<group>"; };
@ -3461,6 +3446,21 @@
65F93D0612EE09290047DB36 /* transparent_comms.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = transparent_comms.c; sourceTree = "<group>"; }; 65F93D0612EE09290047DB36 /* transparent_comms.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = transparent_comms.c; sourceTree = "<group>"; };
65F93D0712EE09290047DB36 /* uavtalk_comms.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavtalk_comms.c; sourceTree = "<group>"; }; 65F93D0712EE09290047DB36 /* uavtalk_comms.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavtalk_comms.c; sourceTree = "<group>"; };
65F93D0812EE09290047DB36 /* watchdog.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = watchdog.c; sourceTree = "<group>"; }; 65F93D0812EE09290047DB36 /* watchdog.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = watchdog.c; sourceTree = "<group>"; };
65FA9B61147078450019A260 /* ahrs_slave_test.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_slave_test.c; sourceTree = "<group>"; };
65FA9B62147078450019A260 /* ahrs_spi_program.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_spi_program.c; sourceTree = "<group>"; };
65FA9B63147078450019A260 /* ahrs_spi_program_master.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_spi_program_master.c; sourceTree = "<group>"; };
65FA9B64147078450019A260 /* ahrs_spi_program_slave.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_spi_program_slave.c; sourceTree = "<group>"; };
65FA9B65147078450019A260 /* bl_fsm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = bl_fsm.c; sourceTree = "<group>"; };
65FA9B67147078450019A260 /* ahrs_bl.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_bl.h; sourceTree = "<group>"; };
65FA9B68147078450019A260 /* ahrs_spi_program.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_spi_program.h; sourceTree = "<group>"; };
65FA9B69147078450019A260 /* ahrs_spi_program_master.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_spi_program_master.h; sourceTree = "<group>"; };
65FA9B6A147078450019A260 /* ahrs_spi_program_slave.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_spi_program_slave.h; sourceTree = "<group>"; };
65FA9B6B147078450019A260 /* bl_fsm.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = bl_fsm.h; sourceTree = "<group>"; };
65FA9B6C147078450019A260 /* ins_bl.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ins_bl.h; sourceTree = "<group>"; };
65FA9B6D147078450019A260 /* pios_config.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_config.h; sourceTree = "<group>"; };
65FA9B6E147078450019A260 /* main.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = main.c; sourceTree = "<group>"; };
65FA9B6F147078450019A260 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; path = Makefile; sourceTree = "<group>"; };
65FA9B70147078450019A260 /* pios_board.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_board.c; sourceTree = "<group>"; };
65FAA03F133B669400F6F5CD /* GTOP_BIN.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = GTOP_BIN.c; sourceTree = "<group>"; }; 65FAA03F133B669400F6F5CD /* GTOP_BIN.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = GTOP_BIN.c; sourceTree = "<group>"; };
65FBE14412E7C98100176B5A /* pios_servo_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_servo_priv.h; sourceTree = "<group>"; }; 65FBE14412E7C98100176B5A /* pios_servo_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_servo_priv.h; sourceTree = "<group>"; };
65FC66AA123F30F100B04F74 /* ahrs_timer.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs_timer.c; path = ../../AHRS/ahrs_timer.c; sourceTree = SOURCE_ROOT; }; 65FC66AA123F30F100B04F74 /* ahrs_timer.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs_timer.c; path = ../../AHRS/ahrs_timer.c; sourceTree = SOURCE_ROOT; };
