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Merge branch 'AlessioMorale-amorale/LP05-Readd_CC_rebased' into next

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This commit is contained in:
Alessio Morale 2015-07-19 13:01:32 +02:00
commit ed9ea44ea3
64 changed files with 23433 additions and 461 deletions
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3
Makefile
View File

@ -214,9 +214,10 @@ export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics
DIRS += $(OPGCSSYNTHDIR)
# Define supported board lists
ALL_BOARDS := oplinkmini revolution osd revoproto simposix discoveryf4bare gpsplatinum revonano
ALL_BOARDS := coptercontrol oplinkmini revolution osd revoproto simposix discoveryf4bare gpsplatinum revonano
# Short names of each board (used to display board name in parallel builds)
coptercontrol_short := 'cc '
oplinkmini_short := 'oplm'
revolution_short := 'revo'
osd_short := 'osd '

6
flight/modules/Stabilization/outerloop.c
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@ -105,8 +105,9 @@ static void stabilizationOuterloopTask()
int t;
float dT = PIOS_DELTATIME_GetAverageSeconds(&timeval);
StabilizationStatusOuterLoopOptions newThrustMode = StabilizationStatusOuterLoopToArray(enabled)[STABILIZATIONSTATUS_OUTERLOOP_THRUST];
bool reinit = (newThrustMode != previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST]);
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
// Trigger a disable message to the alt hold on reinit to prevent that loop from running when not in use.
if (reinit) {
if (previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST] == STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE ||
@ -117,17 +118,20 @@ static void stabilizationOuterloopTask()
}
}
}
#endif
// update previous mode
previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST] = newThrustMode;
// calculate the thrust desired
switch (newThrustMode) {
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE:
rateDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST] = stabilizationAltitudeHold(stabilizationDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST], ALTITUDEHOLD, reinit);
break;
case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDEVARIO:
rateDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST] = stabilizationAltitudeHold(stabilizationDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST], ALTITUDEVARIO, reinit);
break;
#endif
case STABILIZATIONSTATUS_OUTERLOOP_DIRECT:
case STABILIZATIONSTATUS_OUTERLOOP_DIRECTWITHLIMITS:
default:

46
flight/modules/Telemetry/telemetry.c
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@ -95,6 +95,9 @@
#define STATS_UPDATE_PERIOD_MS 4000
#define CONNECTION_TIMEOUT_MS 8000
#ifdef PIOS_INCLUDE_RFM22B
#define HAS_RADIO
#endif
// Private types
typedef struct {
// Determine port on which to communicate telemetry information
@ -111,12 +114,14 @@ typedef struct {
// Telemetry stream
UAVTalkConnection uavTalkCon;
} channelContext;
#ifdef HAS_RADIO
// Main telemetry channel
static channelContext localChannel;
static int32_t transmitLocalData(uint8_t *data, int32_t length);
static void registerLocalObject(UAVObjHandle obj);
static uint32_t localPort();
static void updateSettings(channelContext *channel);
#endif
// OPLink telemetry channel
static channelContext radioChannel;
@ -150,7 +155,6 @@ static int32_t setLoggingPeriod(
int32_t updatePeriodMs);
static void updateTelemetryStats();
static void gcsTelemetryStatsUpdated();
static void updateSettings(channelContext *channel);
/**
* Initialise the telemetry module
@ -159,6 +163,7 @@ static void updateSettings(channelContext *channel);
*/
int32_t TelemetryStart(void)
{
#ifdef HAS_RADIO
// Only start the local telemetry tasks if needed
if (localPort()) {
UAVObjIterate(&registerLocalObject);
@ -187,8 +192,8 @@ int32_t TelemetryStart(void)
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYRX,
localChannel.rxTaskHandle);
}
// Start the telemetry tasks associated with Radio/USB
#endif /* ifdef HAS_RADIO */
// Start the telemetry tasks associated with Radio/USB
UAVObjIterate(&registerRadioObject);
// Listen to objects of interest
@ -229,9 +234,6 @@ void TelemetryInitializeChannel(channelContext *channel)
sizeof(UAVObjEvent));
#endif /* PIOS_TELEM_PRIORITY_QUEUE */
// Initialise UAVTalk
channel->uavTalkCon = UAVTalkInitialize(&transmitLocalData);
// Create periodic event that will be used to update the telemetry stats
UAVObjEvent ev;
memset(&ev, 0, sizeof(UAVObjEvent));
@ -267,7 +269,7 @@ int32_t TelemetryInitialize(void)
radio_port = PIOS_COM_RF;
}
#else /* PIOS_INCLUDE_RFM22B */
radio_port = 0;
radio_port = PIOS_COM_TELEM_RF;
#endif /* PIOS_INCLUDE_RFM22B */
FlightTelemetryStatsInitialize();
@ -279,10 +281,9 @@ int32_t TelemetryInitialize(void)
// Reset link stats
txErrors = 0;
txRetries = 0;
#ifdef HAS_RADIO
// Set channel port handlers
localChannel.getPort = localPort;
radioChannel.getPort = radioPort;
// Set the local telemetry baud rate
updateSettings(&localChannel);
@ -295,6 +296,9 @@ int32_t TelemetryInitialize(void)
localChannel.uavTalkCon = UAVTalkInitialize(&transmitLocalData);
}
#endif
// Set channel port handlers
radioChannel.getPort = radioPort;
// Initialise channel
TelemetryInitializeChannel(&radioChannel);
// Initialise UAVTalk
@ -304,7 +308,7 @@ int32_t TelemetryInitialize(void)
}
MODULE_INITCALL(TelemetryInitialize, TelemetryStart);
#ifdef HAS_RADIO
/**
* Register a new object, adds object to local list and connects the queue depending on the object's
* telemetry settings.
@ -327,7 +331,7 @@ static void registerLocalObject(UAVObjHandle obj)
EV_NONE);
}
}
#endif
static void registerRadioObject(UAVObjHandle obj)
{
if (UAVObjIsMetaobject(obj)) {
@ -635,7 +639,7 @@ static void telemetryRxTask(void *parameters)
}
}
#ifdef HAS_RADIO
/**
* Determine the port to be used for communication on the telemetry channel
* \return com port number
@ -644,7 +648,7 @@ static uint32_t localPort()
{
return PIOS_COM_TELEM_RF;
}
#endif
/**
* Determine the port to be used for communication on the radio channel
@ -664,7 +668,7 @@ static uint32_t radioPort()
return port;
}
#ifdef HAS_RADIO
/**
* Transmit data buffer to the modem or USB port.
* \param[in] data Data buffer to send
@ -682,7 +686,7 @@ static int32_t transmitLocalData(uint8_t *data, int32_t length)
return -1;
}
#endif
/**
* Transmit data buffer to the radioport.
@ -804,9 +808,10 @@ static void updateTelemetryStats()
uint32_t timeNow;
// Get stats
UAVTalkGetStats(localChannel.uavTalkCon, &utalkStats, true);
UAVTalkAddStats(radioChannel.uavTalkCon, &utalkStats, true);
UAVTalkGetStats(radioChannel.uavTalkCon, &utalkStats, true);
#ifdef HAS_RADIO
UAVTalkAddStats(localChannel.uavTalkCon, &utalkStats, true);
#endif
// Get object data
FlightTelemetryStatsGet(&flightStats);
GCSTelemetryStatsGet(&gcsStats);
@ -888,6 +893,7 @@ static void updateTelemetryStats()
}
}
#ifdef HAS_RADIO
/**
* Update the telemetry settings, called on startup.
* FIXME: This should be in the TelemetrySettings object. But objects
@ -931,7 +937,7 @@ static void updateSettings(channelContext *channel)
}
}
#endif /* ifdef HAS_RADIO */
/**
* @}
* @}

7
flight/pios/inc/pios_usb_defs.h
View File

@ -353,6 +353,7 @@ enum usb_cdc_notification {
enum usb_product_ids {
USB_PRODUCT_ID_OPENPILOT_MAIN = 0x415A,
USB_PRODUCT_ID_COPTERCONTROL = 0x415B,
USB_PRODUCT_ID_OPLINK = 0x415C,
USB_PRODUCT_ID_CC3D = 0x415D,
USB_PRODUCT_ID_REVOLUTION = 0x415E,
@ -363,9 +364,9 @@ enum usb_product_ids {
enum usb_op_board_ids {
USB_OP_BOARD_ID_OPENPILOT_MAIN = 1,
/* Board ID 2 may be unused or AHRS */
USB_OP_BOARD_ID_OPLINK = 3,
/* USB_OP_BOARD_ID_COPTERCONTROL = 4, */
USB_OP_BOARD_ID_REVOLUTION = 5,
USB_OP_BOARD_ID_OPLINK = 3,
USB_OP_BOARD_ID_COPTERCONTROL = 4,
USB_OP_BOARD_ID_REVOLUTION = 5,
USB_OP_BOARD_ID_OSD = 6,
} __attribute__((packed));

23
flight/targets/boards/coptercontrol/board-info.mk Normal file
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@ -0,0 +1,23 @@
BOARD_TYPE := 0x04
BOARD_REVISION := 0x02
BOOTLOADER_VERSION := 0x04
HW_TYPE := 0x01
MCU := cortex-m3
CHIP := STM32F103CBT
BOARD := STM32103CB_CC_Rev1
MODEL := MD
MODEL_SUFFIX := _CC
OPENOCD_JTAG_CONFIG := foss-jtag.revb.cfg
OPENOCD_CONFIG := stm32f1x.cfg
# Note: These must match the values in link_$(BOARD)_memory.ld
BL_BANK_BASE := 0x08000000 # Start of bootloader flash
BL_BANK_SIZE := 0x00003000 # Should include BD_INFO region
FW_BANK_BASE := 0x08003000 # Start of firmware flash
FW_BANK_SIZE := 0x0001D000 # Should include FW_DESC_SIZE
FW_DESC_SIZE := 0x00000064
OSCILLATOR_FREQ := 8000000

1525
flight/targets/boards/coptercontrol/board_hw_defs.c Normal file
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@ -0,0 +1,1525 @@
/**
******************************************************************************
* @file board_hw_defs.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @author PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
* @brief Defines board specific static initializers for hardware for the CopterControl board.
*****************************************************************************/
/*
* 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
*/
#define BOARD_REVISION_CC 1
#define BOARD_REVISION_CC3D 2
#if defined(PIOS_INCLUDE_LED)
#include <pios_led_priv.h>
static const struct pios_gpio pios_leds_cc[] = {
[PIOS_LED_HEARTBEAT] = {
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
.active_low = true
},
};
static const struct pios_gpio_cfg pios_led_cfg_cc = {
.gpios = pios_leds_cc,
.num_gpios = NELEMENTS(pios_leds_cc),
};
static const struct pios_gpio pios_leds_cc3d[] = {
[PIOS_LED_HEARTBEAT] = {
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_3,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
.remap = GPIO_Remap_SWJ_JTAGDisable,
.active_low = true
},
};
static const struct pios_gpio_cfg pios_led_cfg_cc3d = {
.gpios = pios_leds_cc3d,
.num_gpios = NELEMENTS(pios_leds_cc3d),
};
const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(uint32_t board_revision)
{
switch (board_revision) {
case BOARD_REVISION_CC: return &pios_led_cfg_cc;
case BOARD_REVISION_CC3D: return &pios_led_cfg_cc3d;
default: return NULL;
}
}
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_SPI)
#include <pios_spi_priv.h>
/* Gyro interface */
void PIOS_SPI_gyro_irq_handler(void);
void DMA1_Channel2_IRQHandler() __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
void DMA1_Channel3_IRQHandler() __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
static const struct pios_spi_cfg pios_spi_gyro_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_16, /* 10 Mhz */
},
.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_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,
},
},
},
.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,
},
},
.slave_count = 1,
.ssel = {
{
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_4,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
}
},
};
static uint32_t pios_spi_gyro_id;
void PIOS_SPI_gyro_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_gyro_id);
}
/* 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_cc3d = {
.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 = 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,
},
},
},
.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,
},
},
.slave_count = 2,
.ssel = {
{
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
}
},{
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
},
}
},
};
static const struct pios_spi_cfg pios_spi_flash_accel_cfg_cc = {
.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 = 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,
},
},
},
.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,
},
},
.slave_count = 2,
.ssel = {
{
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_Out_PP,
}
},{
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_Out_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 */
#if defined(PIOS_INCLUDE_FLASH)
#include "pios_flashfs_logfs_priv.h"
#include "pios_flash_jedec_priv.h"
static const struct flashfs_logfs_cfg flashfs_w25x_cfg = {
.fs_magic = 0x99abcdef,
.total_fs_size = 0x00080000, /* 512K bytes (128 sectors = entire chip) */
.arena_size = 0x00010000, /* 256 * slot size */
.slot_size = 0x00000100, /* 256 bytes */
.start_offset = 0, /* start at the beginning of the chip */
.sector_size = 0x00001000, /* 4K bytes */
.page_size = 0x00000100, /* 256 bytes */
};
static const struct flashfs_logfs_cfg flashfs_m25p_cfg = {
.fs_magic = 0x99abceef,
.total_fs_size = 0x00200000, /* 2M bytes (32 sectors = entire chip) */
.arena_size = 0x00010000, /* 256 * slot size */
.slot_size = 0x00000100, /* 256 bytes */
.start_offset = 0, /* start at the beginning of the chip */
.sector_size = 0x00010000, /* 64K bytes */
.page_size = 0x00000100, /* 256 bytes */
};
#include "pios_flash.h"
#endif /* PIOS_INCLUDE_FLASH */
/*
* ADC system
*/
#if defined(PIOS_INCLUDE_ADC)
#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_MID,
.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,
};
void PIOS_ADC_handler()
{
PIOS_ADC_DMA_Handler();
}
#endif /* if defined(PIOS_INCLUDE_ADC) */
#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,
},
},
},
};
static const struct pios_tim_channel pios_tim_ppm_flexi_port = {
.timer = TIM2,
.timer_chan = TIM_Channel_4,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Mode = GPIO_Mode_IPD,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
.remap = GPIO_PartialRemap2_TIM2,
};
#if defined(PIOS_INCLUDE_USART)
#include "pios_usart_priv.h"
static const struct pios_usart_cfg pios_usart_generic_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_generic_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,
},
},
};
#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 */
/*
* HK OSD
*/
static const struct pios_usart_cfg pios_usart_hkosd_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_hkosd_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_USART */
#if defined(PIOS_INCLUDE_COM)
#include "pios_com_priv.h"
#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 /* if defined(PIOS_INCLUDE_RTC) */
#if defined(PIOS_INCLUDE_SERVO) && defined(PIOS_INCLUDE_TIM)
/*
* 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),
};
#endif /* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */
/*
* 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,
};
const struct pios_ppm_cfg pios_ppm_pin8_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[5],
.num_channels = 1,
};
#endif /* PIOS_INCLUDE_PPM */
#if defined(PIOS_INCLUDE_PPM_FLEXI)
#include <pios_ppm_priv.h>
const struct pios_ppm_cfg pios_ppm_flexi_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_ppm_flexi_port,
.num_channels = 1,
};
#endif /* PIOS_INCLUDE_PPM_FLEXI */
/*
* 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),
};
const struct pios_pwm_cfg pios_pwm_with_ppm_cfg = {
.tim_ic_init = {
.TIM_ICPolarity = TIM_ICPolarity_Rising,
.TIM_ICSelection = TIM_ICSelection_DirectTI,
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
.TIM_ICFilter = 0x0,
},
/* Leave the first channel for PPM use and use the rest for PWM */
.channels = &pios_tim_rcvrport_all_channels[1],
.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels) - 1,
};
#endif /* if defined(PIOS_INCLUDE_PWM) */
/*
* SONAR Inputs
*/
#if defined(PIOS_INCLUDE_HCSR04)
#include <pios_hcsr04_priv.h>
static const struct pios_tim_channel pios_tim_hcsr04_port_all_channels[] = {
{
.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_hcsr04_cfg pios_hcsr04_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_hcsr04_port_all_channels,
.num_channels = NELEMENTS(pios_tim_hcsr04_port_all_channels),
.trigger = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
},
};
#endif /* if defined(PIOS_INCLUDE_HCSR04) */
#if defined(PIOS_INCLUDE_I2C)
#include <pios_i2c_priv.h>
/*
* I2C Adapters
*/
void PIOS_I2C_flexi_adapter_ev_irq_handler(void);
void PIOS_I2C_flexi_adapter_er_irq_handler(void);
void I2C2_EV_IRQHandler() __attribute__((alias("PIOS_I2C_flexi_adapter_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__((alias("PIOS_I2C_flexi_adapter_er_irq_handler")));
static const struct pios_i2c_adapter_cfg pios_i2c_flexi_adapter_cfg = {
.regs = I2C2,
.init = {
.I2C_Mode = I2C_Mode_I2C,
.I2C_OwnAddress1 = 0,
.I2C_Ack = I2C_Ack_Enable,
.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
.I2C_DutyCycle = I2C_DutyCycle_2,
.I2C_ClockSpeed = 400000, /* bits/s */
},
.transfer_timeout_ms = 50,
.scl = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_AF_OD,
},
},
.sda = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_AF_OD,
},
},
.event = {
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_EV_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.error = {
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_ER_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
uint32_t pios_i2c_flexi_adapter_id;
void PIOS_I2C_flexi_adapter_ev_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_I2C_EV_IRQ_Handler(pios_i2c_flexi_adapter_id);
}
void PIOS_I2C_flexi_adapter_er_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_I2C_ER_IRQ_Handler(pios_i2c_flexi_adapter_id);
}
#endif /* PIOS_INCLUDE_I2C */
#if defined(PIOS_INCLUDE_GCSRCVR)
#include "pios_gcsrcvr_priv.h"
#endif /* PIOS_INCLUDE_GCSRCVR */
#if defined(PIOS_INCLUDE_RCVR)
#include "pios_rcvr_priv.h"
#endif /* PIOS_INCLUDE_RCVR */
#if defined(PIOS_INCLUDE_USB)
#include "pios_usb_priv.h"
static const struct pios_usb_cfg pios_usb_main_cfg_cc = {
.irq = {
.init = {
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.vsense = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_AF_OD,
},
},
.vsense_active_low = false
};
static const struct pios_usb_cfg pios_usb_main_cfg_cc3d = {
.irq = {
.init = {
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.vsense = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_14,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_AF_OD,
},
},
.vsense_active_low = false
};
#include "pios_usb_board_data_priv.h"
#include "pios_usb_desc_hid_cdc_priv.h"
#include "pios_usb_desc_hid_only_priv.h"
#endif /* PIOS_INCLUDE_USB */
#if defined(PIOS_INCLUDE_COM_MSG)
#include <pios_com_msg_priv.h>
#endif /* PIOS_INCLUDE_COM_MSG */
#if defined(PIOS_INCLUDE_USB_HID)
#include <pios_usb_hid_priv.h>
const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
.data_if = 2,
.data_rx_ep = 1,
.data_tx_ep = 1,
};
#endif /* PIOS_INCLUDE_USB_HID */
#if defined(PIOS_INCLUDE_USB_RCTX)
#include <pios_usb_rctx_priv.h>
const struct pios_usb_rctx_cfg pios_usb_rctx_cfg = {
.data_if = 2,
.data_tx_ep = 1,
};
#endif /* PIOS_INCLUDE_USB_RCTX */
#if defined(PIOS_INCLUDE_USB_CDC)
#include <pios_usb_cdc_priv.h>
const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = {
.ctrl_if = 0,
.ctrl_tx_ep = 2,
.data_if = 1,
.data_rx_ep = 3,
.data_tx_ep = 3,
};
#endif /* PIOS_INCLUDE_USB_CDC */

