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Commit Graph

1050 Commits

Author SHA1 Message Date
James Cotton
3388843fb5 Merge in PixHawk F4 work 2011-11-01 01:09:55 -05:00
Oleg Semyonov
0116e6a007 spektrum: rework DSM2/DSMJ/DSMX driver for explicit DSMX resolution support
- both CC serial ports are now disabled by default (no telemetry);
- serial ports now have DSM2, DSMX (10bit) and DSMX (11bit) options;
- ReceiverGroups now have DSM (MainPort) and DSM (FlexiPort) options.

For DSM2 protocol there is an explicit resolution bit in the stream, so
the DSM2 should be selected. For DSMX there is no such bit, and user
should choose the resolution from the list configuring the spektrum port.
ReceiverGroups have single DSM option which is handled by the same driver.

Downside: this implementation saves received frame first, unrolls by the
end of frame. This should be ok, but may be improved by unrolling channels
on the fly in the rx callback.

Another minor difference is that a ChannelGroup is now bound to port:
DSM (MainPort) or DSM (FlexiPort). This was considered as acceptable
solution in order to not have 6 DSM options for each ChannelGroup and
even more in case of new DSM protocol variations.

Known problem: it is not possible to choose same protocols like
DSM2/DSM2 for two ports. It can be enabled by adding an exception to
common rule, though.

The DSMX throttle channel misbehavior (zero value) is not treated
specially yet. It should trigger the failsafe being out of bounds.
More info and data dumps are required to handle this properly.
2011-10-30 19:29:03 +02:00
James Cotton
f019412209 Various tweaks to get the F4 working 2011-10-26 21:56:00 -05:00
James Cotton
d786c152e3 Merge F4 files from PixHawk branch 2011-10-26 18:23:35 -05:00
James Cotton
0f8ae1e076 Merge branch 'next' into ins
Conflicts:
	flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2011-10-26 13:18:44 -05:00
Oleg Semyonov
a19bbba858 Merge branch 'next' into os/alternative_spektrum_driver 2011-10-25 11:55:05 +03:00
Oleg Semyonov
f71361ca83 Merge branch 'next' into os/GPS-on-CopterControl_next_v2
Conflicts:
	flight/Modules/System/systemmod.c
2011-10-22 23:00:47 +03:00
Oleg Semyonov
58d0812309 sbus: better frame syncronization, some cosmetic changes
In the previous version the decoder could in rare cases get synced from
the middle of data stream in case of data byte equal to the S.Bus start
of frame (SOF) byte (wrong data will be rejected but it was not perfect).
Now it waits for the real start of frame and then checks the SOF byte.
2011-10-22 00:44:09 +03:00
Oleg Semyonov
62bca651d5 spektrum: alternative DSMx (DSM2/DSMJ/DSMX) driver
- does not glitch when used in 2-frame mode (DM9, 9503, etc)
- does NOT provides yet DSMX stream decoding - do NOT merge
- uses a bit more time in the interrupt, but frees 16 bytes of RAM.
  This is done to help decoding the weird DSMX stream which does not
  contain explicit resolution/frame/lost frames info and needs special
  processing (to be done yet).
2011-10-21 23:35:17 +03:00
Oleg Semyonov
92b81e3f88 sbus: refactor the code using unified PIOS RCVR driver structure
- allow more than one S.Bus receiver (needs hardware support)
- use dynamic memory allocation (frees around 72 bytes of RAM when unused)
2011-10-20 18:23:23 +03:00
James Cotton
5dc0f397a6 OP-499 Erase settings bug: Make hte flash chip read a wrong value for 1 second
before wiping settings.
2011-10-07 14:08:56 -05:00
Oleg Semyonov
ed8cf89888 Initcall: fix compilation errors for firmware which does not use Initcalls 2011-09-28 22:57:18 +03:00
Oleg Semyonov
53c098dd08 Merge branch 'next' into os/GPS-on-CopterControl_next_v2
Conflicts:
	flight/OpenPilot/System/pios_board.c
	flight/OpenPilot/UAVObjects.inc
	shared/uavobjectdefinition/hwsettings.xml
2011-09-28 22:02:02 +03:00
James Cotton
400ba3bd47 Merge branch 'next' into ins 2011-09-12 18:57:11 -05:00
James Cotton
6457276438 Merge branch 'input_configuration' into next 2011-09-11 18:52:35 -05:00
Oleg Semyonov
f5369f9338 Input Configuration: support all 18 S.Bus input channels 2011-09-12 02:06:50 +03:00
James Cotton
4847a04db8 Mainboard: Get PWM working again. Had to add extra timer IRQ handlers for
TIM5-8.  Also TIM1 was not handled probably (for CC either) as the name of the
IRQ is TIM1_CC and TIM1_UP for the capture compare versus update.  I haven't
checked the downstream code that the registers it uses to map from a context to
event is invariant under timer channel.
2011-09-10 14:20:40 -05:00
James Cotton
eb191d869a Mainboard: Get spektrum working again. 2011-09-10 14:19:54 -05:00
James Cotton
2871c75a79 Mainboard: Get PWM working again. Had to add extra timer IRQ handlers for
TIM5-8.  Also TIM1 was not handled probably (for CC either) as the name of the
IRQ is TIM1_CC and TIM1_UP for the capture compare versus update.  I haven't
checked the downstream code that the registers it uses to map from a context to
event is invariant under timer channel.
2011-09-10 13:53:38 -05:00
James Cotton
1d2a424296 Mainboard: Get spektrum working again. 2011-09-09 09:42:13 -05:00
James Cotton
3239fdf21b Merge branch 'next' into ins
Conflicts:
	flight/CopterControl/Makefile
	flight/OpenPilot/System/pios_board.c
	flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2011-09-09 08:33:34 -05:00
James Cotton
552022250b INS: Disable power up checks until these are made more reliable and remove some
debugging outputs.
2011-09-08 21:44:27 -05:00
James Cotton
0eb4fd113b PiOS BMA180: Increase the comms speed for BMA180 and perfom SPI without
callback.  This takes less time.
2011-09-08 03:28:32 -05:00
James Cotton
d7ea1fc306 PiOS I2C: Swap the expected return value of the F2 pios i2c calls 2011-09-08 01:32:27 -05:00
James Cotton
72625d9971 PiOS RCVR: Make the public API use a 1 based indexing for channel numbers.
This may or may not get into next, but if so anyone following it MUST
reconfigure their inputs.
2011-09-06 16:39:08 -05:00
James Cotton
8f7712435f Merge branch 'safer_failsafe' into next 2011-09-06 16:23:11 -05:00
James Cotton
627c931c79 PiOS I2C: Swap the convention of returned values for I2C 2011-09-06 03:27:20 -05:00
Sambas
a8ef57c6d6 Redo DX8 changes 2011-09-06 08:40:10 +03:00
James Cotton
82c5f9f0f4 PIOS_RCVR: Document return values better and use enum for them 2011-09-04 12:37:39 -05:00
James Cotton
533ae9bb41 SBUS: Missed handling the S.Bus failsafe. Now returns PIOS_RVCR_TIMEOUT for
either SBus failsafe mode or when no data for 100 ms.
2011-09-04 12:15:34 -05:00
James Cotton
89e640ae7f Make sure all receiver drivers return correct constants for invalid channels. 2011-09-04 01:24:16 -05:00
James Cotton
51967ae63f OP-571 PIOS_PWM: Add back the PWM supervisor 2011-09-04 01:17:40 -05:00
James Cotton
697dbf4f5f OP-568 PIOS_RCVR: Standardize the values that are returned from the PIOS_RCVR and make
them symbolic constants.
- A timeout is 0
- A missing driver is 65534
- An invalid channel is 65535

ManualControl: Make it deal with the values explicitly.  A timed out value
should not be treated like a minimum duration signal.  Instead it does not
updated the scaled value but marks the data window as invalid to trigger the
failsafe.
2011-09-03 23:50:56 -05:00
James Cotton
dae11cf877 INS Logging: Enable temperature reading from gyro and accel (may be removed in
future), push it into UAVO and introduced a logging mode for INS that outputs
all sensor data from aux port.
2011-09-03 15:10:47 -05:00
James Cotton
5eaebac8d8 INS: Get the aux uart working. All F2 GPIO pins need to be remapped to work. Good thing to remember. 2011-09-02 17:04:39 -05:00
James Cotton
c40e5800ab BMA180: Enable the EEPROM writing on startup so settings take the first time. 2011-09-02 13:28:36 -05:00
James Cotton
612d3336b4 This patch breaks backward compatibility with AHRS solidly.
Move the configuration files for INS from AHRS* to INS*.  Strip out unused
fields in settings and merge calibration and settings since settings has
basically no information.
2011-09-01 12:21:33 -05:00
Stacey Sheldon
43b31efb76 pios: allocate driver instance data from heap
Allocate per-instance data for drivers from the heap
rather than as static variables from the .data segment.

This converts > 800 bytes of RAM from being always consumed
as static data into being allocated from the heap only when
a particular feature is enabled in the hwsettings object.

A minimal config (no receivers, flexi port disabled, main port
disabled) leaves 2448 bytes of free heap.  That's our new baseline.