@ -4158,37 +4158,6 @@
path = src; path = src;
sourceTree = "<group>"; sourceTree = "<group>";
}; };
6560A39F13EE2E6E00105DA5 /* INS */ = {
isa = PBXGroup;
children = (
6560A3A013EE2E8B00105DA5 /* ahrs_slave_test.c */,
6560A3A113EE2E8B00105DA5 /* ahrs_spi_program_master.c */,
6560A3A213EE2E8B00105DA5 /* ahrs_spi_program_slave.c */,
6560A3A313EE2E8B00105DA5 /* ahrs_spi_program.c */,
6560A3A413EE2E8B00105DA5 /* bl_fsm.c */,
6560A3A513EE2E8B00105DA5 /* inc */,
6560A3AD13EE2E8B00105DA5 /* main.c */,
6560A3AE13EE2E8B00105DA5 /* Makefile */,
6560A3AF13EE2E8B00105DA5 /* pios_board.c */,
);
name = INS;
sourceTree = "<group>";
};
6560A3A513EE2E8B00105DA5 /* inc */ = {
isa = PBXGroup;
children = (
6560A3A613EE2E8B00105DA5 /* ahrs_bl.h */,
6560A3A713EE2E8B00105DA5 /* ahrs_spi_program.h */,
6560A3A813EE2E8B00105DA5 /* ahrs_spi_program_master.h */,
6560A3A913EE2E8B00105DA5 /* ahrs_spi_program_slave.h */,
6560A3AA13EE2E8B00105DA5 /* bl_fsm.h */,
6560A3AB13EE2E8B00105DA5 /* ins_bl.h */,
6560A3AC13EE2E8B00105DA5 /* pios_config.h */,
);
name = inc;
path = INS/inc;
sourceTree = "<group>";
};
6560A3B013EE2FCB00105DA5 /* INS */ = { 6560A3B013EE2FCB00105DA5 /* INS */ = {
isa = PBXGroup; isa = PBXGroup;
children = ( children = (
@ -9612,15 +9581,45 @@
path = inc; path = inc;
sourceTree = "<group>"; sourceTree = "<group>";
}; };
65FA9B60147078450019A260 /* Revolution */ = {
isa = PBXGroup;
children = (
65FA9B61147078450019A260 /* ahrs_slave_test.c */,
65FA9B62147078450019A260 /* ahrs_spi_program.c */,
65FA9B63147078450019A260 /* ahrs_spi_program_master.c */,
65FA9B64147078450019A260 /* ahrs_spi_program_slave.c */,
65FA9B65147078450019A260 /* bl_fsm.c */,
65FA9B66147078450019A260 /* inc */,
65FA9B6E147078450019A260 /* main.c */,
65FA9B6F147078450019A260 /* Makefile */,
65FA9B70147078450019A260 /* pios_board.c */,
);
path = Revolution;
sourceTree = "<group>";
};
65FA9B66147078450019A260 /* inc */ = {
isa = PBXGroup;
children = (
65FA9B67147078450019A260 /* ahrs_bl.h */,
65FA9B68147078450019A260 /* ahrs_spi_program.h */,
65FA9B69147078450019A260 /* ahrs_spi_program_master.h */,
65FA9B6A147078450019A260 /* ahrs_spi_program_slave.h */,
65FA9B6B147078450019A260 /* bl_fsm.h */,
65FA9B6C147078450019A260 /* ins_bl.h */,
65FA9B6D147078450019A260 /* pios_config.h */,
);
path = inc;
sourceTree = "<group>";
};
65FF4BB313791C3300146BE4 /* Bootloaders */ = { 65FF4BB313791C3300146BE4 /* Bootloaders */ = {
isa = PBXGroup; isa = PBXGroup;
children = ( children = (
6560A39F13EE2E6E00105DA5 /* INS */,
65FF4BB413791C3300146BE4 /* AHRS */, 65FF4BB413791C3300146BE4 /* AHRS */,
65FF4BC413791C3300146BE4 /* BootloaderUpdater */, 65FF4BC413791C3300146BE4 /* BootloaderUpdater */,
65FF4BCB13791C3300146BE4 /* CopterControl */, 65FF4BCB13791C3300146BE4 /* CopterControl */,
65FF4BD513791C3300146BE4 /* OpenPilot */, 65FF4BD513791C3300146BE4 /* OpenPilot */,
65FF4BE213791C3300146BE4 /* PipXtreme */, 65FF4BE213791C3300146BE4 /* PipXtreme */,
65FA9B60147078450019A260 /* Revolution */,
); );
name = Bootloaders; name = Bootloaders;
path = ../../Bootloaders; path = ../../Bootloaders;

4
flight/Project/gdb/revolution
View File

@ -1,8 +1,8 @@
define connect define connect
target remote localhost:3334 target remote localhost:3334
monitor cortex_m3 vector_catch all monitor cortex_m3 vector_catch all
file ./build/fw_revolution/fw_revolution.elf # file ./build/fw_revolution/fw_revolution.elf
# file ./build/bl_ins/bl_ins.elf file ./build/bl_ins/bl_ins.elf
end end
source CortexM3 source CortexM3

2
make/boards/revolution/board-info.mk
View File

@ -1,6 +1,6 @@
BOARD_TYPE := 0x05 BOARD_TYPE := 0x05
BOARD_REVISION := 0x01 BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x00 BOOTLOADER_VERSION := 0x01
HW_TYPE := 0x00 HW_TYPE := 0x00
MCU := cortex-m4 MCU := cortex-m4