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#
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
#
# 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 OPENPILOT_IS_COOL
$(error Top level Makefile must be used to build this target)
endif
## The standard CMSIS startup
SRC += $(CMSIS_DEVICEDIR)/system_stm32f10x.c
include ../board-info.mk
include $(ROOT_DIR)/make/firmware-defs.mk
include $(ROOT_DIR)/make/boot-defs.mk
include $(ROOT_DIR)/make/common-defs.mk
$(info Making bootloader for CopterControl, board revision $(BOARD_REVISION))
$(info Use BOARD_REVISION=1 for CC, BOARD_REVISION=2 for CC3D (default))

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/**
******************************************************************************
* @addtogroup CopterControlBL CopterControl BootLoader
* @brief These files contain the code to the CopterControl Bootloader.
*
* @{
* @file common.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief This file contains various common defines for the BootLoader
* @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 COMMON_H_
#define COMMON_H_
// #include "board.h"
typedef enum {
start, keepgoing,
} DownloadAction;
/**************************************************/
/* OP_DFU states */
/**************************************************/
typedef enum {
DFUidle, // 0
uploading, // 1
wrong_packet_received, // 2
too_many_packets, // 3
too_few_packets, // 4
Last_operation_Success, // 5
downloading, // 6
BLidle, // 7
Last_operation_failed, // 8
uploadingStarting, // 9
outsideDevCapabilities, // 10
CRC_Fail, // 11
failed_jump,
// 12
} DFUStates;
/**************************************************/
/* OP_DFU commands */
/**************************************************/
typedef enum {
Reserved, // 0
Req_Capabilities, // 1
Rep_Capabilities, // 2
EnterDFU, // 3
JumpFW, // 4
Reset, // 5
Abort_Operation, // 6
Upload, // 7
Op_END, // 8
Download_Req, // 9
Download, // 10
Status_Request, // 11
Status_Rep
// 12
} DFUCommands;
typedef enum {
High_Density, Medium_Density
} DeviceType;
/**************************************************/
/* OP_DFU transfer types */
/**************************************************/
typedef enum {
FW, // 0
Descript
// 2
} DFUTransfer;
/**************************************************/
/* OP_DFU transfer port */
/**************************************************/
typedef enum {
Usb, // 0
Serial
// 2
} DFUPort;
/**************************************************/
/* OP_DFU programable programable HW types */
/**************************************************/
typedef enum {
Self_flash, // 0
Remote_flash_via_spi
// 1
} DFUProgType;
/**************************************************/
/* OP_DFU programable sources */
/**************************************************/
#define USB 0
#define SPI 1
#define DownloadDelay 100000
#define MAX_DEL_RETRYS 3
#define MAX_WRI_RETRYS 3
#endif /* COMMON_H_ */

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/**
******************************************************************************
* @addtogroup CopterControlBL CopterControl BootLoader
* @brief These files contain the code to the CopterControl Bootloader.
* @{
* @file pios_config.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief PiOS configuration header.
* Central compile time config for the project.
* In particular, pios_config.h is where you define which PiOS libraries
* and features are included in the firmware.
* @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_CONFIG_H
#define PIOS_CONFIG_H
/* Enable/Disable PiOS modules */
#define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_USB
#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_IAP
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_COM_MSG
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
#endif /* PIOS_CONFIG_H */
/**
* @}
* @}
*/

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/**
******************************************************************************
* @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
// Note : changing below length will require changes to the USB buffer setup
#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)
#define PIOS_USB_BOARD_SN_SUFFIX "+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 */

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/**
******************************************************************************
* @addtogroup CopterControlBL CopterControl BootLoader
* @brief These files contain the code to the CopterControl Bootloader.
*
* @{
* @file main.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief This is the file with the main function of the OpenPilot BootLoader
* @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 <pios_board_info.h>
#include <op_dfu.h>
#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();
#define BSL_HOLD_STATE ((PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) ? 0 : 1)
/* Private typedef -----------------------------------------------------------*/
typedef void (*pFunction)(void);
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
pFunction Jump_To_Application;
uint32_t JumpAddress;
/// LEDs PWM
uint32_t period1 = 5000; // 5 mS
uint32_t sweep_steps1 = 100; // * 5 mS -> 500 mS
uint32_t period2 = 5000; // 5 mS
uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
////////////////////////////////////////
uint8_t tempcount = 0;
/* Extern variables ----------------------------------------------------------*/
DFUStates DeviceState;
int16_t status = 0;
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[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();
int main()
{
PIOS_SYS_Init();
PIOS_Board_Init();
PIOS_IAP_Init();
USB_connected = PIOS_USB_CableConnected(0);
if (PIOS_IAP_CheckRequest() == TRUE) {
PIOS_DELAY_WaitmS(1000);
User_DFU_request = TRUE;
PIOS_IAP_ClearRequest();
}
GO_dfu = (USB_connected == TRUE) || (User_DFU_request == TRUE);
if (GO_dfu == TRUE) {
PIOS_Board_Init();
if (User_DFU_request == TRUE) {
DeviceState = DFUidle;
} else {
DeviceState = BLidle;
}
} else {
JumpToApp = TRUE;
}
uint32_t stopwatch = 0;
uint32_t prev_ticks = PIOS_DELAY_GetuS();
while (TRUE) {
/* Update the stopwatch */
uint32_t elapsed_ticks = PIOS_DELAY_GetuSSince(prev_ticks);
prev_ticks += elapsed_ticks;
stopwatch += elapsed_ticks;
if (JumpToApp == TRUE) {
jump_to_app();
}
switch (DeviceState) {
case Last_operation_Success:
case uploadingStarting:
case DFUidle:
period1 = 5000;
sweep_steps1 = 100;
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
case uploading:
period1 = 5000;
sweep_steps1 = 100;
period2 = 2500;
sweep_steps2 = 50;
break;
case downloading:
period1 = 2500;
sweep_steps1 = 50;
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
case BLidle:
period1 = 0;
PIOS_LED_On(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
default: // error
period1 = 5000;
sweep_steps1 = 100;
period2 = 5000;
sweep_steps2 = 100;
}
if (period1 != 0) {
if (LedPWM(period1, sweep_steps1, stopwatch)) {
PIOS_LED_On(PIOS_LED_HEARTBEAT);
} else {
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
}
} else {
PIOS_LED_On(PIOS_LED_HEARTBEAT);
}
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, stopwatch)) {
PIOS_LED_On(PIOS_LED_HEARTBEAT);
} else {
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
}
} else {
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
}
if (stopwatch > 50 * 1000 * 1000) {
stopwatch = 0;
}
if ((stopwatch > 6 * 1000 * 1000) && ((DeviceState == BLidle) || (DeviceState == DFUidle && !USB_connected))) {
JumpToApp = TRUE;
}
processRX();
DataDownload(start);
}
}
void jump_to_app()
{
const struct pios_board_info *bdinfo = &pios_board_info_blob;
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;
/* Initialize user application's Stack Pointer */
__set_MSP(*(__IO uint32_t *)bdinfo->fw_base);
Jump_To_Application();
} else {
DeviceState = failed_jump;
return;
}
}
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count)
{
uint32_t curr_step = (count / pwm_period) % pwm_sweep_steps; /* 0 - pwm_sweep_steps */
uint32_t pwm_duty = pwm_period * curr_step / pwm_sweep_steps; /* fraction of pwm_period */
uint32_t curr_sweep = (count / (pwm_period * pwm_sweep_steps)); /* ticks once per full sweep */
if (curr_sweep & 1) {
pwm_duty = pwm_period - pwm_duty; /* reverse direction in odd sweeps */
}
return ((count % pwm_period) > pwm_duty) ? 1 : 0;
}
uint8_t processRX()
{
if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
processComand(mReceive_Buffer);
}
return TRUE;
}
int32_t platform_senddata(const uint8_t *msg, uint16_t msg_len)
{
return PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, msg, msg_len);
}

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/**
******************************************************************************
*
* @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 CopterControl 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 <pios_board_info.h>
/*
* 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"
uint32_t pios_com_telem_usb_id;
/**
* PIOS_Board_Init()
* initializes all the core subsystems on this specific hardware
* called from System/openpilot.c
*/
static bool board_init_complete = false;
void PIOS_Board_Init(void)
{
if (board_init_complete) {
return;
}
/* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
/* Flash 2 wait state */
FLASH_SetLatency(FLASH_Latency_2);
/* Delay system */
PIOS_DELAY_Init();
const struct pios_board_info *bdinfo = &pios_board_info_blob;
#if defined(PIOS_INCLUDE_LED)
const struct pios_gpio_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
PIOS_Assert(led_cfg);
PIOS_LED_Init(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;
switch (bdinfo->board_rev) {
case BOARD_REVISION_CC:
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc);
break;
case BOARD_REVISION_CC3D:
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc3d);
break;
default:
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_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
board_init_complete = true;
}
void PIOS_ADC_DMA_Handler()
{}

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#
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
# Copyright (c) 2012, PhoenixPilot, http://github.com/PhoenixPilot
#
# 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 OPENPILOT_IS_COOL
$(error Top level Makefile must be used to build this target)
endif
include ../board-info.mk
include $(ROOT_DIR)/make/firmware-defs.mk
# ARM DSP library
USE_DSP_LIB ?= NO
# Set to YES to build a FW version that will erase data flash memory
ERASE_FLASH ?= NO
# Set to yes to include Gcsreceiver module
GCSRECEIVER ?= NO
# Enable Diag tasks ?
DIAG_TASKS ?= NO
# List of mandatory modules to include
MODULES += Attitude
MODULES += Stabilization
MODULES += Actuator
MODULES += Receiver
MODULES += ManualControl
MODULES += FirmwareIAP
MODULES += Telemetry
# List of optional modules to include
OPTMODULES += CameraStab
OPTMODULES += ComUsbBridge
OPTMODULES += GPS
OPTMODULES += TxPID
OPTMODULES += Osd/osdoutput
#OPTMODULES += Altitude
#OPTMODULES += Fault
SRC += $(FLIGHTLIB)/notification.c
# Include all camera options
CDEFS += -DUSE_INPUT_LPF -DUSE_GIMBAL_LPF -DUSE_GIMBAL_FF
# Erase flash firmware should be buildable from command line
ifeq ($(ERASE_FLASH), YES)
CDEFS += -DERASE_FLASH
endif
# List C source files here (C dependencies are automatically generated).
# Use file-extension c for "c-only"-files
ifndef TESTAPP
## The standard CMSIS startup
SRC += $(CMSIS_DEVICEDIR)/system_stm32f10x.c
## Application Core
SRC += ../pios_usb_board_data.c
SRC += $(OPMODULEDIR)/System/systemmod.c
SRC += $(OPSYSTEM)/coptercontrol.c
SRC += $(OPSYSTEM)/pios_board.c
SRC += $(FLIGHTLIB)/alarms.c
SRC += $(FLIGHTLIB)/instrumentation.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/uavobjectpersistence.c
SRC += $(PIOSCOMMON)/pios_flashfs_logfs.c
SRC += $(PIOSCOMMON)/pios_flash_jedec.c
SRC += $(OPUAVOBJ)/eventdispatcher.c
## UAVObjects
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
SRC += $(OPUAVSYNTHDIR)/systemsettings.c
SRC += $(OPUAVSYNTHDIR)/stabilizationdesired.c
SRC += $(OPUAVSYNTHDIR)/stabilizationsettings.c
SRC += $(OPUAVSYNTHDIR)/stabilizationsettingsbank1.c
SRC += $(OPUAVSYNTHDIR)/stabilizationsettingsbank2.c
SRC += $(OPUAVSYNTHDIR)/stabilizationsettingsbank3.c
SRC += $(OPUAVSYNTHDIR)/stabilizationstatus.c
SRC += $(OPUAVSYNTHDIR)/stabilizationbank.c
SRC += $(OPUAVSYNTHDIR)/actuatorcommand.c
SRC += $(OPUAVSYNTHDIR)/actuatordesired.c
SRC += $(OPUAVSYNTHDIR)/actuatorsettings.c
SRC += $(OPUAVSYNTHDIR)/accelstate.c
SRC += $(OPUAVSYNTHDIR)/accelgyrosettings.c
SRC += $(OPUAVSYNTHDIR)/gyrostate.c
SRC += $(OPUAVSYNTHDIR)/attitudestate.c
SRC += $(OPUAVSYNTHDIR)/manualcontrolcommand.c
SRC += $(OPUAVSYNTHDIR)/watchdogstatus.c
SRC += $(OPUAVSYNTHDIR)/manualcontrolsettings.c
SRC += $(OPUAVSYNTHDIR)/flightmodesettings.c
SRC += $(OPUAVSYNTHDIR)/mixersettings.c
SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
SRC += $(OPUAVSYNTHDIR)/attitudesettings.c
SRC += $(OPUAVSYNTHDIR)/camerastabsettings.c
SRC += $(OPUAVSYNTHDIR)/cameradesired.c
SRC += $(OPUAVSYNTHDIR)/gpspositionsensor.c
SRC += $(OPUAVSYNTHDIR)/gpsvelocitysensor.c
SRC += $(OPUAVSYNTHDIR)/gpssettings.c
SRC += $(OPUAVSYNTHDIR)/hwsettings.c
SRC += $(OPUAVSYNTHDIR)/receiveractivity.c
SRC += $(OPUAVSYNTHDIR)/receiverstatus.c
SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
SRC += $(OPUAVSYNTHDIR)/ratedesired.c
SRC += $(OPUAVSYNTHDIR)/txpidsettings.c
SRC += $(OPUAVSYNTHDIR)/txpidstatus.c
SRC += $(OPUAVSYNTHDIR)/mpugyroaccelsettings.c
# Command line option for Gcsreceiver module
ifeq ($(GCSRECEIVER), YES)
SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
endif
# Enable Diag tasks and UAVOs needed
ifeq ($(DIAG_TASKS), YES)
CDEFS += -DDIAG_TASKS
SRC += $(OPUAVSYNTHDIR)/taskinfo.c
SRC += $(OPUAVSYNTHDIR)/callbackinfo.c
SRC += $(OPUAVSYNTHDIR)/perfcounter.c
SRC += $(OPUAVSYNTHDIR)/i2cstats.c
endif
else
## Test Code
SRC += $(OPTESTS)/test_common.c
SRC += $(OPTESTS)/$(TESTAPP).c
endif
include $(ROOT_DIR)/make/apps-defs.mk
include $(ROOT_DIR)/make/common-defs.mk