Approximate RAM (heap) costs of enabling various features:
 + 632 Serial Telemetry (includes 400 bytes of Rx/Tx buffers)
 + 108 PWM Rcvr
 + 152 PPM Rcvr
 + 112 Spektrum Rcvr
 + 24  S.Bus (Should be closer to 68 since driver is still using
              static memory)

There are still some drivers that pre-allocate all of their memory
as static data.  It'll take some work to convert those over to
dynamically allocating their instance data.
2011-08-31 22:35:03 -04:00
Stacey Sheldon
2f86e4dd4f Make PWM/PPM and Servo drivers play nicely together
PWM and PPM can now coexist in the same load and be
selected at boot time via the hwsettings UAVObject.

This is basically a complete restructuring of the
way the drivers interact with the TIM peripheral in
the STM32.

As a side effect, the PWM and PPM drivers are now
ready to support multiple instances of each.

This also provides the first step toward being able
to reassign some of the PWM input pins to be servo
output pins.  Still more work required, but this is
a good start.
2011-08-27 21:39:56 -04:00
Stacey Sheldon
b3c43da90a stdperiph: Make TIM related APIs use const pointers
This allows the configuration parameters to be stored in
flash instead of copied to RAM.
2011-08-27 21:39:17 -04:00
James Cotton
dc340596f5 Merge branch 'next' into GCS_ChangesToUI-RuntimeCFG
Conflicts:
	flight/CopterControl/Makefile
	flight/OpenPilot/System/pios_board.c
	flight/OpenPilot/UAVObjects.inc
	flight/PiOS/STM32F10x/pios_spektrum.c
	ground/openpilotgcs/src/plugins/config/config.pro
	ground/openpilotgcs/src/plugins/config/configgadget.qrc
	ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
	shared/uavobjectdefinition/hwsettings.xml
2011-08-27 15:26:05 -05:00
Corvus Corax
4bd72923e5 Merge branch 'CorvusCorax_unidirectional-GPS-com' into CC_GPS
Conflicts:
	flight/Modules/GPS/GPS.c
	flight/Modules/GPS/GTOP_BIN.c
	flight/Modules/GPS/NMEA.c
	shared/uavobjectdefinition/hwsettings.xml
2011-08-25 15:33:23 +02:00
James Cotton
5f7a9b513a Merge branch 'sambas/dsmx_stuff' of ssh://git.openpilot.org/OpenPilot into next
Conflicts:
	shared/uavobjectdefinition/hwsettings.xml
2011-08-24 11:37:30 -05:00
James Cotton
4e59e697af IMU3000: Sometimes the irq is called before previous I2C transaction. This
isn't good but for now just deal with it.  Need DMA I2C driver.
2011-08-22 02:34:40 -05:00
James Cotton
8c16f614f2 INS: Use the data from the BMP085 and feed into EKF 2011-08-22 02:32:40 -05:00
James Cotton
b1c522def3 Merge remote-tracking branch 'origin/next' into ins 2011-08-21 01:34:40 -05:00
James Cotton
38d9df8fcb HMC5883: Clean up the mag driver 2011-08-21 01:29:55 -05:00
James Cotton
e1afc9a19a Merge branch 'next' into ins
Conflicts:
	flight/Libraries/inc/fifo_buffer.h
	flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld
	flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2011-08-21 00:47:43 -05:00
James Cotton
c82aa64c53 INS: General clean up to deal with new driver formats. Also automatically
monitors the EKF rate.
2011-08-21 00:42:06 -05:00
James Cotton
af69e0a1a8 BMA180 driver; Don't externalize the fifo buffer but handle it in the driver
layer.  General driver cleanup.
2011-08-21 00:40:10 -05:00
James Cotton
8ae53a4f97 PiOS: Cleanup IMU3000 driver a fair bit. 2011-08-21 00:39:20 -05:00
James Cotton
368323fd59 Merge remote-tracking branch 'origin/james/erase_settings' into next 2011-08-20 13:07:01 -05:00
Corvus Corax
dfd301571a HWSettings: Allow late Initialization and Start of Modules as defined in Makefile(available modules) and UAVObject(actually started modules) 2011-08-20 01:24:06 +02:00
James Cotton
d103541970 IMU3000: Make the IRQ trigger the callback based I2C read. Drop the
temperatured data from the FIFO stream.  Add some flags to stop the callbacks
trampling over the configuration.
2011-08-19 14:28:33 -05:00
James Cotton
3465eb2f30 PiOS F2 I2C: Add a callback based transfer. This needs merging into the main
transfer function like SPI but I will leave that for now to avoid creating a
lot of changes in the main code.
2011-08-19 13:38:11 -05:00
James Cotton
7444337418 F2 PiOS I2C: Add a poor man semaphore here in case we start calling I2C
transfers from IRQ.  Also catch the double 0x70084 event which was locking up
the FSM with -Os enabled.  I did this in a cheating way (filtering the event
based on state) but it's the cleanest I can see.  Hopefully a DMA version of
I2C will fix this.
2011-08-19 11:39:50 -05:00
James Cotton
b0e04e5f79 PIOS SPI: Make sure the non-freertos busy flag inits to zero 2011-08-19 10:52:50 -05:00
James Cotton
c7034ef8a6 IMU3000: Fix a constant that made the sampling rate 1kh instead of 8 internaly.
No downsample that (in IMU3000) by 8 to get gyros at 1khz.  Well about 256 Hz
nyquist and shouldn't cause substantial issues for EKF.
2011-08-18 13:01:51 -05:00
James Cotton
bdb9dc0a54 BMA180: Use DMA for getting the accels and use callback to push it onto the
stack.
2011-08-18 12:51:22 -05:00
James Cotton
3b6ffc8afa PiSO SPI: Implement a poor mans semaphore for non-freertos systems. 2011-08-18 12:51:00 -05:00
James Cotton
294e0cbdff IMU3000: Change IMU3000 api right now so it only reads one element from the
fifo but swaps the endian appropriately.
2011-08-18 11:03:56 -05:00
James Cotton
11ac0707da BMA180: Reset BMA180 chip at reconfiguration. 2011-08-17 06:49:56 -05:00
James Cotton
71a1cdff62 PiOS SPI: For F2 need to have the same receive and transmit length when using
CRC.  This wasn't the case on F1.  With CRC the last byte of the buffer passed
to PIOS_SPI_TransferBlock is NOT USED.  This is the case on both F1 and F2.

Also need to DeInit DMA before enabling or it doesn't enable successfully.

Finally added a timeout which sets a fail on the pios spi transfer in the case
that either of the dma channels fails to enable.
2011-08-16 11:29:15 -05:00
James Cotton
bcca705750 Disable beta hardware bmp085 driver until it's updated. Not necessary anyway
since on the INS.
2011-08-16 08:55:02 -05:00
James Cotton
35eef66bfe OP-557: Add a UAVO access method to erase the entire flash chip. Normally not
needed by users because if too much changes I change the FS magic and trigger a
wipe.

Possibly the erase should require a particular "magic" object id value to
execute?  This would make it harder to do manually through UAVOs though.
2011-08-15 10:33:27 -05:00
James Cotton
db9c73db45 Get SPI closer to working. The flags in the pios_config should match the
stream number, not channel number.  Also DeInit DMA section in the init process
which makes debugging and init behavior more reliable.
2011-08-15 04:47:53 -05:00
James Cotton
86b652bbab Merge branch 'next' into camera_stabilization 2011-08-14 18:07:57 -05:00
zedamota
e736b17cc4 Merge remote-tracking branch 'remotes/origin/next' into GCS_ChangesToUI-RuntimeCFG
Conflicts:
	ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
	ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
	ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
2011-08-14 15:48:16 +01:00
James Cotton
c5ed82086d Configure the interrupt information before enabling. Still looping in IRQ so
configuration needs work.
2011-08-14 02:00:52 -05:00
James Cotton
80c2d45d93 Fix the BMP085 interrupt handler and get it producing data. Driver needs some
work to abstract away the actual calculation of altitude from pressure and
temperature.
2011-08-13 20:49:07 -05:00
James Cotton
a2b76adc33 Attitude: Do not start attitude estimation until accel data appears. This
fixes the NaN when AttitudeSettings not available.
2011-08-13 18:53:42 -05:00
James Cotton
62f51fc92d Some improvements to the HMC5883 driver. Still getting funny values but I
suspect the chip at this point.
2011-08-13 11:20:32 -05:00
James Cotton
13e5f4123a Reading gyro registers directly working. 2011-08-13 08:33:46 -05:00
James Cotton
f82e5dde33 Fix the EXTI IRQ handlers 2011-08-13 07:13:21 -05:00
James Cotton
e1f7a5003d Fix up SPI DMA streams 2011-08-13 04:54:19 -05:00
James Cotton
77cca9ba30 Move EXTI handlers into other drivers 2011-08-13 01:29:17 -05:00
James Cotton
6d018c046e Get BMA180 working. Need to move exti stuff into it until pios_exti
implemented properly
2011-08-13 01:10:33 -05:00
James Cotton
5619e33292 Bootloader now jumps to functioning code for INS. Consistent with AHRS code. 2011-08-12 22:52:47 -05:00
James Cotton
6529b8360f Trying to get linker system working for INS 2011-08-12 21:28:02 -05:00
James Cotton
1d1f351233 Pios Delay: Add function for measuring time difference between two cycle counts 2011-08-12 04:29:53 -05:00
James Cotton
b3b4fcd007 Fix linker script and get rid of dead code 2011-08-12 03:44:55 -05:00
James Cotton
f247112090 PiOS F2: Move IMU3000 to device dependent :(. Now they all are. Need to
abstract as much as possible out since init is almost identicalc and protocol
COULD be device independent.
2011-08-12 03:38:45 -05:00
James Cotton
8c1dd7b929 Make BMP085 driver device dependent and update to new driver style. 2011-08-12 03:38:45 -05:00
James Cotton
9d76efa2aa Move BMA180 driver to common architecture style. 2011-08-12 03:38:45 -05:00
James Cotton
1dc08e5cf7 F2 PiOS: Small fix to hmc5883 driver 2011-08-12 03:38:44 -05:00
James Cotton
ba413d5dad F2 StdPeriph: Make the StdPeriph take in config parameters as const.
Unfortunately they don't do this upstream :(
2011-08-12 03:38:40 -05:00
James Cotton
ef0cdae622 PiOS F2: Remove clock initialization from usart since it is in pios_sys.c 2011-08-12 02:28:02 -05:00
James Cotton
6310f46705 HMC5883: Update driver for F2. Move to STM32F2xx directory since it is device
dependent.  Abstract configuration out of board.h file into a standard board.c
structure.
2011-08-12 02:26:51 -05:00
James Cotton
9c7799dfe6 UAVObject Init: Get rid of deprecated linker init code 2011-08-10 22:48:42 -05:00
James Cotton
0c2c48bee6 F2 PiOS: More changes for spi to work (not completed) 2011-08-09 12:59:10 -05:00
James Cotton
a097ff784b F2 PiOS: Getting the I2C driver working again (copying changes from Zippe,
thanks again man!)
2011-08-09 12:58:46 -05:00
James Cotton
8be9ac9cc9 PiOS: Move driver out of common directory since it makes calls to configure the
EXTI system.
2011-08-09 12:51:26 -05:00
James Cotton
d78450eae8 Move some of the F2 defines into the makefile to make them global. Fixes some
issues with grabbing the wrong stm32 configuration file.
2011-08-09 01:19:05 -05:00
James Cotton
27213c7fd9 F2 PiOS USART: Update to the new driver format for coms 2011-08-09 01:18:25 -05:00
James Cotton
479ba7c21f OP-378 INS: Continue getting F2 INS to compile 2011-08-08 08:36:40 -05:00
sambas
9f35b6939c Bind IO fix 2011-08-07 10:10:52 +03:00
James Cotton
558bdddeaf INS: Almost got Bootloader compiling *sigh* 2011-08-06 21:27:29 -05:00
James Cotton
a0d77faf4b PiOS: Move pios_iap out of common. It is STM32F1x specific. Created an
STM32F2xx stub version.  This needs cleaning up - there is some common code,
most of which can probably move to the bl_helper function.
2011-08-06 20:24:07 -05:00
James Cotton
f23ec059fe dos2unix 2011-08-06 19:53:46 -05:00
James Cotton
1ccb9a1947 Some changes to BL to get running on F2. Also disables it for now (flash
interface is different).
2011-08-06 19:46:41 -05:00
James Cotton
d1c9ac0705 PiOS F2: Commit the F2 port of PiOS from Zippe. Thanks for doing all the hard
work man :-D
2011-08-06 19:36:56 -05:00
James Cotton
0bba13a0e9 Merge branch 'next' into ins
Conflicts:
	flight/INS/Makefile
	flight/INS/pios_board.c
	flight/Modules/Altitude/altitude.c
	flight/PiOS/Boards/STM3210E_INS.h
	flight/PiOS/STM32F10x/link_STM3210E_INS_BL_sections.ld
	flight/PiOS/STM32F10x/link_STM3210E_INS_HD_BL.ld
	flight/PiOS/STM32F10x/link_STM3210E_INS_HD_NB.ld
	flight/PiOS/STM32F10x/link_STM3210E_INS_memory.ld
	flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld
	flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2011-08-06 17:25:56 -05:00
sambas
1e67b5e3b5 DSMx_binder, hw setting 0 disabled, 1-10 bind pulses. Manual disable after successful bind. Only for flexiport. 2011-08-06 22:16:47 +03:00
sambas
a454cf844b DX8 support, BIND3 only 2011-08-04 19:20:05 +03:00
Stacey Sheldon
06cdeb7b61 rcvr: support multiple simultaneous receivers
Now also supports multiple instances of the Spektrum driver.
These are configured as Spektrum1 and Spektrum2.
2011-08-02 01:22:04 -04:00
Stacey Sheldon
829b8b83f6 rcvr: Add GCS receiver driver for rcvr via telemetry
This allows the GCS to emulate a receiver device via the
telemetry link.

Select "GCS" as your input type in the manualcontrol config
screen and calibrate it as normal.

Note: The expected values for the channels are in microseconds
      just like a PWM or PPM input device.  The channel values
      are validated against minimum/maximum pulse lengths just
      like normal receivers.
2011-08-02 01:22:04 -04:00
Stacey Sheldon
2f79e4fa76 Merge remote branch 'origin/stac/refactor-usart-com' into next 2011-07-31 09:41:06 -04:00
James Cotton
568ea13471 Merge branch 'next' into stac/refactor-usart-com 2011-07-31 09:13:27 +09:00
Stacey Sheldon
c2fb0d8b43 com: allow run-time allocation of buffers 2011-07-29 15:33:14 -04:00
Stacey Sheldon
8b0415d905 bl: alternate stopwatch for small bootloaders
The small bootloaders (CC and PipX) are out of flash space
so their stopwatch implementation has been swapped out for
one based on the DELAY clock that takes about 500 bytes less
of code space.

Identical functionality is preserved.
2011-07-29 15:33:01 -04:00
Stacey Sheldon
13f9b0e09d Merge remote branch 'origin/OP-498_jwhitlock_add-ppm-to-cc' into next 2011-07-28 22:15:01 -04:00
Stacey Sheldon
a3888ecd48 usart: ensure callbacks are bound in the correct order 2011-07-27 23:21:39 -04:00
Stacey Sheldon
5f8760a55c com: Move buffering out of USART/HID layer and into COM layer
This allows the spektrum and sbus receiver drivers to bind
directly to the usart layer using a properly exported API
rather than overriding the interrupt handler.

Bytes are now pushed directly from the usart layer into the
com layer without any buffering.  The com layer performs all
of the buffering.

A further benefit from this approach is that we can put all
blocking/non-blocking behaviour into the COM layer and not
in the underlying drivers.

Misc related changes:
 - Remove obsolete .handler field from irq configs
 - Adapt all users of PIOS_COM_* functions to new API
 - Fixup callers of PIOS_USB_HID_Init()
2011-07-27 19:45:38 -04:00
James
60136f0464 Add support for PPM transmitters up to 12 channels. Small array indexing issue in PIOS_PPM_Get. 2011-07-27 00:33:32 +01:00
Mike Smith
df5569c758 Fix a stupid off-by-one that prevented this code from working.
Update to use 32-bit microsecond values.

Remove PIOS_DELAY_DiffuS per consensus (caller can do it easily themselves).

Update the core delay logic per Stac's suggestion to a version that is
resistant to various overflows.
2011-07-25 20:55:48 -07:00
James Whitlock
6a6ec41809 Build fixes 2011-07-23 22:10:17 +01:00
Mike Smith
480f07a264 Typo fix. 2011-07-23 13:58:56 -07:00
Mike Smith
0df3bb2c37 Restore functions lost due to inept merging, and refactor to take advantage of them.
Address the following review feedback items:
 - use stdint types
 - avoid the use of magic numbers (define CYCCNTENA)
 - remove expository comment about sneakiness and corresponding code, replace with something simpler based on the API
 - remove commented/#if 0 code
2011-07-23 13:53:16 -07:00
Mike Smith
c3267a3b53 Remove PIOS_DELAY_TIMER definitions from configuration files, as there is no longer a delay timer to configure. 2011-07-23 13:48:40 -07:00
James Whitlock
11c568ec50 Add in a PPM input frame size tracker.
Move update of capture values to start of new frame.
Fix an issue with setting channels to invalid.
2011-07-23 01:38:51 +01:00
James Whitlock
7a58b4cceb A quick clean of ppm code to remove white space and duplicated comments 2011-07-23 01:32:57 +01:00
Mike Smith
6bc5339015 Change the pios_delay implementation to use the CPU cycle counter rather than burning a timer. 2011-07-21 23:21:26 -07:00
Stacey Sheldon
a7cce25252 usart: fix lower usarts clobbering higher ones
The break statements are clearly missing from this
switch statement.