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/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @brief These files are the core system files of OpenPilot.
* They are the ground layer just above PiOS. In practice, OpenPilot actually starts
* in the main() function of openpilot.c
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @brief This is where the OP firmware starts. Those files also define the compile-time
* options of the firmware.
* @{
* @file openpilot.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Sets up and runs main OpenPilot tasks.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "inc/openpilot.h"
#include <uavobjectsinit.h>
#include <hwsettings.h>
/* Task Priorities */
#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
/* Global Variables */
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void Stack_Change(void);
/**
* OpenPilot Main function:
*
* Initialize PiOS<BR>
* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
* Start FreeRTOS Scheduler (vTaskStartScheduler) (Now handled by caller)
* If something goes wrong, blink LED1 and LED2 every 100ms
*
*/
int main()
{
/* NOTE: Do NOT modify the following start-up sequence */
/* Any new initialization functions should be added in OpenPilotInit() */
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
/* Architecture dependant Hardware and
* core subsystem initialisation
* (see pios_board.c for your arch)
* */
PIOS_Board_Init();
#ifdef ERASE_FLASH
PIOS_Flash_Jedec_EraseChip();
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
while (1) {
;
}
#endif
/* Initialize modules */
MODULE_INITIALISE_ALL
/* swap the stack to use the IRQ stack */
Stack_Change();
/* Start the FreeRTOS scheduler, which should never return.
*
* NOTE: OpenPilot runs an operating system (FreeRTOS), which constantly calls
* (schedules) function files (modules). These functions never return from their
* while loops, which explains why each module has a while(1){} segment. Thus,
* the OpenPilot software actually starts at the vTaskStartScheduler() function,
* even though this is somewhat obscure.
*
* In addition, there are many main() functions in the OpenPilot firmware source tree
* This is because each main() refers to a separate hardware platform. Of course,
* C only allows one main(), so only the relevant main() function is compiled when
* making a specific firmware.
*
*/
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* Do some indication to user that something bad just happened */
while (1) {
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
PIOS_DELAY_WaitmS(100);
}
return 0;
}
/**
* @}
* @}
*/

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#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
/**
* @addtogroup PIOS PIOS
* @{
* @addtogroup FreeRTOS FreeRTOS
* @{
*/
/* Notes: We use 5 task priorities */
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 1
#define configUSE_TICK_HOOK 0
#define configUSE_MALLOC_FAILED_HOOK 1
#define configCPU_CLOCK_HZ ((unsigned long)72000000)
#define configTICK_RATE_HZ ((portTickType)1000)
#define configMAX_PRIORITIES ((unsigned portBASE_TYPE)5)
#define configMINIMAL_STACK_SIZE ((unsigned short)48)
#define configTOTAL_HEAP_SIZE ((size_t)(53 * 256))
#define configMAX_TASK_NAME_LEN (6)
#define configUSE_TRACE_FACILITY 0
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 0
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 0
#define configUSE_ALTERNATIVE_API 0
#define configQUEUE_REGISTRY_SIZE 0
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES (2)
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 0
#define INCLUDE_xTaskGetCurrentTaskHandle 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
/* This is the raw value as per the Cortex-M3 NVIC. Values can be 255
(lowest) to 1 (highest maskable) to 0 (highest non-maskable). */
#define configKERNEL_INTERRUPT_PRIORITY 15 << 4 /* equivalent to NVIC priority 15 */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 3 << 4 /* equivalent to NVIC priority 3 */
/* This is the value being used as per the ST library which permits 16
priority values, 0 to 15. This must correspond to the
configKERNEL_INTERRUPT_PRIORITY setting. Here 15 corresponds to the lowest
NVIC value of 255. */
#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY 15
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32)
#define CHECK_IRQ_STACK
#endif
/* Enable run time stats collection */
#define configGENERATE_RUN_TIME_STATS 1
#define INCLUDE_uxTaskGetRunTime 1
#define INCLUDE_xTaskGetIdleTaskHandle 1
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() \
do { \
(*(unsigned long *)0xe000edfc) |= (1 << 24); /* DEMCR |= DEMCR_TRCENA */ \
(*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */ \
} \
while (0)
#define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004) /* DWT_CYCCNT */
#ifdef DIAG_TASKS
#define configCHECK_FOR_STACK_OVERFLOW 2
#else
#define configCHECK_FOR_STACK_OVERFLOW 1
#endif
/**
* @}
*/
#endif /* FREERTOS_CONFIG_H */

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/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
* @file openpilot.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Main OpenPilot 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 OPENPILOT_H
#define OPENPILOT_H
/* PIOS Includes */
#include <pios.h>
/* OpenPilot Libraries */
#include <utlist.h>
#include <uavobjectmanager.h>
#include <eventdispatcher.h>
#include <uavtalk.h>
#include "alarms.h"
#include <mathmisc.h>
/* Global Functions */
void OpenPilotInit(void);
#endif /* OPENPILOT_H */
/**
* @}
* @}
*/

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/**
******************************************************************************
*
* @file pios_board.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Defines board hardware for the OpenPilot Version 1.1 hardware.
* @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_BOARD_H
#define PIOS_BOARD_H
// ------------------------
// 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 }
// -------------------------
// COM
//
// See also pios_board_posix.c
// -------------------------
// #define PIOS_USART_TX_BUFFER_SIZE 256
#define PIOS_COM_BUFFER_SIZE 1024
#define PIOS_UDP_RX_BUFFER_SIZE PIOS_COM_BUFFER_SIZE
#define PIOS_COM_TELEM_RF 0
#define PIOS_COM_GPS 1
#define PIOS_COM_TELEM_USB 2
#ifdef PIOS_ENABLE_AUX_UART
#define PIOS_COM_AUX 3
#define PIOS_COM_DEBUG PIOS_COM_AUX
#endif
/**
* glue macros for file IO
* STM32 uses DOSFS for file IO
*/
#define PIOS_FOPEN_READ(filename, file) (file = fopen((char *)filename, "r")) == NULL
#define PIOS_FOPEN_WRITE(filename, file) (file = fopen((char *)filename, "w")) == NULL
#define PIOS_FREAD(file, bufferadr, length, resultadr) (*resultadr = fread((uint8_t *)bufferadr, 1, length, *file)) != length
#define PIOS_FWRITE(file, bufferadr, length, resultadr) *resultadr = fwrite((uint8_t *)bufferadr, 1, length, *file)
#define PIOS_FCLOSE(file) fclose(file)
#define PIOS_FUNLINK(file) unlink((char *)filename)
#endif /* PIOS_BOARD_H */

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/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
* @file pios_config.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013.
* @brief PiOS configuration header, the compile time config file for the PIOS.
* Defines which PiOS libraries and features are included in the firmware.
* @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_CONFIG_H
#define PIOS_CONFIG_H
/*
* Below is a complete list of PIOS configurable options.
* Please do not remove or rearrange them. Only comment out
* unused options in the list. See main pios.h header for more
* details.
*/
/* #define PIOS_INCLUDE_DEBUG_CONSOLE */
/* #define DEBUG_LEVEL 0 */
/* #define PIOS_ENABLE_DEBUG_PINS */
/* PIOS FreeRTOS support */
#define PIOS_INCLUDE_FREERTOS
/* PIOS CallbackScheduler support */
#define PIOS_INCLUDE_CALLBACKSCHEDULER
/* PIOS bootloader helper */
#define PIOS_INCLUDE_BL_HELPER
/* #define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT */
/* PIOS system functions */
#define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_INITCALL
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_TASK_MONITOR
// #define PIOS_INCLUDE_INSTRUMENTATION
#define PIOS_INSTRUMENTATION_MAX_COUNTERS 5
/* PIOS hardware peripherals */
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_RTC
#define PIOS_INCLUDE_TIM
#define PIOS_INCLUDE_USART
#define PIOS_INCLUDE_ADC
/* #define PIOS_INCLUDE_I2C */
#define PIOS_INCLUDE_SPI
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_EXTI
#define PIOS_INCLUDE_WDG
/* PIOS USB functions */
#define PIOS_INCLUDE_USB
#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_USB_CDC
#define PIOS_INCLUDE_USB_RCTX
/* PIOS sensor interfaces */
#define PIOS_INCLUDE_ADXL345
/* #define PIOS_INCLUDE_BMA180 */
/* #define PIOS_INCLUDE_L3GD20 */
#define PIOS_INCLUDE_MPU6000
#define PIOS_MPU6000_ACCEL
/* #define PIOS_INCLUDE_HMC5843 */
/* #define PIOS_INCLUDE_HMC5X83 */
/* #define PIOS_HMC5883_HAS_GPIOS */
/* #define PIOS_INCLUDE_BMP085 */
/* #define PIOS_INCLUDE_MS5611 */
/* #define PIOS_INCLUDE_MPXV */
/* #define PIOS_INCLUDE_ETASV3 */
/* #define PIOS_INCLUDE_HCSR04 */
#define PIOS_SENSOR_RATE 500.0f
/* PIOS receiver drivers */
#define PIOS_INCLUDE_PWM
#define PIOS_INCLUDE_PPM
#define PIOS_INCLUDE_PPM_FLEXI
#define PIOS_INCLUDE_DSM
#define PIOS_INCLUDE_SBUS
/* #define PIOS_INCLUDE_GCSRCVR */
/* #define PIOS_INCLUDE_OPLINKRCVR */
/* PIOS abstract receiver interface */
#define PIOS_INCLUDE_RCVR
/* PIOS common peripherals */
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_IAP
#define PIOS_INCLUDE_SERVO
/* #define PIOS_INCLUDE_I2C_ESC */
/* #define PIOS_INCLUDE_OVERO */
/* #define PIOS_OVERO_SPI */
/* #define PIOS_INCLUDE_SDCARD */
/* #define LOG_FILENAME "startup.log" */
#define PIOS_INCLUDE_FLASH
#define PIOS_INCLUDE_FLASH_LOGFS_SETTINGS
/* #define FLASH_FREERTOS */
/* #define PIOS_INCLUDE_FLASH_EEPROM */
/* #define PIOS_INCLUDE_FLASH_INTERNAL */
/* PIOS radio modules */
/* #define PIOS_INCLUDE_RFM22B */
/* #define PIOS_INCLUDE_RFM22B_COM */
/* #define PIOS_INCLUDE_PPM_OUT */
/* #define PIOS_RFM22B_DEBUG_ON_TELEM */
/* PIOS misc peripherals */
/* #define PIOS_INCLUDE_VIDEO */
/* #define PIOS_INCLUDE_WAVE */
/* #define PIOS_INCLUDE_UDP */
/* PIOS abstract comms interface with options */
#define PIOS_INCLUDE_COM
/* #define PIOS_INCLUDE_COM_MSG */
#define PIOS_INCLUDE_TELEMETRY_RF
/* #define PIOS_INCLUDE_COM_TELEM */
/* #define PIOS_INCLUDE_COM_FLEXI */
/* #define PIOS_INCLUDE_COM_AUX */
/* #define PIOS_TELEM_PRIORITY_QUEUE */
#define PIOS_INCLUDE_GPS
#define PIOS_GPS_MINIMAL
/* #define PIOS_INCLUDE_GPS_NMEA_PARSER */
#define PIOS_INCLUDE_GPS_UBX_PARSER
/* #define PIOS_GPS_SETS_HOMELOCATION */
/* Stabilization options */
/* #define PIOS_QUATERNION_STABILIZATION */
#define PIOS_EXCLUDE_ADVANCED_FEATURES
/* Performance counters */
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998
/* Alarm Thresholds */
#define HEAP_LIMIT_WARNING 220
#define HEAP_LIMIT_CRITICAL 40
#define IRQSTACK_LIMIT_WARNING 100
#define IRQSTACK_LIMIT_CRITICAL 60
#define CPULOAD_LIMIT_WARNING 85
#define CPULOAD_LIMIT_CRITICAL 95
/* Task stack sizes */
#define PIOS_ACTUATOR_STACK_SIZE 820
#define PIOS_MANUAL_STACK_SIZE 735
#define PIOS_RECEIVER_STACK_SIZE 620
#define PIOS_STABILIZATION_STACK_SIZE 400
#ifdef DIAG_TASKS
#define PIOS_SYSTEM_STACK_SIZE 740
#else
#define PIOS_SYSTEM_STACK_SIZE 660
#endif
#define PIOS_TELEM_RX_STACK_SIZE 410
#define PIOS_TELEM_TX_STACK_SIZE 560
#define PIOS_EVENTDISPATCHER_STACK_SIZE 95
/* This can't be too high to stop eventdispatcher thread overflowing */
#define PIOS_EVENTDISAPTCHER_QUEUE 10
/* Revolution series */
/* #define REVOLUTION */
#endif /* PIOS_CONFIG_H */
/**
* @}
* @}
*/

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/**
******************************************************************************
*
* @file pios_config.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief PiOS configuration header.
* Central compile time config for the project.
* @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_CONFIG_POSIX_H
#define PIOS_CONFIG_POSIX_H
/* Enable/Disable PiOS Modules */
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_FREERTOS
#define PIOS_INCLUDE_CALLBACKSCHEDULER
#define PIOS_INCLUDE_TASK_MONITOR
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_UDP
#define PIOS_INCLUDE_SERVO
/* Defaults for Logging */
#define LOG_FILENAME "PIOS.LOG"
#define STARTUP_LOG_ENABLED 1
#endif /* PIOS_CONFIG_POSIX_H */

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/**
******************************************************************************
* @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
// Note : changing below length will require changes to the USB buffer setup
#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)
#define PIOS_USB_BOARD_SN_SUFFIX "+FW"
#endif /* PIOS_USB_BOARD_DATA_H */