This would lead to problems when using more than one
USART on CC.
2011-07-22 00:30:49 -04:00
James Whitlock
7ce5daef8f Clean up of PPM code in master. 2011-07-19 20:46:24 -04:00
Stacey Sheldon
8dbace5ee2 Merge branch 'rcvr_mem_reduction'
Conflicts:
	flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld
2011-07-17 17:14:40 -04:00
James Cotton
2da65014c7 Fix typo in servo doxygen header 2011-07-16 03:25:33 -05:00
James Cotton
b83f731c03 Remove all references to vTaskDelay in the flash code as it can run before the
FreeRTOS scheduler

Also increaes init stack size from 0x80 to 0x100
2011-07-15 18:16:16 -05:00
James Cotton
01b62cf98f Fix a typo 2011-07-15 15:30:10 -05:00
James Cotton
72e80d407c Change the magic value in the object file table. Forces all objects to be
erased since all ids are changing - this frees up memory.
2011-07-15 11:11:29 -05:00
James Cotton
d41260d54c Make the stabilization settings query correctly now by increasing the TX buffer
on the CC side to 256 bytes instead of 128 to support large objects (max object
size is 256 bytes)
2011-07-15 10:40:21 -05:00
James Cotton
3d35e249c8 Merge branch 'master' into bugfix-flight 2011-07-15 10:33:54 -05:00
Stacey Sheldon
6580462916 rcvr: specify drivers for groups of channels
Each channel was previously tracking a separate driver.
Now, channels are grouped within a channel group to save
RAM used for tracking and to better reflect how channels
are actually mapped.
2011-07-14 23:22:42 -04:00
Stacey Sheldon
442d56c1c5 linker: Add section to record unused RAM
Note that this section will be absorbed by the heap at runtime.
2011-07-14 23:22:42 -04:00
sambas
18a5465246 Bugfix: CC flexiport spektrum config
Working spektrum bind routine, depending your TX try BIND_PULSES 3,5,7,9 (5 works with DX7)
Boot process takes too long on MB so bind command misses the window (20-140ms).
2011-07-14 14:43:26 +03:00
Mathieu Rondonneau
612a439199 OP-423: simplify the MODULE_INITCALL macro and remove the ordering loops 2011-07-12 20:44:32 -07:00
James Cotton
9e94f9fee9 Fix typo from SISE to SIZE 2011-07-12 12:48:06 -05:00
James Cotton
2fe7ee40b1 Merge branch 'OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint' 2011-07-12 12:44:59 -05:00
James Cotton
59798701a2 Merge branch 'master' into bugfix-flight
Conflicts:
	flight/CopterControl/System/inc/pios_config.h
2011-07-12 11:40:47 -05:00
Mathieu Rondonneau
d38f6167e3 OP-423:
Also reduce heap has it does not fit in SRAM anymore (not with current compiler).
(that's ok since if there is more space available, it will be reclaimed).

Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint

Conflicts:
	flight/CopterControl/System/inc/pios_config.h
	flight/Modules/ManualControl/manualcontrol.c
2011-07-08 06:29:34 -07:00
Stacey Sheldon
2e8d3a9be3 clean up cut/paste cruft 2011-07-07 23:02:09 -04:00
Stacey Sheldon
1f004ee896 ppm: port PPM driver onto new CC driver layers
This is a port of a work-in-progress by Sambas onto
the new driver infrastructure needed for boot-time
configuration.

PPM and PWM still don't coexist in a build but this
is closer.
2011-07-07 22:27:57 -04:00
Stacey Sheldon
226f095a2e bootcfg: remove baudrate #defines for USARTs
The initial baud rates of each interface are now forced in the
board init code.

Any modules using USARTs should have fields added to
their settings object to allow the user to change the
baud rate from the default by using the COM layer APIs.

Developers requiring custom baud rates before the settings
objects are in place should locally edit the cfg structs
to specify the desired baud rates.
2011-07-06 23:03:54 -04:00
Mathieu Rondonneau
36f28f8037 OP-423: Fixing heap2 (puting back bytes from the post heap stack (used during init) back into the free list).
Tested this heap2 at runtime with CC and new compiler since old one (current) triggers strict alliasing error.
That's ok since strict aliasing is disabled on OP, and CC only use heap1.
2011-07-05 21:45:39 -07:00
Mathieu Rondonneau
9b9b5a1367 OP-423: remove ';' at the end of macro 2011-07-05 19:44:54 -07:00
Stacey Sheldon
dbf7574946 bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.

Minor changes in board initialization for all platforms:
 - Most config structs are marked static to prevent badly written
   drivers from directly referring to config data.
 - Adapt to changes in .irq fields in config data.
 - Adapt to changes in USART IRQ handling.

Major changes in board initialization for CC:
 - Use HwSettings UAVObj to decide which drivers to attach to
   the "main" port and the flexi port, and select the appropriate
   device configuration data.
 - HwSettings allows choosing between Disabled, Telemetry, SBUS,
   Spektrum,GPS, and I2C for each of the two ports.
 - Use ManualControlSettings.InputMode to init/configure the
   appropriate receiver module, and register its available rx channels
   with the PIOS_RCVR layer.  Can choose between PWM, Spektrum and PPM
   at board init time.  PPM driver is broken, and SBUS will work once
   it is added to this UAVObj as an option.
 - CC build now includes code for SBUS, Spektrum and PWM receivers in
   every firmware image.

PIOS_USART driver:
 - Now handles its own low-level IRQs internally
 - If NULL upper-level IRQ handler is bound in at board init time
   then rx/tx is satisfied by internal PIOS_USART buffered IO routines
   which are (typically) attached to the COM layer.
 - If an alternate upper-level IRQ handler is bound in at board init
   then that handler is called and expected to clear down the USART
   IRQ sources.  This is used by Spektrum and SBUS drivers.

PIOS_SBUS and PIOS_SPEKTRUM drivers:
 - Improved data/API hiding
 - No longer assume they know where their config data is stored which
   allows for boot-time alternate configurations for the driver.
 - Now registers an upper-level IRQ handlerwith the USART layer to
   decouple the driver from which USART it is actually attached to.
2011-07-05 22:03:25 -04:00
Stacey Sheldon
6415fc84a5 rtc: allow registration of callbacks on RTC tick
This separates the RTC device and interrupt handling
from the devices that rely on the tick notifications.

Drivers can now register tick notification functions
that will be called on each RTC tick event.
2011-07-05 22:03:25 -04:00
Stacey Sheldon
740b5f1584 rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR
All receivers now fall under the same driver API provided
by pios_rcvr.c.

This is part of a larger sequence of commits that will
switch the receiver selection over to boot time dynamic
configuration via UAVObjects.
2011-07-05 22:03:25 -04:00
Stacey Sheldon
e77795dc28 rcvr: add generic driver API for receivers
Will be used to collapse PWM, PPM, Spektrum and SBUS so we
can choose between them at boot time instead of at compile time.
2011-07-05 22:02:47 -04:00
James Cotton
010f0255a4 OP-543: When the magic header on file system is bad at init, read multiple
times.  It's not written as cleanly as I'd like but works for wiping when magic
value changes.  Testing will reveal if this stops the lost settings.
2011-07-04 21:44:41 -05:00
Mathieu Rondonneau
f864d723dd OP-423: Cleanup and remove recently added *_BL.S startup file. 2011-07-03 18:45:02 -07:00
Mathieu Rondonneau
2daa36aad9 OP-423: Remove *_BL.S 2011-07-03 13:14:42 -07:00
Mathieu Rondonneau
b3740ec025 OP-423: Clean startup and add weak function call for stack swap. 2011-07-03 12:43:38 -07:00
Mathieu Rondonneau
fbf0b021c7 OP-423: Replace hardcoded value and get value from memory section (change from code review) 2011-06-25 20:06:33 -07:00
Mathieu Rondonneau
6683ce8570 OP-423: Make it more obvious that MODULE_TASKCREATE_ALL and MODULE_INITIALIZE_ALL are macro (for now):
- remove the ;
  - also encapsulate the macro by {} in his own scope.
2011-06-25 11:40:01 -07:00
Mathieu Rondonneau
de55c56427 OP-423: Change capital on macro to be uppercase for consistency. 2011-06-24 22:03:03 -07:00
Mathieu Rondonneau
0ff5e9a46f Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint 2011-06-21 22:02:13 -07:00
James Cotton
8976d22fad Merge remote-tracking branch 'origin/OP-159_os_sbus' 2011-06-21 17:51:22 -05:00
Mathieu Rondonneau
fc1e3f574c OP-423: Split task create and module init in order to postpone task creation once the full heap is available.
Also implement some ordering (quite ugly still) in the module init and task creation order so we can decide which module to start/init first
and which module to start/init last.
This will be replaced/adapter with the uavobject list later (once it's implemented).
reserving some space for module init and task create parameters to customize module/task creation (this will be usefull once we get the list and customization from customer).

Changes have been made for OP and CC. Tested comped with CC,OP, sim_posix.
Only ran on bench with CC for couple of minutes (code increase expected but no dropping of stack which is good).

This gives task creation at the time wherethe all heap is available.
2011-06-19 22:35:40 -07:00
Oleg Semyonov
6272210df7 sbus: some code cleanup (no functional changes) 2011-06-19 14:30:13 +03:00
Oleg Semyonov
311902f1f2 sbus: implemented S.Bus stream decoding 2011-06-18 23:19:57 +03:00
Mathieu Rondonneau
b67a38661e OP-423: merge master into that branch, resolve conflicts and test with CC and bl_CC
heap reamining is low (about 500) but stacks can be ajusted (specially the 200 bytes from system) to give the level close to 1Ko if needed.

Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint

Conflicts:
	flight/CopterControl/System/inc/FreeRTOSConfig.h
	flight/CopterControl/System/inc/pios_config.h
2011-06-17 19:04:09 -07:00
Mathieu Rondonneau
693c6bc5b0 OP-423: fix bl and bu, also fix compiler problems encountered with make all 2011-06-17 18:54:25 -07:00
Mathieu Rondonneau
65cf467ca4 OP-423: move the module initialize funtion into a specific section for OP and CC.
- create linker section for those <module>Initialize()
- later this list will incorporate parameters as well. (this probably will be more a OP feature to swap/remove/delete module on the fly.
- this is not done at compile time anymore by Makefile.
- this will allow us to have control on the module start at run-time (not implemented but build the ground for it).
- this simplify the startup (Part of code re-org).
- this change does not affect sim_posix and win32 (since they don't need that)
- ensure it's compiling for PiOS.posix
- port to PiOS.win32 but not tested (not compiled)
- tested on CC
- compile on OP.
- this free ~200 bytes.
- current avalable bytes (is we keep the same remaining bytes on the stack than before) is easily passed the 1.2Ko mark on CC with new gcc (4.5.2)
- this does not include init-reorg for each module (I still think more can be freed)
2011-06-16 22:13:19 -07:00
Oleg Semyonov
aeda61d252 usart: serial telemetry can be disabled to free USART
It was tested being merged with OP-472_CorvusCorax_CopterControl-Guidance_v3
branch, Spektrum on USART3 and GPS on USART1 and seems to work.

Currently defaults mimic original behavior, that is, if USE_SPEKTRUM
is not defined - define USE_PWM and USE_GPS. Thsi should be refactored
later to make it configurable from the Makefile.

Also it was not ported to the OP MB: it currently does not support the
S.Bus hardware and still has original behavior with the patch. But this
is one more step to dynamic configuration of ports.
2011-06-16 15:06:01 +03:00
Mathieu Rondonneau
e8cdf22427 OP-423 Port to OP: Claim (at run-time) the remaining un-used bytes (between heap and end of RAM) that are for data growth (needed at compile time).
CAREFULL: the heap section need to be the last section in RAM to avoid overwritting data...

also move address into linker (CC and OP)
2011-06-15 18:54:35 -07:00
Oleg Semyonov
d8201ec45b sbus: provide a stub based on Spektrum driver (for CC only) 2011-06-15 22:35:21 +03:00
Mathieu Rondonneau
ab4e15e9aa OP-423 also claim (at run-time) the remaining un-used bytes (between heap and end of RAM) that are for data growth (needed at compile time).
CAREFULL: the heap section need to be the last section in RAM to avoid overwritting data...

Tested with GCC 4.5.2 this gives 1K of free bytes usable in heap right away (including the 200 bytes saved just by using the new gcc).
This does not include any code re-org yet!
2011-06-14 22:13:30 -07:00
Mathieu Rondonneau
3780de8d3e OP-423 port to OP (heap2) the previous changes done in CC (heap1) (see c95b199166)
I managed to test CC with heap2 changes and the init stack claimed back to heap once scheduler starts.

the changes of this commit are OP related (just cleanup on CC side):
Arch specific stuff (in reset vector) to hide this from portable code:
     - switch back to MSP stack before starting the scheduler so that the sheduler can use the IRQ stack (when/if needed).
     - call the C portable function in heap2 to claim some stack back (the number to claim is taken from linker file).
     - start the scheduler from reset vector (I move this here from main because it make sense to not go back to C (so that I don't need to copy the rolled stack in case the sheduler returns). This make it more clean.
     - Also I have added the call to the mem manager if sheduler return. that way, we don't reset indefinitely if memory runs out. We will go to this handler and figure things out (right now, it's just looping but at least not rebooting. Probably trap NMI would be better (later improvement).
2011-06-14 20:10:53 -07:00
Mathieu Rondonneau
c95b199166 OP-423 do the arch specific stuff (in reset vector) to hide this from portable code:
- switch back to MSP stack before starting the scheduler so that the sheduler can use the IRQ stack (when/if needed).
 - call the C portable function in heap1 to claim some stack back (the number to claim is taken from linker file).
 - start the scheduler from reset vector (I move this here from main because it make sense to not go back to C (so that I don't need to copy the rolled stack in case the sheduler returns). This make it more clean.
 - Also I have added the call to the mem manager if sheduler return. that way, we don't reset indefinitely if memory runs out. We will go to this handler and figure things out (right now, it's just looping but at least not rebooting. Probably trap NMI would be better (later improvement).

The part missing for this part is the weak attribute for the function in heap1.c so that we don't have to update everything with empty stub.
I think the weak atrribute for C function called in assembly is arch dependent so I am not sure if this is possible (will look into it, maybe somebody outthere nows).
Right now, it's heap1 dependent and won't work with heap2. I will clean that up the next couple of days.

I did some test and it looks good.
this is without init code re-organization so we don't free as much as we will be it's good starts.

This compile with sim_posix (since it does not affect portable code) so this is really clean.
I only tested this with CC. I will port it for OP when I will work on heap2.
2011-06-13 21:49:17 -07:00
Mathieu Rondonneau
1f54e32ea9 OP-423 also add changes to OP. (I can not test it because I don't have a board so only compile test) 2011-06-13 17:10:14 -07:00
James Cotton
404c026188 Patch from Zippe to use cycle timer for CPU monitoring. 2011-06-13 00:24:30 -05:00
Mathieu Rondonneau
7598e898fa OP-423 Step-1: split system stack and implement water mark for IRQstack:
- use IRQStack for ISRs (at begening of SRAM) (let's call it the irq stack)
- use end of heap for stack needed during initialization (let's call it the init stack).
- the systemStats in GCS indicate the remaining bytes in the IRQ stack (this is realy usefull to monitor our (nested) IRQs.

This is the base ground to provide as much memory as possible available at task creation time.

Next step is to re-organize the initialization in order to move all the init out of the thread's stacks onto the init stack.
This will provide as much memory as possible available at task creation time.
Basically the stack during initialization will be destroyed once the scheduler starts and dynamic alloc are made (since the init stack is at the end of the heap). We will need to make sure we don't clobber the heap during initialization otherwise this will lead to stack corruption.
2011-06-12 20:23:00 -07:00
James Cotton
0f5fe54329 FlashFS: Should clear the 0 sector when wiping flash chip, not 10 bytes in. 2011-06-11 22:31:51 -05:00
James Cotton
4f47c06547 Merge branch 'saving_crc' into bugfix-flight 2011-06-05 15:37:44 -05:00
James Cotton
0a56129b35 OP-452: Made the CRC calculation run in chunks to balance efficiency and ram
usage, because Stac caught me being lazy :)
2011-06-05 09:05:59 -05:00
James Cotton
599483d5ac OP-152: Save CRC for object and header into flash and only load object if CRC
matches.  Read the flash first bytewise to compute CRC instead of buffering
which is more RAM efficient but very inefficient as it sets up many one byte
SPI transfers.

Also incremented the filesystem magic flag to trigger an automatic flash wipe
on this upgrade.
2011-06-04 18:36:38 -05:00
James Cotton
3e5d02cbaf OP-152: Abstract the CRC code out of uavtalk to allow it to be reused (PT -
feel free to test moving this to the hardware CRC unit)
2011-06-04 18:36:26 -05:00
dankers
3013a092d9 Merge branch 'OP-519_Mathieu_Upgrade_FreeRTOS' into bugfix-flight 2011-06-04 16:42:15 +10:00
Mathieu Rondonneau
6e64a546df Remove un-used code 2011-06-02 20:21:26 -07:00
Mathieu Rondonneau
071a684248 OP-519 upgrade to FreeRTOS-7.0.1
- only affect flight/PiOS (no change for posix and win32)
- tested on recent master (some runtime on CC with GCS)
- the new timer feature is not compiled-in since we don't use it yet.
- NO TEST FLIGHT
2011-06-01 21:46:28 -07:00
Oleg Semyonov
f770870af7 Merge branch 'bugfix-flight' 2011-06-01 14:53:31 +03:00
Oleg Semyonov
6e418735cf OP-509: fix for ld symbol reference (also fixes build with 4.5.2 gcc) 2011-06-01 00:31:27 +03:00
James Cotton
524cdf7743 OP-378: Start of IMU3000 fifo reading code 2011-05-31 01:51:05 -05:00
James Cotton
b6a8293f69 OP-378: Get BMA180 interrupt working. Data gets pushed onto a fifo that is
pulled from in the INS code.
2011-05-30 03:40:51 -05:00
sambas
17fb31a7fa Spektrum rtc supervisor working, tested on CC and all outputs are activated. Needs review and testing before merge. 2011-05-29 14:52:22 +03:00
sambas
86d02e2d34 Merge branch 'master' of ssh://git.openpilot.org/OpenPilot into spektrum_rtc_supervisor 2011-05-29 10:40:17 +03:00
Stacey Sheldon
ac0eb3a5c7 Merge remote branch 'origin/stac_build-opf-image' 2011-05-26 21:29:53 -04:00
James Cotton
66b85acebd Merge branch 'bugfix-flight' 2011-05-26 20:07:58 -05:00
James Cotton
ca2205d35f OP-378: Tweak INS stack definition to avoid faults 2011-05-26 16:02:15 -05:00
James Cotton
9ede84680e OP-378: Start working on IRQ driven BMA180 reading and also fixed the mag order 2011-05-26 13:57:41 -05:00
James Cotton
6e186bab35 Merge branch 'bugfix-flight' into OP-378_James_INS 2011-05-26 12:19:35 -05:00
James Cotton
0a60c5b57c Merge branch 'master' into OP-378_James_INS 2011-05-26 12:19:30 -05:00
James Cotton
4bc763dafc Extend PiOS DELAY to allow querying the time value in uS 2011-05-26 12:19:04 -05:00
James Cotton
74b9c58f39 Make sensors return data as int16 array instead of struct 2011-05-26 02:49:25 -05:00
James Cotton
20775e806c Merge branch 'OP-378_James_INS' of ssh://git.openpilot.org/OpenPilot into OP-378_James_INS 2011-05-25 22:19:31 -05:00
Stacey Sheldon
8bd08e381a build: add support for EE bank on pipx boards
The pipxtreme boards use a sector of the on-board flash
for configuration storage.  Adjust the memory maps to
reflect this.