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/**
*****************************************************************************
* @file pios_board.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
* @brief Defines board specific static initializers for hardware for the CopterControl board.
*****************************************************************************/
/*
* 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 "inc/openpilot.h"
#include <pios_board_info.h>
#include <uavobjectsinit.h>
#include <hwsettings.h>
#include <manualcontrolsettings.h>
#include <gcsreceiver.h>
#include <taskinfo.h>
#include <sanitycheck.h>
#include <actuatorsettings.h>
#ifdef PIOS_INCLUDE_INSTRUMENTATION
#include <pios_instrumentation.h>
#endif
#if defined(PIOS_INCLUDE_ADXL345)
#include <pios_adxl345.h>
#endif
/*
* 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"
/* 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];
static SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook();
static void ActuatorSettingsUpdatedCb(UAVObjEvent *ev);
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 32
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 12
#define PIOS_COM_GPS_RX_BUF_LEN 32
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 65
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 65
#define PIOS_COM_BRIDGE_RX_BUF_LEN 65
#define PIOS_COM_BRIDGE_TX_BUF_LEN 12
#define PIOS_COM_HKOSD_TX_BUF_LEN 22
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
#define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
uint32_t pios_com_debug_id;
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
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;
uint32_t pios_com_hkosd_id;
uint32_t pios_usb_rctx_id;
uintptr_t pios_uavo_settings_fs_id;
uintptr_t pios_user_fs_id = 0;
/**
* Configuration for MPU6000 chip
*/
#if defined(PIOS_INCLUDE_MPU6000)
#include "pios_mpu6000.h"
#include "pios_mpu6000_config.h"
static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
.vector = PIOS_MPU6000_IRQHandler,
.line = EXTI_Line3,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_3,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
.irq = {
.init = {
.NVIC_IRQChannel = EXTI3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.exti = {
.init = {
.EXTI_Line = EXTI_Line3, // matches above GPIO pin
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Rising,
.EXTI_LineCmd = ENABLE,
},
},
};
static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
.exti_cfg = &pios_exti_mpu6000_cfg,
.Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
// Clock at 8 khz, downsampled by 8 for 1000 Hz
.Smpl_rate_div_no_dlp = 7,
// Clock at 1 khz, downsampled by 1 for 1000 Hz
.Smpl_rate_div_dlp = 0,
.interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
.User_ctl = PIOS_MPU6000_USERCTL_DIS_I2C,
.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
.accel_range = PIOS_MPU6000_ACCEL_8G,
.gyro_range = PIOS_MPU6000_SCALE_2000_DEG,
.filter = PIOS_MPU6000_LOWPASS_256_HZ,
.orientation = PIOS_MPU6000_TOP_180DEG,
.fast_prescaler = PIOS_SPI_PRESCALER_4,
.std_prescaler = PIOS_SPI_PRESCALER_64,
.max_downsample = 2
};
#endif /* PIOS_INCLUDE_MPU6000 */
/**
* PIOS_Board_Init()
* initializes all the core subsystems on this specific hardware
* called from System/openpilot.c
*/
int32_t init_test;
void PIOS_Board_Init(void)
{
/* Delay system */
PIOS_DELAY_Init();
const struct pios_board_info *bdinfo = &pios_board_info_blob;
#if defined(PIOS_INCLUDE_LED)
const struct pios_gpio_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
PIOS_Assert(led_cfg);
PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */
#ifdef PIOS_INCLUDE_INSTRUMENTATION
PIOS_Instrumentation_Init(PIOS_INSTRUMENTATION_MAX_COUNTERS);
#endif
#if defined(PIOS_INCLUDE_SPI)
/* Set up the SPI interface to the serial flash */
switch (bdinfo->board_rev) {
case BOARD_REVISION_CC:
if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg_cc)) {
PIOS_Assert(0);
}
break;
case BOARD_REVISION_CC3D:
if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg_cc3d)) {
PIOS_Assert(0);
}
break;
default:
PIOS_Assert(0);
}
#endif
uintptr_t flash_id;
switch (bdinfo->board_rev) {
case BOARD_REVISION_CC:
if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_flash_accel_id, 1)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_w25x_cfg, &pios_jedec_flash_driver, flash_id)) {
PIOS_DEBUG_Assert(0);
}
break;
case BOARD_REVISION_CC3D:
if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_flash_accel_id, 0)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_m25p_cfg, &pios_jedec_flash_driver, flash_id)) {
PIOS_DEBUG_Assert(0);
}
break;
default:
PIOS_DEBUG_Assert(0);
}
/* Initialize the task monitor */
if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
PIOS_Assert(0);
}
/* Initialize the delayed callback library */
PIOS_CALLBACKSCHEDULER_Initialize();
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
PIOS_IAP_Init();
// check for safe mode commands from gcs
if (PIOS_IAP_ReadBootCmd(0) == PIOS_IAP_CLEAR_FLASH_CMD_0 &&
PIOS_IAP_ReadBootCmd(1) == PIOS_IAP_CLEAR_FLASH_CMD_1 &&
PIOS_IAP_ReadBootCmd(2) == PIOS_IAP_CLEAR_FLASH_CMD_2) {
PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
PIOS_IAP_WriteBootCmd(0, 0);
PIOS_IAP_WriteBootCmd(1, 0);
PIOS_IAP_WriteBootCmd(2, 0);
}
HwSettingsInitialize();
#ifndef ERASE_FLASH
#ifdef PIOS_INCLUDE_WDG
/* Initialize watchdog as early as possible to catch faults during init */
PIOS_WDG_Init();
#endif
#endif
/* Initialize the alarms library */
AlarmsInitialize();
/* Check for repeated boot failures */
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);
}
/* Set up pulse timers */
PIOS_TIM_InitClock(&tim_1_cfg);
PIOS_TIM_InitClock(&tim_2_cfg);
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;
#if defined(PIOS_INCLUDE_USB_CDC)
if (PIOS_USB_DESC_HID_CDC_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
usb_cdc_present = true;
#else
if (PIOS_USB_DESC_HID_ONLY_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
#endif
uint32_t pios_usb_id;
switch (bdinfo->board_rev) {
case BOARD_REVISION_CC:
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc);
break;
case BOARD_REVISION_CC3D:
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc3d);
break;
default:
PIOS_Assert(0);
}
#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 *)pios_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(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 *)pios_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(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;
case HWSETTINGS_USB_VCPPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
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 *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_debug_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
NULL, 0,
tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
#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 *)pios_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(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;
case HWSETTINGS_USB_HIDPORT_RCTRANSMITTER:
#if defined(PIOS_INCLUDE_USB_RCTX)
{
if (PIOS_USB_RCTX_Init(&pios_usb_rctx_id, &pios_usb_rctx_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_USB_RCTX */
break;
}
#endif /* PIOS_INCLUDE_USB_HID */
#endif /* PIOS_INCLUDE_USB */
/* Configure the main IO port */
uint8_t hwsettings_DSMxBind;
HwSettingsDSMxBindGet(&hwsettings_DSMxBind);
uint8_t hwsettings_cc_mainport;
HwSettingsCC_MainPortGet(&hwsettings_cc_mainport);
switch (hwsettings_cc_mainport) {
case HWSETTINGS_CC_MAINPORT_DISABLED:
break;
case HWSETTINGS_CC_MAINPORT_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
{
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 *)pios_malloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(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_generic_id,
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
break;
case HWSETTINGS_CC_MAINPORT_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
{
uint32_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_sbus_id;
if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
uint32_t pios_sbus_rcvr_id;
if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
}
#endif /* PIOS_INCLUDE_SBUS */
break;
case HWSETTINGS_CC_MAINPORT_GPS:
#if defined(PIOS_INCLUDE_GPS)
{
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 *)pios_malloc(PIOS_COM_GPS_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
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);
}
}
#endif /* PIOS_INCLUDE_GPS */
break;
case HWSETTINGS_CC_MAINPORT_DSM:
#if defined(PIOS_INCLUDE_DSM)
{
uint32_t pios_usart_dsm_id;
if (PIOS_USART_Init(&pios_usart_dsm_id, &pios_usart_dsm_main_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_dsm_id;
if (PIOS_DSM_Init(&pios_dsm_id,
&pios_dsm_main_cfg,
&pios_usart_com_driver,
pios_usart_dsm_id,
0)) {
PIOS_Assert(0);
}
uint32_t pios_dsm_rcvr_id;
if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT] = pios_dsm_rcvr_id;
}
#endif /* PIOS_INCLUDE_DSM */
break;
case HWSETTINGS_CC_MAINPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
PIOS_Assert(0);
}
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_debug_id, &pios_usart_com_driver, pios_usart_generic_id,
NULL, 0,
tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
#endif /* PIOS_INCLUDE_COM */
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 *)pios_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(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;
case HWSETTINGS_CC_MAINPORT_OSDHK:
{
uint32_t pios_usart_hkosd_id;
if (PIOS_USART_Init(&pios_usart_hkosd_id, &pios_usart_hkosd_main_cfg)) {
PIOS_Assert(0);
}
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_HKOSD_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_hkosd_id, &pios_usart_com_driver, pios_usart_hkosd_id,
NULL, 0,
tx_buffer, PIOS_COM_HKOSD_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
break;
}
/* Configure the flexi port */
uint8_t hwsettings_cc_flexiport;
HwSettingsCC_FlexiPortGet(&hwsettings_cc_flexiport);
switch (hwsettings_cc_flexiport) {
case HWSETTINGS_CC_FLEXIPORT_DISABLED:
break;
case HWSETTINGS_CC_FLEXIPORT_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
{
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 *)pios_malloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(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_generic_id,
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#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 *)pios_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(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_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
PIOS_Assert(0);
}
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_GPS_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
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);
}
}
#endif /* PIOS_INCLUDE_GPS */
break;
case HWSETTINGS_CC_FLEXIPORT_PPM:
#if defined(PIOS_INCLUDE_PPM_FLEXI)
{
uint32_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_flexi_cfg);
uint32_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
}
#endif /* PIOS_INCLUDE_PPM_FLEXI */
break;
case HWSETTINGS_CC_FLEXIPORT_DSM:
#if defined(PIOS_INCLUDE_DSM)
{
uint32_t pios_usart_dsm_id;
if (PIOS_USART_Init(&pios_usart_dsm_id, &pios_usart_dsm_flexi_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_dsm_id;
if (PIOS_DSM_Init(&pios_dsm_id,
&pios_dsm_flexi_cfg,
&pios_usart_com_driver,
pios_usart_dsm_id,
hwsettings_DSMxBind)) {
PIOS_Assert(0);
}
uint32_t pios_dsm_rcvr_id;
if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT] = pios_dsm_rcvr_id;
}
#endif /* PIOS_INCLUDE_DSM */
break;
case HWSETTINGS_CC_FLEXIPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
PIOS_Assert(0);
}
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_debug_id, &pios_usart_com_driver, pios_usart_generic_id,
NULL, 0,
tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
#endif /* PIOS_INCLUDE_COM */
break;
case HWSETTINGS_CC_FLEXIPORT_I2C:
#if defined(PIOS_INCLUDE_I2C)
{
if (PIOS_I2C_Init(&pios_i2c_flexi_adapter_id, &pios_i2c_flexi_adapter_cfg)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_I2C */
break;
case HWSETTINGS_CC_FLEXIPORT_OSDHK:
{
uint32_t pios_usart_hkosd_id;
if (PIOS_USART_Init(&pios_usart_hkosd_id, &pios_usart_hkosd_flexi_cfg)) {
PIOS_Assert(0);
}
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_HKOSD_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_hkosd_id, &pios_usart_com_driver, pios_usart_hkosd_id,
NULL, 0,
tx_buffer, PIOS_COM_HKOSD_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
break;
}
/* Configure the rcvr port */
uint8_t hwsettings_rcvrport;
HwSettingsCC_RcvrPortGet(&hwsettings_rcvrport);
switch ((HwSettingsCC_RcvrPortOptions)hwsettings_rcvrport) {
case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
#if defined(PIOS_INCLUDE_HCSR04)
{
uint32_t pios_hcsr04_id;
PIOS_HCSR04_Init(&pios_hcsr04_id, &pios_hcsr04_cfg);
}
#endif
break;
case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
#if defined(PIOS_INCLUDE_PWM)
{
uint32_t pios_pwm_id;
PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);
uint32_t pios_pwm_rcvr_id;
if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
}
#endif /* PIOS_INCLUDE_PWM */
break;
case HWSETTINGS_CC_RCVRPORT_PPMNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTSNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT:
#if defined(PIOS_INCLUDE_PPM)
{
uint32_t pios_ppm_id;
if (hwsettings_rcvrport == HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT) {
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_pin8_cfg);
} else {
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
}
uint32_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
}
#endif /* PIOS_INCLUDE_PPM */
break;
case HWSETTINGS_CC_RCVRPORT_PPMPWMNOONESHOT:
/* This is a combination of PPM and PWM inputs */
#if defined(PIOS_INCLUDE_PPM)
{
uint32_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
uint32_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
}
#endif /* PIOS_INCLUDE_PPM */
#if defined(PIOS_INCLUDE_PWM)
{
uint32_t pios_pwm_id;
PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_with_ppm_cfg);
uint32_t pios_pwm_rcvr_id;
if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
}
#endif /* PIOS_INCLUDE_PWM */
break;
case HWSETTINGS_CC_RCVRPORT_OUTPUTSONESHOT:
break;
}
#if defined(PIOS_INCLUDE_GCSRCVR)
GCSReceiverInitialize();
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, pios_gcsrcvr_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
#endif /* PIOS_INCLUDE_GCSRCVR */
/* Remap AFIO pin for PB4 (Servo 5 Out)*/
GPIO_PinRemapConfig(GPIO_Remap_SWJ_NoJTRST, ENABLE);
#ifndef PIOS_ENABLE_DEBUG_PINS
switch ((HwSettingsCC_RcvrPortOptions)hwsettings_rcvrport) {
case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPMNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPMPWMNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT:
PIOS_Servo_Init(&pios_servo_cfg);
break;
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTSNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_OUTPUTSONESHOT:
PIOS_Servo_Init(&pios_servo_rcvr_cfg);
break;
}
#else
PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins));
#endif /* PIOS_ENABLE_DEBUG_PINS */
switch (bdinfo->board_rev) {
case BOARD_REVISION_CC:
// Revision 1 with invensense gyros, start the ADC
#if defined(PIOS_INCLUDE_ADC)
PIOS_ADC_Init(&pios_adc_cfg);
#endif
#if defined(PIOS_INCLUDE_ADXL345)
PIOS_ADXL345_Init(pios_spi_flash_accel_id, 0);
#endif
break;
case BOARD_REVISION_CC3D:
// Revision 2 with MPU6000 gyros, start a SPI interface and connect to it
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
#if defined(PIOS_INCLUDE_MPU6000)
// Set up the SPI interface to the serial flash
if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
PIOS_Assert(0);
}
PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg);
PIOS_MPU6000_CONFIG_Configure();
init_test = !PIOS_MPU6000_Driver.test(0);
#endif /* PIOS_INCLUDE_MPU6000 */
break;
default:
PIOS_Assert(0);
}
/* 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);
// Attach the board config check hook
SANITYCHECK_AttachHook(&CopterControlConfigHook);
// trigger a config check if actuatorsettings are updated
ActuatorSettingsInitialize();
ActuatorSettingsConnectCallback(ActuatorSettingsUpdatedCb);
}
SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook()
{
// inhibit usage of oneshot for non supported RECEIVER port modes
uint8_t recmode;
HwSettingsCC_RcvrPortGet(&recmode);
uint8_t flexiMode;
uint8_t modes[ACTUATORSETTINGS_BANKMODE_NUMELEM];
ActuatorSettingsBankModeGet(modes);
HwSettingsCC_FlexiPortGet(&flexiMode);
switch ((HwSettingsCC_RcvrPortOptions)recmode) {
// Those modes allows oneshot usage
case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
case HWSETTINGS_CC_RCVRPORT_OUTPUTSONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT:
if ((recmode == HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT ||
flexiMode == HWSETTINGS_CC_FLEXIPORT_PPM) &&
(modes[3] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT125)) {
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;
} else {
return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
}
// inhibit oneshot for the following modes
case HWSETTINGS_CC_RCVRPORT_PPMNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTSNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPMPWMNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
for (uint8_t i = 0; i < ACTUATORSETTINGS_BANKMODE_NUMELEM; i++) {
if (modes[i] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT125) {
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
}
return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
}
}
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
}
// trigger a configuration check if ActuatorSettings are changed.
void ActuatorSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
configuration_check();
}
/**
* @}
*/

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/**
******************************************************************************
*
* @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 OpenPilot 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 "inc/openpilot.h"
#include <pios_udp_priv.h>
#include <pios_com_priv.h>
#include <uavobjectsinit.h>
/**
* PIOS_Board_Init()
* initializes all the core systems on this specific hardware
* called from System/openpilot.c
*/
void PIOS_Board_Init(void)
{
/* Delay system */
PIOS_DELAY_Init();
/* Initialize the delayed callback library */
PIOS_CALLBACKSCHEDULER_Initialize();
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
/* Initialize the alarms library */
AlarmsInitialize();
/* Initialize the task monitor */
if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
PIOS_Assert(0);
}
/* Initialize the PiOS library */
PIOS_COM_Init();
}
const struct pios_udp_cfg pios_udp0_cfg = {
.ip = "0.0.0.0",
.port = 9000,
};
const struct pios_udp_cfg pios_udp1_cfg = {
.ip = "0.0.0.0",
.port = 9001,
};
const struct pios_udp_cfg pios_udp2_cfg = {
.ip = "0.0.0.0",
.port = 9002,
};
#ifdef PIOS_COM_AUX
/*
* AUX USART
*/
const struct pios_udp_cfg pios_udp3_cfg = {
.ip = "0.0.0.0",
.port = 9003,
};
#endif
/*
* Board specific number of devices.
*/
struct pios_udp_dev pios_udp_devs[] = {
#define PIOS_UDP_TELEM 0
{
.cfg = &pios_udp0_cfg,
},
#define PIOS_UDP_GPS 1
{
.cfg = &pios_udp1_cfg,
},
#define PIOS_UDP_LOCAL 2
{
.cfg = &pios_udp2_cfg,
},
#ifdef PIOS_COM_AUX
#define PIOS_UDP_AUX 3
{
.cfg = &pios_udp3_cfg,
},
#endif
};
uint8_t pios_udp_num_devices = NELEMENTS(pios_udp_devs);
/*
* COM devices
*/
/*
* Board specific number of devices.
*/
extern const struct pios_com_driver pios_serial_com_driver;
extern const struct pios_com_driver pios_udp_com_driver;
struct pios_com_dev pios_com_devs[] = {
{
.id = PIOS_UDP_TELEM,
.driver = &pios_udp_com_driver,
},
{
.id = PIOS_UDP_GPS,
.driver = &pios_udp_com_driver,
},
{
.id = PIOS_UDP_LOCAL,
.driver = &pios_udp_com_driver,
},
#ifdef PIOS_COM_AUX
{
.id = PIOS_UDP_AUX,
.driver = &pios_udp_com_driver,
},
#endif
};
const uint8_t pios_com_num_devices = NELEMENTS(pios_com_devs);
/**
* @}
*/

279
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/**
******************************************************************************
*
* @file pios_board.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Defines board hardware for the OpenPilot Version 1.1 hardware.
* @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_BOARD_H
#define PIOS_BOARD_H
// ------------------------
// Timers and Channels Used
// ------------------------
/*
Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
------+-----------+-----------+-----------+----------
TIM1 | Servo 4 | | |
TIM2 | RC In 5 | RC In 6 | Servo 6 |
TIM3 | Servo 5 | RC In 2 | RC In 3 | RC In 4
TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
------+-----------+-----------+-----------+----------
*/
// ------------------------
// DMA Channels Used
// ------------------------
/* Channel 1 - */
/* Channel 2 - */
/* Channel 3 - */
/* Channel 4 - */
/* Channel 5 - */
/* Channel 6 - */
/* Channel 7 - */
/* Channel 8 - */
/* Channel 9 - */
/* Channel 10 - */
/* Channel 11 - */
/* Channel 12 - */
// ------------------------
// BOOTLOADER_SETTINGS
// ------------------------
#define BOARD_READABLE TRUE
#define BOARD_WRITABLE TRUE
#define MAX_DEL_RETRYS 3
// ------------------------
// WATCHDOG_SETTINGS
// ------------------------
#define PIOS_WATCHDOG_TIMEOUT 250
#define PIOS_WDG_REGISTER BKP_DR4
#define PIOS_WDG_ACTUATOR 0x0001
#define PIOS_WDG_STABILIZATION 0x0002
#define PIOS_WDG_ATTITUDE 0x0004
#define PIOS_WDG_MANUAL 0x0008
#define PIOS_WDG_AUTOTUNE 0x0010
// ------------------------
// TELEMETRY
// ------------------------
#define TELEM_QUEUE_SIZE 10
// ------------------------
// PIOS_LED
// ------------------------
#define PIOS_LED_HEARTBEAT 0
// -------------------------
// System Settings
// -------------------------
#define PIOS_MASTER_CLOCK 72000000
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
// -------------------------
// Interrupt Priorities
// -------------------------
#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS
#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS
#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
// ------------------------
// PIOS_I2C
// See also pios_board.c
// ------------------------
#define PIOS_I2C_MAX_DEVS 1
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
//
// See also pios_board.c
// -------------------------
#define PIOS_SPI_MAX_DEVS 2
// -------------------------
// PIOS_USART
// -------------------------
#define PIOS_USART_MAX_DEVS 2
// -------------------------
// PIOS_COM
//
// See also pios_board.c
// -------------------------
#define PIOS_COM_MAX_DEVS 3
extern uint32_t pios_com_telem_rf_id;
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
#if defined(PIOS_INCLUDE_GPS)
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)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
extern uint32_t pios_com_debug_id;
#define PIOS_COM_DEBUG (pios_com_debug_id)
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
extern uint32_t pios_com_hkosd_id;
#define PIOS_COM_OSDHK (pios_com_hkosd_id)
// -------------------------
// ADC
// PIOS_ADC_PinGet(0) = Gyro Z
// PIOS_ADC_PinGet(1) = Gyro Y
// PIOS_ADC_PinGet(2) = Gyro X
// -------------------------
// #define PIOS_ADC_OVERSAMPLING_RATE 1
#define PIOS_ADC_USE_TEMP_SENSOR 1
#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
#define PIOS_ADC_PIN1_GPIO_PORT GPIOA // PA4 (Gyro X)
#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_4 // ADC12_IN4
#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_4
#define PIOS_ADC_PIN1_ADC ADC2
#define PIOS_ADC_PIN1_ADC_NUMBER 1
#define PIOS_ADC_PIN2_GPIO_PORT GPIOA // PA5 (Gyro Y)
#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_5 // ADC123_IN5
#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_5
#define PIOS_ADC_PIN2_ADC ADC1
#define PIOS_ADC_PIN2_ADC_NUMBER 2
#define PIOS_ADC_PIN3_GPIO_PORT GPIOA // PA3 (Gyro Z)
#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_3 // ADC12_IN3
#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_3
#define PIOS_ADC_PIN3_ADC ADC2
#define PIOS_ADC_PIN3_ADC_NUMBER 2
#define PIOS_ADC_NUM_PINS 3
#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT }
#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN }
#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL }
#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC }
#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER }
#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
#define PIOS_ADC_NUM_ADC_CHANNELS 2
#define PIOS_ADC_USE_ADC2 1
#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
#define PIOS_ADC_ADCCLK RCC_PCLK2_Div8
/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
/* Sample time: */
/* With an ADCCLK = 14 MHz and a sampling time of 239.5 cycles: */
/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_LOW
// Currently analog acquistion hard coded at 480 Hz
// PCKL2 = HCLK / 16
// ADCCLK = PCLK2 / 2
#define PIOS_ADC_RATE (72.0e6f / 1.0f / 8.0f / 252.0f / (PIOS_ADC_NUM_CHANNELS >> PIOS_ADC_USE_ADC2))
#define PIOS_ADC_MAX_OVERSAMPLING 48
#define PIOS_ADC_TEMPERATURE_PIN 0
// ------------------------
// PIOS_RCVR
// See also pios_board.c
// ------------------------
#define PIOS_RCVR_MAX_DEVS 3
#define PIOS_RCVR_MAX_CHANNELS 12
#define PIOS_GCSRCVR_TIMEOUT_MS 100
// -------------------------
// Receiver PPM input
// -------------------------
#define PIOS_PPM_MAX_DEVS 1
#define PIOS_PPM_NUM_INPUTS 12
// -------------------------
// Receiver PWM input
// -------------------------
#define PIOS_PWM_MAX_DEVS 1
#define PIOS_PWM_NUM_INPUTS 6
// -------------------------
// Receiver DSM input
// -------------------------
#define PIOS_DSM_MAX_DEVS 2
#define PIOS_DSM_NUM_INPUTS 12
// -------------------------
// Receiver S.Bus input
// -------------------------
#define PIOS_SBUS_MAX_DEVS 1
#define PIOS_SBUS_NUM_INPUTS (16 + 2)
// -------------------------
// Servo outputs
// -------------------------
#define PIOS_SERVO_UPDATE_HZ 50
#define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
#define PIOS_SERVO_BANKS 6
// --------------------------
// Timer controller settings
// --------------------------
#define PIOS_TIM_MAX_DEVS 3
// -------------------------
// GPIO
// -------------------------
#define PIOS_GPIO_PORTS {}
#define PIOS_GPIO_PINS {}
#define PIOS_GPIO_CLKS {}
#define PIOS_GPIO_NUM 0
// -------------------------
// USB
// -------------------------
#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
#endif /* PIOS_BOARD_H */

102
flight/targets/boards/coptercontrol/pios_usb_board_data.c Normal file
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/**
******************************************************************************
* @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 "inc/pios_usb_board_data.h" /* struct usb_*, USB_* */
#include <pios_sys.h> /* PIOS_SYS_SerialNumberGet */
#include <pios_usbhook.h> /* PIOS_USBHOOK_* */
#include <pios_usb_util.h> /* PIOS_USB_UTIL_AsciiToUtf8 */
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[2 + PIOS_SYS_SERIAL_NUM_ASCII_LEN * 2 + (sizeof(PIOS_USB_BOARD_SN_SUFFIX) - 1) * 2] = {
sizeof(usb_serial_number),
USB_DESC_TYPE_STRING,
};
static const struct usb_string_langid usb_lang_id = {
.bLength = sizeof(usb_lang_id),
.bDescriptorType = USB_DESC_TYPE_STRING,
.bLangID = htousbs(USB_LANGID_ENGLISH_US),
};
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[PIOS_SYS_SERIAL_NUM_ASCII_LEN + 1];
PIOS_SYS_SerialNumberGet((char *)sn);
/* Concatenate the device serial number and the appropriate suffix ("+BL" or "+FW") into the USB serial number */
uint8_t *utf8 = &(usb_serial_number[2]);
utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, sn, PIOS_SYS_SERIAL_NUM_ASCII_LEN);
utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, (uint8_t *)PIOS_USB_BOARD_SN_SUFFIX, sizeof(PIOS_USB_BOARD_SN_SUFFIX) - 1);
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;
}

658
ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui Normal file
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@ -0,0 +1,658 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>CC_HW_Widget</class>
<widget class="QWidget" name="CC_HW_Widget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>646</width>
<height>596</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QTabWidget" name="tabWidget">
<property name="currentIndex">
<number>0</number>
</property>
<widget class="QWidget" name="tab">
<attribute name="title">
<string>HW settings</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_3">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
<widget class="QScrollArea" name="scrollArea">
<property name="palette">
<palette>
<active>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</active>
<inactive>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</inactive>
<disabled>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</disabled>
</palette>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>624</width>
<height>510</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_3">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<number>12</number>
</property>
<item row="6" column="0" colspan="3">
<widget class="QGroupBox" name="groupBox_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>50</height>
</size>
</property>
<property name="title">
<string>Messages</string>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QLabel" name="problems">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string/>
</property>
<property name="textFormat">
<enum>Qt::AutoText</enum>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_6">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>500</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>500</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Changes on this page only take effect after board reset or power cycle</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="1">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>25</height>
</size>
</property>
</spacer>
</item>
<item row="3" column="1">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="1">
<widget class="QComboBox" name="telemetrySpeed">
<property name="toolTip">
<string>Select the speed here.</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="GpsSpeedLabel">
<property name="minimumSize">
<size>
<width>55</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>GPS speed:</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="telemetrySpeedLabel">
<property name="text">
<string>Telemetry speed:</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="comUsbBridgeSpeed">
<property name="toolTip">
<string>Select the speed here.</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="gpsSpeed">
<property name="toolTip">
<string>Select the speed here.</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="ComUsbBridgeSpeedLabel">
<property name="minimumSize">
<size>
<width>55</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>ComUsbBridge speed:</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="GpsProtocolLabel">
<property name="text">
<string>GPS protocol :</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="gpsProtocol"/>
</item>
</layout>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item row="2" column="1">
<layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0,0,0">
<item row="4" column="0">
<widget class="QComboBox" name="cbFlexi"/>
</item>
<item row="6" column="0">
<widget class="QComboBox" name="cbTele"/>
</item>
<item row="3" column="3">
<widget class="QLabel" name="label_8">
<property name="text">
<string>USB HID Port</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QLabel" name="label_9">
<property name="text">
<string>USB VCP Port</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
</property>
</widget>
</item>
<item row="3" column="1" rowspan="5" colspan="2">
<widget class="QLabel" name="label_2">
<property name="text">
<string/>
</property>
<property name="scaledContents">
<bool>false</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Main Port</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Flexi Port</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QComboBox" name="cbUsbHid"/>
</item>
<item row="4" column="4">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="6" column="3">
<widget class="QComboBox" name="cbUsbVcp"/>
</item>
<item row="2" column="1" colspan="2" alignment="Qt::AlignLeft">
<widget class="QComboBox" name="cbRcvr"/>
</item>
<item row="1" column="1" colspan="2" alignment="Qt::AlignLeft">
<widget class="QLabel" name="label_7">
<property name="text">
<string>Receiver Port</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item row="2" column="0">
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="2">
<spacer name="horizontalSpacer_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="1">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
</widget>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="spacing">
<number>4</number>
</property>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>369</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="cchwHelp">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>25</width>
<height>25</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>25</width>
<height>25</height>
</size>
</property>
<property name="toolTip">
<string>Takes you to the wiki page</string>
</property>
<property name="text">
<string/>
</property>
<property name="icon">
<iconset resource="../coreplugin/core.qrc">
<normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
</property>
<property name="iconSize">
<size>
<width>25</width>
<height>25</height>
</size>
</property>
<property name="flat">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveTelemetryToRAM">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="palette">
<palette>
<active>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</active>
<inactive>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</inactive>
<disabled>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</disabled>
</palette>
</property>
<property name="toolTip">
<string>Send to OpenPilot but don't write in SD.
Beware of not locking yourself out!</string>
</property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Apply</string>
</property>
<property name="iconSize">
<size>
<width>16</width>
<height>16</height>
</size>
</property>
<property name="checkable">
<bool>false</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveTelemetryToSD">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Applies and Saves all settings to SD.
Beware of not locking yourself out!</string>
</property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Save</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<resources>
<include location="../coreplugin/core.qrc"/>
</resources>
<connections/>
</ui>