The board_info_blob is also extended to include the EE
bank definitions.  This should be used by the pipxtreme
firmware rather than determining it based on chip size.
2011-05-24 01:10:40 -04:00
Stacey Sheldon
9973fda23b build: define bootloader and firmware bank spans
The board-info.mk files now define the start and size
of the bootloader and the firmware banks.
2011-05-24 01:03:01 -04:00
Stacey Sheldon
504fe7a664 dfu: fix typo WRITABLA -> WRITABLE 2011-05-24 00:58:10 -04:00
Stacey Sheldon
96827eecff build: Make all flight sw use pios_board_info_blob
Now that every bootloader build has a board info blob,
make all fw and bl images use it.

The following MACROS are removed:
  BOARD_TYPE, BOARD_REVISION, BOOTLOADER_VERSION,
  START_OF_USER_CODE, HW_TYPE

These values are now ONLY available from the bootloader
flash via the pios_board_info_blob symbol.  These values
must not be #defined or otherwise hard-coded into the
firmware in any way.  The bootloader flash is the only
valid source for this information.

NOTE: To ensure that we have an upgrade path from an
      old bootloader (without board_info_blob) to a
      new bootloader (with board_info_blob), it is
      essential that the bu_* targets do not depend
      on (or validate) the board_info_blob being present
      in the bootloader flash.
2011-05-24 00:58:10 -04:00
David Carlson
38d416cf92 Fix Y/Z axis mixup in self-test procedure (currently not used) 2011-05-23 20:53:15 -07:00
Stacey Sheldon
2d47427b05 link: Use alternate declaration of pios_board_info_blob
Make use of a shorter notation to allow the linker to provide
the correct address for pios_board_info_blob.
2011-05-23 18:21:42 -04:00
Stacey Sheldon
6e406c0232 build: remove all remaining use of -DUSE_BOOTLOADER
The USE_BOOTLOADER compile flag was only being used
to determine where the ISR vector table was located.

Provide this explicitly from the linker since it knows
exactly where it is putting the ISR vector table.
2011-05-23 18:21:42 -04:00
Stacey Sheldon
0a67730d0f build: refactor fw, bl and bu rules
- New macros for fw, bl and bu rules in top-level make
- Per-board info factored into make/board/*/board-info.mk
- Per-board info now shared btw. fw, bl and blupd for each board
   - BOARD_TYPE, BOARD_REVISION, BOOTLOADER_VERSION, HW_TYPE
   - MCU, CHIP, BOARD, MODEL, MODEL_SUFFIX
   - START_OF_BL_CODE, START_OF_FW_CODE
- blupd_* goals renamed to bu_*
- all_blupd goal renamed to all_bu
- firmware goals renamed to fw_*, board name goals are preserved
- bu_*_program now writes updater to correct address for all boards
- BL updater firmware builds now produce .opf format including
  version info blob.
- BL updater firmware name now includes board name.
- INS makefile brought up to date w.r.t. linker scripts
2011-05-23 18:21:42 -04:00
James Cotton
50161b4ad8 OP-378: Continue updating BMA180 sensor driver. 2011-05-20 16:38:53 -05:00
James Cotton
5d78a68bee OP-378: Got BMA180 working. 2011-05-19 11:36:43 -05:00
James Cotton
3093d26cf4 OP-378: Update BMP085 driver for convention that 0 is success, < 0 is failure 2011-05-19 11:36:32 -05:00
James Cotton
750097ea73 OP-378: Small changes to get drivers working again. Fix I2C port for IMU3000
and change convention so that 0 is success, < 0 is error.
2011-05-18 23:35:45 -05:00
James Cotton
ab3127a0ea OP-378 Update the INS Makefile for the new file formats 2011-05-18 14:39:38 -05:00
James Cotton
b7f25ea5d8 OP-378: Get startup script for HD parts working for INS 2011-05-18 13:41:31 -05:00
James Cotton
81b7fb6185 Merge branch 'master' into OP-378_James_INS 2011-05-18 12:50:29 -05:00
James Cotton
dd1e10a15d PiOS/Spektrum: Start swapping to using RTC and calls to PIOS_Spektrum_Get() to
monitor when call Spektrum watchdog
2011-05-18 01:46:00 -05:00
James Cotton
bdf862a712 PIOS/RTC: Add functions to get the rate. Also changed Start to Init to be more
consistent with pios.
2011-05-18 01:45:21 -05:00
Stacey Sheldon
575010169a build: add pios_board_info_blob struct to bootloader flash image
The board info blob is stored in the last 128 bytes of the
bootloader's flash bank.  You can access this data from the
application firmware like this:
  #include <pios_board_info.h>

  if (pios_board_info_blob.magic == PIOS_BOARD_INFO_BLOB_MAGIC) {
    /* Check some other fields */
  }

DO NOT link pios_board_info.c into your application firmware.
Only bootloaders should provide the content for the board info
structure.  The application firmware is only a user of the data.
2011-05-16 08:30:30 -04:00
James Cotton
feb9c02780 OP-216: Small typo in flashfs code (thanks Zippe) 2011-05-15 00:18:15 -05:00
James Cotton
d312e876c4 OP-216: Some small bugs where things were stored 2011-05-14 16:11:30 -05:00
James Cotton
c689d97961 OP-216: Improved error handling 2011-05-14 14:28:11 -05:00
James Cotton
0438f5cf66 OP-216: Check for existence of file table in flash and wipe sector and create
it if missing.
2011-05-14 14:23:23 -05:00
James Cotton
2087441006 OP-216: Make the object manager use new flash fs for objects 2011-05-14 14:23:02 -05:00
James Cotton
7e6e7bb391 OP-499 OP-216: Simple list of objects saved in flash to prevent objId
collision.  Note, this will wipe ALL your settings.
2011-05-14 14:05:02 -05:00
Stacey Sheldon
29ec2f198b build: convert all app loads to require bootloaders
This change is made up of a number of tightly coupled
changes:
 - Deprecate the use of the USE_BOOTLOADER command-line
   option.  It is now hard-coded in each Makefile.
   Overriding it on the command line is not allowed.
 - Split apart the memory declaration and the section
   declaration in all linker files (*_memory.ld and
   *_sections.ld).
 - Describe the split between bootloader and app sections
   of flash in each board's _memory.ld file.
 - Change program target to selectively erase flash so
   that the installed bootloader is preserved across even
   JTAG programming operations.
 - All elf files are built with debug symbols and are not
   stripped.  This should help debugging with gdb.  The
   images programmed on the boards are all .bin files now
   which do not include symbols.
2011-05-08 12:40:29 -04:00
Stacey Sheldon
18ea93119f build: Add support for BL_Updaters to top-level makefile
New targets:
 - make blupd_all_clean
 - make blupd_all
 - make blupd_openpilot
 - make blupd_ahrs
 - make blupd_coptercontrol
 - make blupd_pipxtreme

These targets are also included in the 'all_flight' target.
2011-05-08 12:40:28 -04:00
Stacey Sheldon
2301600f11 Make missing definitions for essential macros more obvious 2011-05-07 18:05:50 -04:00
sambas
d61f3d4d94 Merge branch 'OP-378_CheBuzz_INS' of ssh://git.openpilot.org/OpenPilot into OP-378_CheBuzz_INS 2011-05-07 18:26:12 +03:00
Corvus Corax
5d952f81e3 PIOS: BL_HELPER: refactored function names 2011-04-23 21:11:17 +02:00
Corvus Corax
150464344d BL_HELPER: call CRC_Ini() from within CRC check function 2011-04-23 20:55:21 +02:00
Corvus Corax
357bc369db PIOS: Bootloader Helper functions should sit in HAL, not duplicated in every single architecture. 2011-04-23 19:40:41 +02:00
Corvus Corax
192e31986d PIOS, Modules/FirmwareIAP: Use correct HAL for CPU serial 2011-04-23 18:30:32 +02:00
David Buzz Carlson
876ca3044c Added EKF code. Most of this was bulk copy and paste from the AHRS, so a lot of verification needs to take place. Grabbing sensor data remains untested. 2011-04-20 03:37:50 -07:00
chebuzz
06443b4281 OP-378 - OP/INS - Add initial support for INS. HMC5883, BMP085, BMA180, IMU300 all added. Throrough verification has not been done on any of them. main() simply calls self-test functions on all of the hardware.
AHRS_comms still needs to be implemented.  INS/GPS functionality still needs to be implemented.  Double-check of the new drivers still needs to be done.