597
ground/openpilotgcs/src/plugins/config/ccattitude.ui Normal file
View File

@ -0,0 +1,597 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>ccattitude</class>
<widget class="QWidget" name="ccattitude">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>780</width>
<height>566</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_5">
<item>
<widget class="QTabWidget" name="tabWidget">
<property name="currentIndex">
<number>0</number>
</property>
<widget class="QWidget" name="Attitude">
<attribute name="title">
<string>Attitude</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_3">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
<widget class="QScrollArea" name="scrollArea">
<property name="palette">
<palette>
<active>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</active>
<inactive>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>255</red>
<green>255</green>
<blue>255</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</inactive>
<disabled>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="0">
<red>232</red>
<green>232</green>
<blue>232</blue>
</color>
</brush>
</colorrole>
</disabled>
</palette>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>758</width>
<height>486</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<number>12</number>
</property>
<item>
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>Rotate virtual attitude relative to board</string>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1,0,1,0,1,0">
<item row="0" column="1">
<widget class="QLabel" name="label_2">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
</property>
<property name="text">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="rollBias">
<property name="minimum">
<number>-180</number>
</property>
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
<item row="1" column="4">
<spacer name="horizontalSpacer_9">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="5">
<widget class="QSpinBox" name="yawBias">
<property name="minimum">
<number>-180</number>
</property>
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
<item row="0" column="5">
<widget class="QLabel" name="label_4">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
</property>
<property name="text">
<string>Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<spacer name="horizontalSpacer_8">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_3">
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
</property>
<property name="text">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QSpinBox" name="pitchBias">
<property name="minimum">
<number>-90</number>
</property>
<property name="maximum">
<number>90</number>
</property>
</widget>
</item>
<item row="1" column="0">
<spacer name="horizontalSpacer_7">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="6">
<spacer name="horizontalSpacer_10">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
<string>Calibration</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0" colspan="3">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>Place aircraft very flat, and then click level to compute the accelerometer and gyro bias</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item row="1" column="0">
<widget class="QPushButton" name="zeroBias">
<property name="maximumSize">
<size>
<width>500</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Launch horizontal calibration.</string>
</property>
<property name="text">
<string>Level</string>
</property>
</widget>
</item>
<item row="1" column="1">
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="2">
<widget class="QProgressBar" name="zeroBiasProgress">
<property name="minimumSize">
<size>
<width>300</width>
<height>0</height>
</size>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="2" column="0" colspan="3">
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QCheckBox" name="zeroGyroBiasOnArming">
<property name="toolTip">
<string>If enabled, a fast recalibration of gyro zero point will be done
whenever the frame is armed. Do not move the airframe while
arming it in that case!</string>
</property>
<property name="text">
<string>Zero gyros while arming aircraft</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_6">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_3">
<property name="title">
<string>Filtering</string>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_5">
<item>
<widget class="QLabel" name="label_5">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string/>
</property>
<property name="text">
<string>Accelerometers</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_12">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QDoubleSpinBox" name="accelTauSpinbox">
<property name="minimumSize">
<size>
<width>60</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Accelerometer filtering.
Sets the amount of lowpass filtering of accelerometer data
for the attitude estimation. Higher values apply a stronger
filter, which may help with drifting in attitude mode.
Range: 0.00 - 0.20, Good starting value: 0.05 - 0.10
Start low and raise until drift stops.
A setting of 0.00 disables the filter.</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>0.200000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
</widget>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="spacing">
<number>4</number>
</property>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>380</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="ccAttitudeHelp">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>25</width>
<height>25</height>
</size>
</property>
<property name="toolTip">
<string>Takes you to the wiki page</string>
</property>
<property name="text">
<string/>
</property>
<property name="icon">
<iconset resource="../coreplugin/core.qrc">
<normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
</property>
<property name="iconSize">
<size>
<width>25</width>
<height>25</height>
</size>
</property>
<property name="flat">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="applyButton">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveButton">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Click to permanently save the accel bias in the CopterControl Flash.</string>
</property>
<property name="text">
<string>Save</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<resources>
<include location="../coreplugin/core.qrc"/>
</resources>
<connections/>
</ui>

6
ground/openpilotgcs/src/plugins/config/config.pro
View File

@ -21,6 +21,8 @@ HEADERS += \
configinputwidget.h \
configoutputwidget.h \
configvehicletypewidget.h \
config_cc_hw_widget.h \
configccattitudewidget.h \
configstabilizationwidget.h \
assertions.h \
defaultattitudewidget.h \
@ -67,6 +69,8 @@ SOURCES += \
configinputwidget.cpp \
configoutputwidget.cpp \
configvehicletypewidget.cpp \
config_cc_hw_widget.cpp \
configccattitudewidget.cpp \
configstabilizationwidget.cpp \
defaultattitudewidget.cpp \
defaulthwsettingswidget.cpp \
@ -104,10 +108,12 @@ FORMS += \
airframe_ground.ui \
airframe_multirotor.ui \
airframe_custom.ui \
cc_hw_settings.ui \
stabilization.ui \
input.ui \
input_wizard.ui \
output.ui \
ccattitude.ui \
defaultattitude.ui \
defaulthwsettings.ui \
inputchannelform.ui \

156
ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp Normal file
View File

@ -0,0 +1,156 @@
/**
******************************************************************************
*
* @file configtelemetrywidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief The Configuration Gadget used to update settings in the firmware
*****************************************************************************/
/*
* 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 "config_cc_hw_widget.h"
#include "hwsettings.h"
#include <QDebug>
#include <QStringList>
#include <QWidget>
#include <QTextEdit>
#include <QVBoxLayout>
#include <QPushButton>
#include <QDesktopServices>
#include <QUrl>
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_telemetry = new Ui_CC_HW_Widget();
m_telemetry->setupUi(this);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
if (!settings->useExpertMode()) {
m_telemetry->saveTelemetryToRAM->setVisible(false);
}
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
int id = utilMngr->getBoardModel();
switch (id) {
case 0x0101:
m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0101.svg"));
break;
case 0x0301:
m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0301.svg"));
break;
case 0x0401:
m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/coptercontrol.svg"));
break;
case 0x0402:
m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/coptercontrol.svg"));
break;
case 0x0201:
m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0201.svg"));
break;
default:
m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/coptercontrol.svg"));
break;
}
addApplySaveButtons(m_telemetry->saveTelemetryToRAM, m_telemetry->saveTelemetryToSD);
addWidgetBinding("HwSettings", "CC_FlexiPort", m_telemetry->cbFlexi);
addWidgetBinding("HwSettings", "CC_MainPort", m_telemetry->cbTele);
addWidgetBinding("HwSettings", "CC_RcvrPort", m_telemetry->cbRcvr);
addWidgetBinding("HwSettings", "USB_HIDPort", m_telemetry->cbUsbHid);
addWidgetBinding("HwSettings", "USB_VCPPort", m_telemetry->cbUsbVcp);
addWidgetBinding("HwSettings", "TelemetrySpeed", m_telemetry->telemetrySpeed);
addWidgetBinding("HwSettings", "GPSSpeed", m_telemetry->gpsSpeed);
// Add Gps protocol configuration
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings::DataFields hwSettingsData = hwSettings->getData();
if (hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_GPS] != HwSettings::OPTIONALMODULES_ENABLED) {
m_telemetry->gpsProtocol->setEnabled(false);
m_telemetry->gpsProtocol->setToolTip(tr("Enable GPS module and reboot the board to be able to select GPS protocol"));
} else {
addWidgetBinding("GPSSettings", "DataProtocol", m_telemetry->gpsProtocol);
}
addWidgetBinding("HwSettings", "ComUsbBridgeSpeed", m_telemetry->comUsbBridgeSpeed);
connect(m_telemetry->cchwHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
enableSaveButtons(false);
populateWidgets();
refreshWidgetsValues();
forceConnectedState();
}
ConfigCCHWWidget::~ConfigCCHWWidget()
{
// Do nothing
}
void ConfigCCHWWidget::refreshValues()
{}
void ConfigCCHWWidget::widgetsContentsChanged()
{
ConfigTaskWidget::widgetsContentsChanged();
if (((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_DEBUGCONSOLE) &&
(m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_DEBUGCONSOLE)) ||
((m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_DEBUGCONSOLE) &&
(m_telemetry->cbUsbVcp->currentIndex() == HwSettings::USB_VCPPORT_DEBUGCONSOLE)) ||
((m_telemetry->cbUsbVcp->currentIndex() == HwSettings::USB_VCPPORT_DEBUGCONSOLE) &&
(m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_DEBUGCONSOLE))) {
enableSaveButtons(false);
m_telemetry->problems->setText(tr("Warning: you have configured more than one DebugConsole, this currently is not supported"));
} else if (((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_TELEMETRY) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_TELEMETRY)) ||
((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_GPS) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_GPS)) ||
((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_DEBUGCONSOLE) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_DEBUGCONSOLE)) ||
((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_COMBRIDGE) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_COMBRIDGE))) {
enableSaveButtons(false);
m_telemetry->problems->setText(tr("Warning: you have configured both MainPort and FlexiPort for the same function, this currently is not supported"));
} else if ((m_telemetry->cbUsbHid->currentIndex() == HwSettings::USB_HIDPORT_USBTELEMETRY) && (m_telemetry->cbUsbVcp->currentIndex() == HwSettings::USB_VCPPORT_USBTELEMETRY)) {
enableSaveButtons(false);
m_telemetry->problems->setText(tr("Warning: you have configured both USB HID Port and USB VCP Port for the same function, this currently is not supported"));
} else if ((m_telemetry->cbUsbHid->currentIndex() != HwSettings::USB_HIDPORT_USBTELEMETRY) && (m_telemetry->cbUsbVcp->currentIndex() != HwSettings::USB_VCPPORT_USBTELEMETRY)) {
enableSaveButtons(false);
m_telemetry->problems->setText(tr("Warning: you have disabled USB Telemetry on both USB HID Port and USB VCP Port, this currently is not supported"));
} else {
m_telemetry->problems->setText("");
enableSaveButtons(true);
}
}
void ConfigCCHWWidget::enableSaveButtons(bool enable)
{
m_telemetry->saveTelemetryToRAM->setEnabled(enable);
m_telemetry->saveTelemetryToSD->setEnabled(enable);
}
void ConfigCCHWWidget::openHelp()
{
QDesktopServices::openUrl(QUrl(tr("http://wiki.openpilot.org/x/D4AUAQ"), QUrl::StrictMode));
}
/**
* @}
* @}
*/

56
ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.h Normal file
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@ -0,0 +1,56 @@
/**
******************************************************************************
*
* @file configtelemetrytwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Telemetry configuration panel
*****************************************************************************/
/*
* 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 CONFIGCCHWWIDGET_H
#define CONFIGCCHWWIDGET_H
#include "ui_cc_hw_settings.h"
#include "../uavobjectwidgetutils/configtaskwidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include <QWidget>
#include <QList>
#include "smartsavebutton.h"
class ConfigCCHWWidget : public ConfigTaskWidget {
Q_OBJECT
public:
ConfigCCHWWidget(QWidget *parent = 0);
~ConfigCCHWWidget();
private slots:
void openHelp();
void refreshValues();
void widgetsContentsChanged();
void enableSaveButtons(bool enable);
private:
Ui_CC_HW_Widget *m_telemetry;
QSvgRenderer *m_renderer;
};
#endif // CONFIGCCHWWIDGET_H

239
ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp Normal file
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@ -0,0 +1,239 @@
/**
******************************************************************************
*
* @file configccattitudewidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Configure Attitude module on CopterControl
*****************************************************************************/
/*
* 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 "configccattitudewidget.h"
#include "ui_ccattitude.h"
#include "utils/coordinateconversions.h"
#include "attitudesettings.h"
#include <QMutexLocker>
#include <QMessageBox>
#include <QDebug>
#include <QDesktopServices>
#include <QUrl>
#include "accelstate.h"
#include "accelgyrosettings.h"
#include "gyrostate.h"
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/generalsettings.h>
#include <calibration/calibrationutils.h>
ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
ConfigTaskWidget(parent),
ui(new Ui_ccattitude)
{
ui->setupUi(this);
connect(ui->zeroBias, SIGNAL(clicked()), this, SLOT(startAccelCalibration()));
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
if (!settings->useExpertMode()) {
ui->applyButton->setVisible(false);
}
addApplySaveButtons(ui->applyButton, ui->saveButton);
addUAVObject("AttitudeSettings");
addUAVObject("AccelGyroSettings");
// Connect the help button
connect(ui->ccAttitudeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
addWidgetBinding("AttitudeSettings", "ZeroDuringArming", ui->zeroGyroBiasOnArming);
addWidgetBinding("AttitudeSettings", "AccelTau", ui->accelTauSpinbox);
addWidgetBinding("AttitudeSettings", "BoardRotation", ui->rollBias, AttitudeSettings::BOARDROTATION_ROLL);
addWidgetBinding("AttitudeSettings", "BoardRotation", ui->pitchBias, AttitudeSettings::BOARDROTATION_PITCH);
addWidgetBinding("AttitudeSettings", "BoardRotation", ui->yawBias, AttitudeSettings::BOARDROTATION_YAW);
addWidget(ui->zeroBias);
populateWidgets();
refreshWidgetsValues();
forceConnectedState();
}
ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget()
{
delete ui;
}
void ConfigCCAttitudeWidget::sensorsUpdated(UAVObject *obj)
{
if (!timer.isActive()) {
// ignore updates that come in after the timer has expired
return;
}
AccelState *accelState = AccelState::GetInstance(getObjectManager());
GyroState *gyroState = GyroState::GetInstance(getObjectManager());
// Accumulate samples until we have _at least_ NUM_SENSOR_UPDATES samples
// for both gyros and accels.
// Note that, at present, we stash the samples and then compute the bias
// at the end, even though the mean could be accumulated as we go.
// In future, a better algorithm could be used.
if (obj->getObjID() == AccelState::OBJID) {
accelUpdates++;
AccelState::DataFields accelStateData = accelState->getData();
x_accum.append(accelStateData.x);
y_accum.append(accelStateData.y);
z_accum.append(accelStateData.z);
} else if (obj->getObjID() == GyroState::OBJID) {
gyroUpdates++;
GyroState::DataFields gyroStateData = gyroState->getData();
x_gyro_accum.append(gyroStateData.x);
y_gyro_accum.append(gyroStateData.y);
z_gyro_accum.append(gyroStateData.z);
}
// update the progress indicator
ui->zeroBiasProgress->setValue((float)qMin(accelUpdates, gyroUpdates) / NUM_SENSOR_UPDATES * 100);
// If we have enough samples, then stop sampling and compute the biases
if (accelUpdates >= NUM_SENSOR_UPDATES && gyroUpdates >= NUM_SENSOR_UPDATES) {
timer.stop();
disconnect(obj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sensorsUpdated(UAVObject *)));
disconnect(&timer, SIGNAL(timeout()), this, SLOT(timeout()));
float x_bias = OpenPilot::CalibrationUtils::listMean(x_accum);
float y_bias = OpenPilot::CalibrationUtils::listMean(y_accum);
float z_bias = OpenPilot::CalibrationUtils::listMean(z_accum) + 9.81;
float x_gyro_bias = OpenPilot::CalibrationUtils::listMean(x_gyro_accum);
float y_gyro_bias = OpenPilot::CalibrationUtils::listMean(y_gyro_accum);
float z_gyro_bias = OpenPilot::CalibrationUtils::listMean(z_gyro_accum);
accelState->setMetadata(initialAccelStateMdata);
gyroState->setMetadata(initialGyroStateMdata);
AccelGyroSettings::DataFields accelGyroSettingsData = AccelGyroSettings::GetInstance(getObjectManager())->getData();
AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData();
// We offset the gyro bias by current bias to help precision
accelGyroSettingsData.accel_bias[0] += x_bias;
accelGyroSettingsData.accel_bias[1] += y_bias;
accelGyroSettingsData.accel_bias[2] += z_bias;
accelGyroSettingsData.gyro_bias[0] = -x_gyro_bias;
accelGyroSettingsData.gyro_bias[1] = -y_gyro_bias;
accelGyroSettingsData.gyro_bias[2] = -z_gyro_bias;
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE;
AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
AccelGyroSettings::GetInstance(getObjectManager())->setData(accelGyroSettingsData);
this->setDirty(true);
// reenable controls
enableControls(true);
}
}
void ConfigCCAttitudeWidget::timeout()
{
UAVDataObject *obj = AccelState::GetInstance(getObjectManager());
disconnect(obj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sensorsUpdated(UAVObject *)));
disconnect(&timer, SIGNAL(timeout()), this, SLOT(timeout()));
AccelState *accelState = AccelState::GetInstance(getObjectManager());
GyroState *gyroState = GyroState::GetInstance(getObjectManager());
accelState->setMetadata(initialAccelStateMdata);
gyroState->setMetadata(initialGyroStateMdata);
QMessageBox msgBox;
msgBox.setText(tr("Calibration timed out before receiving required updates."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
// reset progress indicator
ui->zeroBiasProgress->setValue(0);
// reenable controls
enableControls(true);
}
void ConfigCCAttitudeWidget::startAccelCalibration()
{
// disable controls during sampling
enableControls(false);
accelUpdates = 0;
gyroUpdates = 0;
x_accum.clear();
y_accum.clear();
z_accum.clear();
x_gyro_accum.clear();
y_gyro_accum.clear();
z_gyro_accum.clear();
// Disable gyro bias correction to see raw data
AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData();
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE;
AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
// Set up to receive updates
UAVDataObject *accelState = AccelState::GetInstance(getObjectManager());
UAVDataObject *gyroState = GyroState::GetInstance(getObjectManager());
connect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sensorsUpdated(UAVObject *)));
connect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sensorsUpdated(UAVObject *)));
// Speed up updates
initialAccelStateMdata = accelState->getMetadata();
UAVObject::Metadata accelStateMdata = initialAccelStateMdata;
UAVObject::SetFlightTelemetryUpdateMode(accelStateMdata, UAVObject::UPDATEMODE_PERIODIC);
accelStateMdata.flightTelemetryUpdatePeriod = 30; // ms
accelState->setMetadata(accelStateMdata);
initialGyroStateMdata = gyroState->getMetadata();
UAVObject::Metadata gyroStateMdata = initialGyroStateMdata;
UAVObject::SetFlightTelemetryUpdateMode(gyroStateMdata, UAVObject::UPDATEMODE_PERIODIC);
gyroStateMdata.flightTelemetryUpdatePeriod = 30; // ms
gyroState->setMetadata(gyroStateMdata);
// Set up timeout timer
timer.setSingleShot(true);
timer.start(5000 + (NUM_SENSOR_UPDATES * qMax(accelStateMdata.flightTelemetryUpdatePeriod,
gyroStateMdata.flightTelemetryUpdatePeriod)));
connect(&timer, SIGNAL(timeout()), this, SLOT(timeout()));
}
void ConfigCCAttitudeWidget::openHelp()
{
QDesktopServices::openUrl(QUrl(tr("http://wiki.openpilot.org/x/44Cf"), QUrl::StrictMode));
}
void ConfigCCAttitudeWidget::setAccelFiltering(bool active)
{
Q_UNUSED(active);
setDirty(true);
}
void ConfigCCAttitudeWidget::enableControls(bool enable)
{
ui->zeroBias->setEnabled(enable);
ui->zeroGyroBiasOnArming->setEnabled(enable);
ui->accelTauSpinbox->setEnabled(enable);
ConfigTaskWidget::enableControls(enable);
}
void ConfigCCAttitudeWidget::updateObjectsFromWidgets()
{
ConfigTaskWidget::updateObjectsFromWidgets();
ui->zeroBiasProgress->setValue(0);
}

74
ground/openpilotgcs/src/plugins/config/configccattitudewidget.h Normal file
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@ -0,0 +1,74 @@
/**
******************************************************************************
*
* @file configccattitudewidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
* @{
* @brief Configure the properties of the attitude module in CopterControl
*****************************************************************************/
/*
* 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 CCATTITUDEWIDGET_H
#define CCATTITUDEWIDGET_H
#include "ui_ccattitude.h"
#include "../uavobjectwidgetutils/configtaskwidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include <QWidget>
#include <QTimer>
class Ui_Widget;
class ConfigCCAttitudeWidget : public ConfigTaskWidget {
Q_OBJECT
public:
explicit ConfigCCAttitudeWidget(QWidget *parent = 0);
~ConfigCCAttitudeWidget();
virtual void updateObjectsFromWidgets();
private slots:
void sensorsUpdated(UAVObject *obj);
void timeout();
void startAccelCalibration();
void openHelp();
void setAccelFiltering(bool active);
private:
Ui_ccattitude *ui;
QTimer timer;
UAVObject::Metadata initialAccelStateMdata;
UAVObject::Metadata initialGyroStateMdata;
int accelUpdates;
int gyroUpdates;
QList<double> x_accum, y_accum, z_accum;
QList<double> x_gyro_accum, y_gyro_accum, z_gyro_accum;
static const float DEFAULT_ENABLED_ACCEL_TAU = 0.1;
static const int NUM_SENSOR_UPDATES = 300;
protected:
virtual void enableControls(bool enable);
};
#endif // CCATTITUDEWIDGET_H

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ground/openpilotgcs/src/plugins/config/configgadget.qrc
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@ -12,7 +12,9 @@
<file>images/fixedwing-shapes.svg</file>
<file>images/ground-shapes.svg</file>
<file>images/ccpm_setup.svg</file>
<file>images/PipXtreme.png</file>
<file>images/help.png</file>
<file>images/coptercontrol.svg</file>
<file>images/TX2.svg</file>
<file>images/output_selected.png</file>
<file>images/output_normal.png</file>

15
ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
View File

@ -28,12 +28,14 @@
#include "configgadgetwidget.h"
#include "configvehicletypewidget.h"
#include "configccattitudewidget.h"
#include "configinputwidget.h"
#include "configoutputwidget.h"
#include "configstabilizationwidget.h"
#include "configcamerastabilizationwidget.h"
#include "configtxpidwidget.h"
#include "configrevohwwidget.h"
#include "config_cc_hw_widget.h"
#include "configoplinkwidget.h"
#include "configrevowidget.h"
#include "configrevonanohwwidget.h"
@ -182,13 +184,18 @@ void ConfigGadgetWidget::onAutopilotConnect()
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
if (utilMngr) {
int board = utilMngr->getBoardModel();
if ((board & 0xff00) == 0x0900) {
if ((board & 0xff00) == 0x0400) {
// CopterControl family
QWidget *qwd = new ConfigCCAttitudeWidget(this);
stackWidget->replaceTab(ConfigGadgetWidget::sensors, qwd);
qwd = new ConfigCCHWWidget(this);
stackWidget->replaceTab(ConfigGadgetWidget::hardware, qwd);
} else if ((board & 0xff00) == 0x0900) {
// Revolution family
QWidget *qwd = new ConfigRevoWidget(this);
stackWidget->replaceTab(ConfigGadgetWidget::sensors, qwd);
if (board == 0x0903) {
qwd = new ConfigRevoHWWidget(this);
} else if (board == 0x0905) {
qwd = new ConfigRevoHWWidget(this);
if (board == 0x0905) {
qwd = new ConfigRevoNanoHWWidget(this);
}
stackWidget->replaceTab(ConfigGadgetWidget::hardware, qwd);

11
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -354,7 +354,11 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject *obj)
if (utilMngr) {
int board = utilMngr->getBoardModel();
// Setup labels and combos for banks according to board type
if (board == 0x0903) {
if ((board & 0xff00) == 0x0400) {
// Coptercontrol family of boards 4 timer banks
bankLabels << "1 (1-3)" << "2 (4)" << "3 (5,7-8)" << "4 (6,9-10)";
channelBanks << 1 << 1 << 1 << 2 << 3 << 4 << 3 << 3 << 4 << 4;
} else if (board == 0x0903) {
// Revolution family of boards 6 timer banks
bankLabels << "1 (1-2)" << "2 (3)" << "3 (4)" << "4 (5-6)" << "5 (7,12)" << "6 (8-11)";
channelBanks << 1 << 1 << 2 << 3 << 4 << 4 << 5 << 6 << 6 << 6 << 6 << 5;
@ -472,7 +476,10 @@ void ConfigOutputWidget::updateWarnings(UAVObject *)
if (systemAlarms.Alarm[SystemAlarms::ALARM_SYSTEMCONFIGURATION] > SystemAlarms::ALARM_WARNING) {
switch (systemAlarms.ExtendedAlarmStatus[SystemAlarms::EXTENDEDALARMSTATUS_SYSTEMCONFIGURATION]) {
case SystemAlarms::EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT:
setWarning(tr("OneShot and PWMSync output DO NOT work with Receiver Port is 'PWM'<br>"));
setWarning(tr("OneShot and PWMSync output only works with Receiver Port settings marked with '+OneShot'<br>"
"When using Receiver Port setting 'PPM_PIN8+OneShot' "
"<b><font color='%1'>Bank %2</font></b> must be set to PWM")
.arg(m_banks.at(3).color().name()).arg(m_banks.at(3).label()->text()));
return;
}
}

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Side by Side

After

Width:  |  Height:  |  Size: 139 KiB

35
ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
View File

@ -89,8 +89,6 @@ void ConnectionManager::init()
// new connection object from plugins
QObject::connect(ExtensionSystem::PluginManager::instance(), SIGNAL(objectAdded(QObject *)), this, SLOT(objectAdded(QObject *)));
QObject::connect(ExtensionSystem::PluginManager::instance(), SIGNAL(aboutToRemoveObject(QObject *)), this, SLOT(aboutToRemoveObject(QObject *)));
ccWarningClosed = true;
}
@ -437,23 +435,16 @@ void ConnectionManager::devChanged(IConnection *connection)
}
// clear device list combobox
m_availableDevList->clear();
ccFound = false;
// remove registered devices of this IConnection from the list
updateConnectionList(connection);
updateConnectionDropdown();
if (ccFound && ccWarningClosed) {
ccWarningClosed = false;
QMessageBox::information(this, tr("CopterControl Not Supported"),
tr("This version of OpenPilot GCS does not support CC and CC3D boards.\n\nPlease use OpenPilot GCS version 15.02.xx instead"));
ccWarningClosed = true;
}
qDebug() << "# devices " << m_devList.count();
emit availableDevicesChanged(m_devList);
// disable connection button if the liNameif (m_availableDevList->count() > 0)
if (m_availableDevList->count() > 0) {
m_connectBtn->setEnabled(true);
@ -466,21 +457,17 @@ void ConnectionManager::updateConnectionDropdown()
{
// add all the list again to the combobox
foreach(DevListItem d, m_devList) {
if (!d.getConName().contains("CopterControl")) {
m_availableDevList->addItem(d.getConName());
m_availableDevList->setItemData(m_availableDevList->count() - 1, d.getConName(), Qt::ToolTipRole);
if (!m_ioDev && d.getConName().startsWith("USB")) {
if (m_mainWindow->generalSettings()->autoConnect() || m_mainWindow->generalSettings()->autoSelect()) {
m_availableDevList->setCurrentIndex(m_availableDevList->count() - 1);
}
if (m_mainWindow->generalSettings()->autoConnect() && polling) {
qDebug() << "Automatically opening device";
connectDevice(d);
qDebug() << "ConnectionManager::updateConnectionDropdown autoconnected USB device";
}
m_availableDevList->addItem(d.getConName());
m_availableDevList->setItemData(m_availableDevList->count() - 1, d.getConName(), Qt::ToolTipRole);
if (!m_ioDev && d.getConName().startsWith("USB")) {
if (m_mainWindow->generalSettings()->autoConnect() || m_mainWindow->generalSettings()->autoSelect()) {
m_availableDevList->setCurrentIndex(m_availableDevList->count() - 1);
}
if (m_mainWindow->generalSettings()->autoConnect() && polling) {
qDebug() << "Automatically opening device";
connectDevice(d);
qDebug() << "ConnectionManager::updateConnectionDropdown autoconnected USB device";
}
} else {
ccFound = true;
}
}
if (m_ioDev) {

3
ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
View File

@ -38,7 +38,6 @@
#include <QtCore/QLinkedList>
#include <QPushButton>
#include <QComboBox>
#include <QMessageBox>
#include "core_global.h"
#include <QTimer>
@ -150,8 +149,6 @@ protected:
private:
bool connectDevice();
bool polling;
bool ccFound;
bool ccWarningClosed;
Internal::MainWindow *m_mainWindow;
QList <IConnection *> connectionBackup;
QTimer *reconnect;

7
ground/openpilotgcs/src/plugins/ophid/inc/ophid_usbmon.h
View File

@ -135,9 +135,10 @@ public:
};
enum USBConstants {
idVendor_OpenPilot = 0x20a0,
idProduct_OpenPilot = 0x415a,
idProduct_OPLinkMini = 0x415c
idVendor_OpenPilot = 0x20a0,
idProduct_OpenPilot = 0x415a,
idProduct_CopterControl = 0x415b,
idProduct_OPLinkMini = 0x415c
};
static USBMonitor *instance();

12
ground/openpilotgcs/src/plugins/setupwizard/connectiondiagram.cpp
View File

@ -81,6 +81,10 @@ void ConnectionDiagram::setupGraphicsScene()
QList<QString> elementsToShow;
switch (m_configSource->getControllerType()) {
case VehicleConfigurationSource::CONTROLLER_CC:
case VehicleConfigurationSource::CONTROLLER_CC3D:
elementsToShow << "controller-cc";
break;
case VehicleConfigurationSource::CONTROLLER_REVO:
elementsToShow << "controller-revo";
break;
@ -160,6 +164,14 @@ void ConnectionDiagram::setupGraphicsScene()
QString prefix = "";
QString suffix = "";
switch (m_configSource->getControllerType()) {
case VehicleConfigurationSource::CONTROLLER_CC:
case VehicleConfigurationSource::CONTROLLER_CC3D:
prefix = "cc-";
if (m_configSource->getEscType() == VehicleConfigurationSource::ESC_ONESHOT ||
m_configSource->getEscType() == VehicleConfigurationSource::ESC_SYNCHED) {
suffix = "-oneshot";
}
break;
case VehicleConfigurationSource::CONTROLLER_REVO:
prefix = "revo-";
break;

11
ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.cpp
View File

@ -80,6 +80,9 @@ bool ControllerPage::isComplete() const
bool ControllerPage::validatePage()
{
getWizard()->setControllerType((SetupWizard::CONTROLLER_TYPE)ui->boardTypeCombo->itemData(ui->boardTypeCombo->currentIndex()).toInt());
if (getWizard()->getControllerType() == SetupWizard::CONTROLLER_CC || getWizard()->getControllerType() == SetupWizard::CONTROLLER_CC3D) {
getWizard()->setGpsType(SetupWizard::GPS_DISABLED);
}
return true;
}
@ -98,6 +101,12 @@ SetupWizard::CONTROLLER_TYPE ControllerPage::getControllerType()
case 0x0301:
return SetupWizard::CONTROLLER_OPLINK;
case 0x0401:
return SetupWizard::CONTROLLER_CC;
case 0x0402:
return SetupWizard::CONTROLLER_CC3D;
case 0x0903:
return SetupWizard::CONTROLLER_REVO;
@ -123,6 +132,8 @@ void ControllerPage::setupBoardTypes()
QVariant v(0);
ui->boardTypeCombo->addItem(tr("<Unknown>"), SetupWizard::CONTROLLER_UNKNOWN);
ui->boardTypeCombo->addItem(tr("OpenPilot CopterControl"), SetupWizard::CONTROLLER_CC);
ui->boardTypeCombo->addItem(tr("OpenPilot CopterControl 3D"), SetupWizard::CONTROLLER_CC3D);
ui->boardTypeCombo->addItem(tr("OpenPilot Revolution"), SetupWizard::CONTROLLER_REVO);
ui->boardTypeCombo->addItem(tr("OpenPilot OPLink Radio Modem"), SetupWizard::CONTROLLER_OPLINK);
ui->boardTypeCombo->addItem(tr("OpenPilot DiscoveryF4"), SetupWizard::CONTROLLER_DISCOVERYF4);

3
ground/openpilotgcs/src/plugins/setupwizard/pages/escpage.cpp
View File

@ -77,9 +77,10 @@ bool EscPage::isSynchOrOneShotAvailable()
switch (getWizard()->getControllerType()) {
case SetupWizard::CONTROLLER_NANO:
case SetupWizard::CONTROLLER_CC:
case SetupWizard::CONTROLLER_CC3D:
available = getWizard()->getInputType() != SetupWizard::INPUT_PWM;
break;
default:
break;
}

21
ground/openpilotgcs/src/plugins/setupwizard/pages/inputpage.cpp
View File

@ -74,6 +74,27 @@ bool InputPage::restartNeeded(VehicleConfigurationSource::INPUT_TYPE selectedTyp
HwSettings *hwSettings = HwSettings::GetInstance(uavoManager);
HwSettings::DataFields data = hwSettings->getData();
switch (getWizard()->getControllerType()) {
case SetupWizard::CONTROLLER_CC:
case SetupWizard::CONTROLLER_CC3D:
{
switch (selectedType) {
case VehicleConfigurationSource::INPUT_PWM:
return data.CC_RcvrPort != HwSettings::CC_RCVRPORT_PWMNOONESHOT;
case VehicleConfigurationSource::INPUT_PPM:
return data.CC_RcvrPort != HwSettings::CC_RCVRPORT_PPMNOONESHOT;
case VehicleConfigurationSource::INPUT_SBUS:
return data.CC_MainPort != HwSettings::CC_MAINPORT_SBUS;
case VehicleConfigurationSource::INPUT_DSM:
// TODO: Handle all of the DSM types ?? Which is most common?
return data.CC_MainPort != HwSettings::CC_MAINPORT_DSM;
default: return true;
}
break;
}
case SetupWizard::CONTROLLER_REVO:
case SetupWizard::CONTROLLER_DISCOVERYF4:
case SetupWizard::CONTROLLER_NANO:

4245
ground/openpilotgcs/src/plugins/setupwizard/resources/connection-diagrams.svg
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10
ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
View File

@ -95,6 +95,8 @@ int SetupWizard::nextId() const
case PAGE_CONTROLLER:
{
switch (getControllerType()) {
case CONTROLLER_CC:
case CONTROLLER_CC3D:
case CONTROLLER_REVO:
case CONTROLLER_DISCOVERYF4:
return PAGE_INPUT;
@ -207,6 +209,8 @@ int SetupWizard::nextId() const
case PAGE_SUMMARY:
{
switch (getControllerType()) {
case CONTROLLER_CC:
case CONTROLLER_CC3D:
case CONTROLLER_REVO:
case CONTROLLER_NANO:
case CONTROLLER_DISCOVERYF4:
@ -238,6 +242,12 @@ QString SetupWizard::getSummaryText()
summary.append("<b>").append(tr("Controller type: ")).append("</b>");
switch (getControllerType()) {
case CONTROLLER_CC:
summary.append(tr("OpenPilot CopterControl"));
break;
case CONTROLLER_CC3D:
summary.append(tr("OpenPilot CopterControl 3D"));
break;
case CONTROLLER_REVO:
summary.append(tr("OpenPilot Revolution"));
break;

56
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -100,9 +100,16 @@ bool VehicleConfigurationHelper::setupHardwareSettings(bool save)
bool VehicleConfigurationHelper::isApplicable(UAVObject *dataObj)
{
Q_UNUSED(dataObj);
switch (m_configSource->getControllerType()) {
case VehicleConfigurationSource::CONTROLLER_CC:
case VehicleConfigurationSource::CONTROLLER_CC3D:
if (dataObj->getName() == "EKFConfiguration") {
return false;
}
default:
return true;
}
}
void VehicleConfigurationHelper::addModifiedObject(UAVDataObject *object, QString description)
{
@ -129,6 +136,39 @@ void VehicleConfigurationHelper::applyHardwareConfiguration()
data.OptionalModules[HwSettings::OPTIONALMODULES_AIRSPEED] = 0;
switch (m_configSource->getControllerType()) {
case VehicleConfigurationSource::CONTROLLER_CC:
case VehicleConfigurationSource::CONTROLLER_CC3D:
// Reset all ports
data.CC_RcvrPort = HwSettings::CC_RCVRPORT_DISABLEDONESHOT;
// Default mainport to be active telemetry link
data.CC_MainPort = HwSettings::CC_MAINPORT_TELEMETRY;
data.CC_FlexiPort = HwSettings::CC_FLEXIPORT_DISABLED;
switch (m_configSource->getInputType()) {
case VehicleConfigurationSource::INPUT_PWM:
data.CC_RcvrPort = HwSettings::CC_RCVRPORT_PWMNOONESHOT;
break;
case VehicleConfigurationSource::INPUT_PPM:
if (m_configSource->getEscType() == VehicleConfigurationSource::ESC_ONESHOT ||
m_configSource->getEscType() == VehicleConfigurationSource::ESC_SYNCHED) {
data.CC_RcvrPort = HwSettings::CC_RCVRPORT_PPM_PIN8ONESHOT;
} else {
data.CC_RcvrPort = HwSettings::CC_RCVRPORT_PPMNOONESHOT;
}
break;
case VehicleConfigurationSource::INPUT_SBUS:
// We have to set teletry on flexport since s.bus needs the mainport.
data.CC_MainPort = HwSettings::CC_MAINPORT_SBUS;
data.CC_FlexiPort = HwSettings::CC_FLEXIPORT_TELEMETRY;
break;
case VehicleConfigurationSource::INPUT_DSM:
data.CC_FlexiPort = HwSettings::CC_FLEXIPORT_DSM;
break;
default:
break;
}
break;
case VehicleConfigurationSource::CONTROLLER_REVO:
case VehicleConfigurationSource::CONTROLLER_NANO:
case VehicleConfigurationSource::CONTROLLER_DISCOVERYF4:
@ -597,6 +637,20 @@ void VehicleConfigurationHelper::applySensorBiasConfiguration()
addModifiedObject(accelGyroSettings, tr("Writing gyro and accelerometer bias settings"));
switch (m_configSource->getControllerType()) {
case VehicleConfigurationSource::CONTROLLER_CC:
case VehicleConfigurationSource::CONTROLLER_CC3D:
{
AttitudeSettings *copterControlCalibration = AttitudeSettings::GetInstance(m_uavoManager);
Q_ASSERT(copterControlCalibration);
AttitudeSettings::DataFields data = copterControlCalibration->getData();
data.AccelTau = DEFAULT_ENABLED_ACCEL_TAU;
data.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE;
copterControlCalibration->setData(data);
addModifiedObject(copterControlCalibration, tr("Writing board settings"));
break;
}
case VehicleConfigurationSource::CONTROLLER_REVO:
case VehicleConfigurationSource::CONTROLLER_NANO:
{

2
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
View File

@ -57,7 +57,7 @@ class VehicleConfigurationSource {
public:
VehicleConfigurationSource();
enum CONTROLLER_TYPE { CONTROLLER_UNKNOWN, CONTROLLER_REVO, CONTROLLER_NANO, CONTROLLER_OPLINK, CONTROLLER_DISCOVERYF4 };
enum CONTROLLER_TYPE { CONTROLLER_UNKNOWN, CONTROLLER_CC, CONTROLLER_CC3D, CONTROLLER_REVO, CONTROLLER_NANO, CONTROLLER_OPLINK, CONTROLLER_DISCOVERYF4 };
enum VEHICLE_TYPE { VEHICLE_UNKNOWN, VEHICLE_MULTI, VEHICLE_FIXEDWING, VEHICLE_HELI, VEHICLE_SURFACE };
enum VEHICLE_SUB_TYPE { MULTI_ROTOR_UNKNOWN, MULTI_ROTOR_TRI_Y, MULTI_ROTOR_QUAD_X, MULTI_ROTOR_QUAD_PLUS, MULTI_ROTOR_QUAD_H,
MULTI_ROTOR_HEXA, MULTI_ROTOR_HEXA_H, MULTI_ROTOR_HEXA_X, MULTI_ROTOR_HEXA_COAX_Y, MULTI_ROTOR_OCTO,

27
ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
View File

@ -14,18 +14,43 @@ public:
static QString idToBoardName(int id)
{
switch (id) {
case 0x0101:
// MB
return QString("OpenPilot MainBoard");
break;
case 0x0201:
// INS
return QString("OpenPilot INS");
break;
case 0x0301:
// OPLink Mini
return QString("OPLink");
break;
case 0x0401:
// Coptercontrol
return QString("CopterControl");
break;
case 0x0402:
// Coptercontrol 3D
// It would be nice to say CC3D here but since currently we use string comparisons
// for firmware compatibility and the filename path that would break
return QString("CopterControl");
break;
case 0x0901:
// Revolution
return QString("Revolution");
break;
case 0x0903:
// Revo Mini
return QString("Revolution");
break;
case 0x0904:
return QString("DiscoveryF4");
@ -36,6 +61,8 @@ public:
default:
return QString("");
break;
}
}
deviceDescriptorStruct() {}

20
ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
View File

@ -78,11 +78,6 @@ void DeviceWidget::populate()
{
int id = m_dfu->devices[deviceID].ID;
// Exclude CC/CC3D
if ((id == 0x0401) || (id == 0x0402)) {
return;
}
myDevice->lbldevID->setText(tr("Device ID: ") + QString::number(id, 16));
// DeviceID tells us what sort of HW we have detected:
// display a nice icon:
@ -91,10 +86,22 @@ void DeviceWidget::populate()
myDevice->lblHWRev->setText(tr("HW Revision: ") + QString::number(id & 0x00FF, 16));
switch (id) {
case 0x0101:
case 0x0201:
devicePic.load("");
break;
case 0x0301:
devicePic.load(":/uploader/images/gcs-board-oplink.png");
break;
case 0x0401:
devicePic.load(":/uploader/images/gcs-board-cc.png");
break;
case 0x0402:
devicePic.load(":/uploader/images/gcs-board-cc3d.png");
break;
case 0x0903:
devicePic.load(":/uploader/images/gcs-board-revo.png");
break;
case 0x0904:
devicePic.load(":/uploader/images/gcs-board-revo.png");
break;
@ -357,7 +364,8 @@ void DeviceWidget::uploadFirmware()
// - Check whether board type matches firmware:
int board = m_dfu->devices[deviceID].ID;
int firmwareBoard = ((desc.at(12) & 0xff) << 8) + (desc.at(13) & 0xff);
if ((board == 0x901 && firmwareBoard == 0x902) || // L3GD20 revo supports Revolution firmware
if ((board == 0x401 && firmwareBoard == 0x402) ||
(board == 0x901 && firmwareBoard == 0x902) || // L3GD20 revo supports Revolution firmware
(board == 0x902 && firmwareBoard == 0x903)) { // RevoMini1 supporetd by RevoMini2 firmware
// These firmwares are designed to be backwards compatible
} else if (firmwareBoard != board) {

2466
ground/openpilotgcs/src/plugins/uploader/images/deviceID-0101.svg Normal file
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4
ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
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@ -1074,6 +1074,7 @@ int DFUObject::receiveData(void *data, int size)
#define BOARD_ID_MB 1
#define BOARD_ID_INS 2
#define BOARD_ID_PIP 3
#define BOARD_ID_CC 4
#define BOARD_ID_REVO 9
/**
@ -1097,6 +1098,9 @@ OP_DFU::eBoardType DFUObject::GetBoardType(int boardNum)
case BOARD_ID_PIP: // PIP RF Modem
brdType = eBoardPip;
break;
case BOARD_ID_CC: // CopterControl family
brdType = eBoardCC;
break;
case BOARD_ID_REVO: // Revo board
brdType = eBoardRevo;
break;

1
ground/openpilotgcs/src/plugins/uploader/op_dfu.h
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@ -92,6 +92,7 @@ enum eBoardType {
eBoardMainbrd = 1,
eBoardINS,
eBoardPip = 3,
eBoardCC = 4,
eBoardRevo = 9,
};

10
ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
View File

@ -72,9 +72,19 @@ void RunningDeviceWidget::populate()
myDevice->devicePicture->scene()->clear();
switch (id) {
case 0x0101:
case 0x0201:
devicePic.load("");
break;
case 0x0301:
devicePic.load(":/uploader/images/gcs-board-oplink.png");
break;
case 0x0401:
devicePic.load(":/uploader/images/gcs-board-cc.png");
break;
case 0x0402:
devicePic.load(":/uploader/images/gcs-board-cc3d.png");
break;
case 0x0903:
devicePic.load(":/uploader/images/gcs-board-revo.png");
break;

8
ground/openpilotgcs/src/plugins/uploader/uploader.qrc
View File

@ -5,9 +5,17 @@
<file>images/process-stop.svg</file>
<file>images/dialog-apply.svg</file>
<file>images/gtk-info.svg</file>
<file>images/deviceID-0401.svg</file>
<file>images/deviceID-0301.svg</file>
<file>images/deviceID-0201.svg</file>
<file>images/deviceID-0101.svg</file>
<file>images/application-certificate.svg</file>
<file>images/warning.svg</file>
<file>images/error.svg</file>
<file>images/deviceID-0402.svg</file>
<file>images/gcs-board-cc.png</file>
<file>images/gcs-board-cc3d.png</file>
<file>images/pipx.png</file>
<file>images/gcs-board-oplink.png</file>
<file>images/gcs-board-revo.png</file>
<file>images/gcs-board-nano.png</file>

5
ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
View File

@ -752,6 +752,10 @@ bool UploaderGadgetWidget::autoUpdate(bool erase)
case 0x301:
filename = "fw_oplinkmini";
break;
case 0x401:
case 0x402:
filename = "fw_coptercontrol";
break;
case 0x501:
filename = "fw_osd";
break;
@ -813,6 +817,7 @@ bool UploaderGadgetWidget::autoUpdate(bool erase)
commonSystemBoot(false, erase);
// Wait for board to connect to GCS again after boot and erase
// For older board like CC3D this can take some time
// Theres a special case with OPLink
if (!telemetryManager->isConnected() && !m_oplinkwatchdog.isConnected()) {
progressUpdate(erase ? BOOTING_AND_ERASING : BOOTING, QVariant());

17
ground/openpilotgcs/src/plugins/usagetracker/usagetrackerplugin.cpp
View File

@ -182,11 +182,18 @@ void UsageTrackerPlugin::collectUsageParameters(QMap<QString, QString> &paramete
parameters["conf_receiver"] = getUAVFieldValue(objManager, "ManualControlSettings", "ChannelGroups", 0);
parameters["conf_vehicle"] = getUAVFieldValue(objManager, "SystemSettings", "AirframeType");
// Revolution family
parameters["conf_rport"] = getUAVFieldValue(objManager, "HwSettings", "RM_RcvrPort");
parameters["conf_mport"] = getUAVFieldValue(objManager, "HwSettings", "RM_MainPort");
parameters["conf_fport"] = getUAVFieldValue(objManager, "HwSettings", "RM_FlexiPort");
parameters["conf_fusion"] = getUAVFieldValue(objManager, "RevoSettings", "FusionAlgorithm");
if ((boardModel & 0xff00) == 0x0400) {
// CopterControl family
parameters["conf_rport"] = getUAVFieldValue(objManager, "HwSettings", "CC_RcvrPort");
parameters["conf_mport"] = getUAVFieldValue(objManager, "HwSettings", "CC_MainPort");
parameters["conf_fport"] = getUAVFieldValue(objManager, "HwSettings", "CC_FlexiPort");
} else if ((boardModel & 0xff00) == 0x0900) {
// Revolution family
parameters["conf_rport"] = getUAVFieldValue(objManager, "HwSettings", "RM_RcvrPort");
parameters["conf_mport"] = getUAVFieldValue(objManager, "HwSettings", "RM_MainPort");
parameters["conf_fport"] = getUAVFieldValue(objManager, "HwSettings", "RM_FlexiPort");
parameters["conf_fusion"] = getUAVFieldValue(objManager, "RevoSettings", "FusionAlgorithm");
}
parameters["conf_uport"] = getUAVFieldValue(objManager, "HwSettings", "USB_HIDPort");
parameters["conf_vport"] = getUAVFieldValue(objManager, "HwSettings", "USB_VCPPort");

4
shared/uavobjectdefinition/hwsettings.xml
View File

@ -1,6 +1,10 @@
<xml>
<object name="HwSettings" singleinstance="true" settings="true" category="System">
<description>Selection of optional hardware configurations.</description>
<field name="CC_RcvrPort" units="function" type="enum" elements="1" options="Disabled+OneShot,PWM+NoOneShot,PPM+NoOneShot,PPM+PWM+NoOneShot,PPM+Outputs+NoOneShot,PPM_PIN8+OneShot, Outputs+OneShot" defaultvalue="PWM+NoOneShot"/>
<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM,DebugConsole,ComBridge,OsdHk" defaultvalue="Telemetry"/>
<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,PPM,DSM,DebugConsole,ComBridge,OsdHk" defaultvalue="Disabled"/>
<field name="RV_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+Outputs,Outputs" defaultvalue="PWM"/>
<field name="RV_AuxPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,DSM,ComAux,ComBridge,OsdHk" defaultvalue="Disabled"/>
<field name="RV_AuxSBusPort" units="function" type="enum" elements="1" options="Disabled,S.Bus,DSM,ComAux,ComBridge,OsdHk" defaultvalue="Disabled"/>