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3162 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-14 12:46:39 +00:00
chebuzz
7fcde2f248 OP-377 PiOS/BMP085 Update BMP085 driver to be FreeRTOS agnostic
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3161 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-14 09:53:04 +00:00
chebuzz
195e93c0d6 OP-377 PiOS/BMP085 - Update BMP085 driver to be FreeRTOS agnostic. This is required since new INS does not run FreeRTOS.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3160 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-14 09:46:23 +00:00
sambas
3b9e762b69 OP-22 Flight/PiOS: Spektrum bugfix, for other than DX7
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3154 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-11 13:42:32 +00:00
sambas
dabc33c71c OP-22 Flight/PiOS: fix for 11ms framerate, Spektrum supervisor timer must have atleast one interrupt between frames
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3134 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-09 14:51:39 +00:00
sambas
cdfbf8614c OP-22 Flight/PiOS: Spektrum parser handles all known TXs, or atleast should. Test it well before sending aircraft to the sky.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3133 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-09 14:17:23 +00:00
pip
4fab429f50 Corrected the #ifdef line (line 26/27), it was "#ifndef STM32103CB_AHRS_H_", it's now "#ifndef STM32103CB_CC_H_"
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3022 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-10 20:22:20 +00:00
FredericG
fc18f1cb36 OP-326 Long I2C messages starve the other drivers
We where hammered on the head with interrupts that the driver does not need, not allowing the ISRs of other drivers to run 

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3018 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-09 17:12:18 +00:00
FredericG
4c51e80b5b OP-340 I2C NACK causes next transfers to fail.
Needed to clear the NACK flag in the ISR, or the next transfers seem to get a nack too because the IRQ comes back

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3017 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-09 16:58:37 +00:00
FredericG
f6a2584f12 No code change; commented debug-code
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3016 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-09 16:52:09 +00:00
edouard
aa097ec400 OP-339 Update USB descriptors on CopterControl and OpenPilot to reflect the new convention.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3015 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-09 07:21:01 +00:00
sambas
b240915d05 PPM driver cleanup
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3010 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-08 18:52:50 +00:00
pip
0d389c4d34 Forgot to comment out serial port debugging option .. sorry - again
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3009 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-08 18:32:16 +00:00
pip
48cecfaacd Forgot to commit this file - sorry
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3008 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-08 18:29:48 +00:00
sambas
0eeacb44bd PPM driver for OP, first test
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3007 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-08 18:08:13 +00:00
FredericG
6d0679b9e9 Small fix to PIOS_DEBUG_PinValue8Bit(), was also influencing other IO pins
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2975 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-05 12:53:52 +00:00
FredericG
35475820ad 2 new PIOS_DEBUG functions to output a value on the debug-pins. In its current implementation it will probably not work on CC....
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2971 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-05 09:23:57 +00:00
peabody124
ec29920a8d OP-315: Clean up RTC calls into a separate function. Unfortunately still need
to add function headers into portmacro.h

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2942 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-03 04:28:38 +00:00
peabody124
3e2c542eef OP-315 Use RTC at 65 khz as time base for task switching
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2941 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-03 04:28:34 +00:00
peabody124
267efe0b88 OP-315: Patch to FreeRTOS port to allow querying the run time for tasks. This
will need to be forward ported (and ideally pushed up stream) for FreeRTOS
updates

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2939 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-03 04:28:22 +00:00
sambas
d9ad0e9a8f OP-22 Flight/PiOS: Spektrum hacks, doubled supervisor timer and ?loss? counter to the channel8 value
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2907 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-27 19:03:58 +00:00
pip
62e510a696 Set unused/unconnected pins as outputs.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2875 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-24 17:31:24 +00:00
pip
578b779a76 Fixed PPM compile errors - you can now compile for PPM input if desired.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2818 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-20 13:41:19 +00:00
sambas
8d6f320fca Handle I2C defines better, needed in CC for now
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2815 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-20 07:14:02 +00:00
stac
bbb3882826 bl_openpilot: bind to new COM, USART and SPI drivers
- Removed all unnecessary device instances and their cfg's.
  - SPI to SD card
  - I2C
  - Aux USART
- Moved SPI baudrate setting into cfg rather than init func.
- Abstracted forcing slave select under OPAHRS API.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2786 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-14 01:17:32 +00:00
sambas
f3bce1705b OP-22 Flight/PiOS: Spektrum fix, OP tested on ground not flown yet, CC not tested.
pios_rcinput.[ch] outdated

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2775 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-13 13:10:02 +00:00
stac
66a9d53d0a hwinit: Convert I2C driver to dynamic init
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2773 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 22:19:54 +00:00
stac
3fda65c5d3 hwinit: Convert SPI drivers to dynamic init
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2772 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 22:19:50 +00:00
stac
841b0d3d6d hwinit: Convert COM and USART to dynamic init
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 22:19:43 +00:00
peabody124
9ed0882df9 PiOS/USART: Apply same fix as Spektrum to force read of DR whenever there is an
error flag set

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2760 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-08 16:34:52 +00:00
peabody124
7e78e8af04 CC-21 PiOS/Spektrum: Prevent condition that can tie up USART interrupt and locks up
CC.  Must always read the DR to clear the error flags.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2759 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-08 16:34:49 +00:00
peabody124
a3ba9c3781 CC-21 Make it possible to enable Spektrum on CC, although it eats up S6 in
order to free a timer.  Mode PIOS_DELAY (not working cleanly) to TIM3 because
Spektrum resets TIM2 count.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2758 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-08 16:34:45 +00:00
peabody124
03fb82ad0a CC Attitude: Change when AttitudeRaw is set to end of attitude estimation,
because this is what is determines when the Stabilization code executes.
Because we aren't oversampling gyros relative to the PID in CC we should set
the attitude first (computational time to do so is negligible).

Also change update rate to 500 Hz.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2750 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-08 16:34:18 +00:00
pip
6559615ef8 Made quite a few constants/#defines capitals (previously lower case)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2743 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-06 10:55:08 +00:00
peabody124
56d4d54a97 CC: Increase the memory for the modules after removing PriTxTask from CC and
also increase the telem queue to decrease event errors (can be reverted later if
we need the memory back)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2730 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-05 10:52:59 +00:00
peabody124
f97d853c80 Make the PriTx queue optional which saves 700 bytes
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2729 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-05 10:52:52 +00:00
peabody124
fedadb1275 CC-8: Move the queue registration into the ADC PIOS driver to allow other
functions to use it easily

Conflicts:

	flight/Modules/Attitude/attitude.c

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2707 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-03 02:42:43 +00:00
peabody124
cf2e9fb349 Memory: Also allow overriding Stabilization stack size
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2690 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-02 08:57:34 +00:00
peabody124
b1e4b65f3d CC-1 Bigger oversampling window for CC sensor data
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2667 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-01 02:18:31 +00:00
peabody124
97acaa2402 CC-15 Gets settings saved to flash chip on CC using crude sector based storage.
Sector based on Object ID so could overlap :-(.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2662 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-01 02:18:12 +00:00
peabody124
ea91042f38 CC-6 Fixed bug in flash read write addresses
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2661 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-01 02:18:08 +00:00
peabody124
e27c9c0b7a CC-6 Rename Flash function to not be all upper case consistent with other PIOS
functions

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2660 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-01 02:18:04 +00:00
peabody124
1d2ad6e9cb Telemetry: Move the telem stack size to the board definition file since CC
needs less

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2659 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-01 02:17:59 +00:00
peabody124
c9207b3754 CC-14 PIOS/Servo: Set more than two bank speeds
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2658 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-01 02:17:55 +00:00
peabody124
063c58e7c0 CC-12 Enable Watchdog on CC
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2653 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-01 02:17:32 +00:00
peabody124
037a63ee1d CC-1 CC-8 Cache the oversampled gyro value and use that to get rid of glitches.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2652 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-01 02:17:27 +00:00
stac
880a68a788 uavobj: Convert bootloader-compatible builds to autogen init
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2633 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-31 00:57:24 +00:00
stac
b5426e09d0 uavobj: Convert CC over to use autogenerated uavobjinit
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2631 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-30 22:46:51 +00:00
stac
083e2b01a9 uavobject: Use linker to produce uavobj initcalls
The UAVObject initcall list is now automatically
generated at link time based on the exact set of
UAVObjects linked into the firmware image.

This will allow any subset of UAVObjects to be
used in any firmware image.

The uavobj_initcall() macro automatically adds the
marked function's address into the .initcalluavobj.init
ELF section.

The UAVObjectsInitializeAll() function now simply
iterates over the functions listed in the
.initcalluavobj.init section and calls them.

You can see the contents of this section in the ELF file
like this:
  ./tools/arm-2009q3/bin/arm-none-eabi-objdump \
      --syms -j .initcalluavobj.init \
      ./build/openpilot/OpenPilot.elf

This is fundamentally the same mechanism that the Linux
kernel uses to initialize the specific set of components
that the user has selected in their kernel configuration.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2630 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-30 22:46:48 +00:00
pip
5daf6fd1c0 Added PIP_DUMP_RAW option in ahrs.c and brought back public acces to function PIOS_ADC_GetOverSampling(void).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2623 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-29 15:59:35 +00:00
sambas
ba5ebb6b13 OP-303 PIOS/Sonar: preliminary support for HCSR04 ultrasound altimeter module, tested and working :)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2610 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-28 19:21:22 +00:00
sambas
195b63b6bb OP-22 PIOS/Spektrum: Made spektrum input driver, NOT YET TESTED!!!, also preliminary support for CC, sync/supv timer not yet fixed.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2602 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-28 09:25:30 +00:00
edouard
df0b5f9b6c CC-13 CopterControl bootloader first pass. Does not talk on USB for some reason, but starts.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2601 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-27 22:33:13 +00:00
peabody124
99eb1a89f9 CC-5 PIOS/Servo: CC default servo position was 2000 from testing. HUGE SAFETY
ERROR

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2593 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-26 01:25:29 +00:00
peabody124
c759253b77 CC-6 Flash chip working to read ID. Also tweaked how the semaphore for the SPI
bus is used to be a bit safer.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2591 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-25 17:46:27 +00:00
peabody124
00a3e82c70 CC-6 PIOS/SPI: Add semaphore to SPI device structure that can be used to ensure
only one CS line is asserted.  No checks are enforced on this by the SPI code
as I cant see a clean way of it being aware of the CS lines.  We could add
another CS mode those which is driver managed per transfer and has a GPIO i
line for each device.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2579 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:52:17 +00:00
peabody124
d2f3e0d379 CC-6 Initial code for the flash chip on CC
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2578 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:52:14 +00:00
peabody124
d4b4a6ca37 CC-3 Modules/CCAttitude: Add oversamplign to the accel data
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2576 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:52:08 +00:00
peabody124
21e3441f00 CC-3 Set gyro to downsample 10x to 250 Hz
Conflicts:

	flight/CopterControl/System/inc/FreeRTOSConfig.h

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2575 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:52:05 +00:00
peabody124
23599ee59f CC: Set the buffer size of USART smaller and register teh AHRSSettings
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2573 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:51:59 +00:00
peabody124
2881370eab OP-291 PIOS/Servo: Refer to channels by TIM_Channel_x to be consistent with PWM
system

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2571 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:51:54 +00:00
peabody124
99fcd089d4 OP-291 PIOS/Servo: Make the remapping of timers a part of the driver structure
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2569 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:51:48 +00:00
peabody124
da96ce15b9 OP-256 PIOS/PWM: Converting PWM input to use standard driver structure.
Beginning of unifying the input types into PIOS_RECEIVER.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2568 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:51:45 +00:00
peabody124
01b09668aa OP-291 PIOS/Servo: Dont need to power up GPIOA/GPIOB in servo since done in sys
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2567 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:51:41 +00:00
peabody124
99f2f3c68b OP-291 CC Servo configuration: Gets S5 and S6 working
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2566 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:51:38 +00:00
peabody124
108ea8c959 OP-295 Get CC pin mappings consistent for using the temperature sensor
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2565 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:51:34 +00:00
peabody124
607cdcac21 Upgrade FreeRTOS to the latest version (6.1.1) which allows compiling with -Os
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2562 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:51:26 +00:00
FredericG
70f11543e0 Fixed debugging via Servo PWM pins
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2544 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-23 18:11:47 +00:00
peabody124
65e02eeb25 OP-293 PIOS/ADC: Fixed issue with DMA engine and odd numbers of channels not
accounting for the fact they are transferred in pairs when using ADC2

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2510 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-21 17:18:20 +00:00
peabody124
2d9f7f32d1 OP-291 PiOS/Servo: Converting output to use driver system
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2499 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-21 03:40:21 +00:00
peabody124
cf17569de7 CC-1 Modules/CCAtttitude: Calling the ADXL345 library and getting the accel and
gyro data into attitude raw.  Hardcoded calibration for now.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2474 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-17 08:45:40 +00:00
peabody124
18deba48c1 CC-6 PIOS/ADXL345: Helper functions for the ADXL345 chip. Need to add
semaphores for sharing the bus between the flash chip and this though.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2473 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-17 08:45:37 +00:00
peabody124
21b4e55029 OP-14 OP-16: I2C Improvements
1) Added nack counter monitoring
2) Made timeout for getting semaphore in I2C user space code use the one from
driver and record timeouts.  This does not influence timeouts in the non
FreeRTOS case
3) Remove case block from the error handler so that all bus errors reset the
i2c interface

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2469 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-17 02:11:12 +00:00
peabody124
0e441a20f3 OP-14 OP-16 I2C: When sending STOP signal after NAK, mask interrupts first
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2468 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-17 02:11:08 +00:00
peabody124
0d567f4e4b OP-14 I2C: Don't log a NAK as an error and also after NAKs seem to get an event
from the stop bit

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2466 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-17 02:11:02 +00:00
peabody124
31919241b8 OP-14 I2C: Adding new event to the ignore list
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2465 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-17 02:10:59 +00:00
peabody124
68536d2fd1 OP-14 I2C: Throw away 0 event in error handler
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2464 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-17 02:10:56 +00:00
peabody124
c2bdf624e8 OP-269 PIOS/ADC: Previous ADC driver update changed the PCLK2 divider for all
projects which messed up a timer on OP and serial on PipX.  Now this is only
changed for AHRS.  Ideally wouldn't even change for that but then ADC runs too
fast and we get a lot more CRC errors for dealing with all that data.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2459 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-16 23:00:48 +00:00
edouard
b3ca037308 OP-277 Update all files to use a BOARD_TYPE and BOARD_REVISION scheme through the whole codebase.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2458 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-16 20:41:55 +00:00
peabody124
04a00c7327 OP-269 PIOS/ADC: Change the initialization code to work well when changing
oversampling

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2452 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-16 16:02:53 +00:00
peabody124
ad7a6e6071 OP-269 PIOS/ADC: Only enable the half and full conversion flag for the double
buffering

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2451 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-16 16:02:50 +00:00
peabody124
0259b6d1f1 OP-269 PIOS/ADC: First part of conversion to driver structures
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2444 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-16 02:45:39 +00:00
peabody124
ab75e8117f OP-265 CC: Getting GPIO lines working
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2443 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-16 02:45:34 +00:00
peabody124
81b0c3fdb6 OP-269 PiOS/ADC: Moved AHRS ADC code to PiOS and made all the projects use it
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2440 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-16 02:45:22 +00:00
zedamota
ad0b3e911d OP-268/PipX Bootloader - Changed Timers for MD device, auto memory space fetching (as per people request ;)). Stripped unused functions to reduce size.
TESTED WORKS.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2431 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 15:33:24 +00:00
peabody124
ad7a4cded0 OP-265 PIOS/USB: Put USB buffer size in the board file
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2428 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 02:15:19 +00:00
peabody124
94ff276522 OP-265 CC: Tweaking objects included and the memory requirements
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2426 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:38:49 +00:00
peabody124
8a32d88b10 OP-265 CC: More work to get it running
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2425 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:38:47 +00:00
peabody124
c59a1ff018 OP-265 OP-266: FreeRTOS configuration per project because of available heap
size (may eventually need to be per revision if we get bigger ram).  Typo in a
the ifdefs to get allow disabling SDCARD

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2423 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:38:42 +00:00
peabody124
ea851803af OP-266 CopterControl: Continue trying to strip out as much as possible to get
it to fit

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2422 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:38:39 +00:00
peabody124
f0c36b13a4 PiOS/USART: Use the buffer size defined in the board file
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2421 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:38:37 +00:00
peabody124
7c9b3b3d69 OP-265 AHRS: New file locations
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2420 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:38:34 +00:00
peabody124
79caad654b CopterControl: Don't need altitude sensor support
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2418 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:38:30 +00:00
peabody124
940792db5c OP-265 CopterControl: Fork main OpenPilot directory
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2416 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:38:24 +00:00
peabody124
fc54159369 OP-265 Flight reorganization of UAVObjects and Modules up a directory
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2415 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:38:19 +00:00
pip
c7ecfd2f60 Fixed pios_board.h to include the pipx .h file
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2407 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-13 19:37:01 +00:00
pip
b647d93add Added pipx board file.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2406 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-13 19:34:59 +00:00
peabody124
07798bb2db PIOS/WDG: Add back the returned delay for code that wants to clear WDG more
rarely

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2403 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-13 19:01:33 +00:00
zedamota
691c58a583 OP-268/PipX Bootloader - Changed the size of BL def.
New naming convention for the linker files:
link_(board_name)_(density)_(bl usage).ld

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2401 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-13 17:34:22 +00:00
zedamota
1f89ee1865 OP-21/Bootloader - Change HW ID to 16bits. Should still be compatible with the old version.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2398 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-13 14:36:32 +00:00
peabody124
d846288cec OP-14 I2C: Remove delay in I2C IRQ handlers
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2378 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-11 03:50:23 +00:00
peabody124
bbbd9a10e3 OP-14 I2C Diagnostics: Improve the logging so that the events going into FSM
are logged, and separately the erirq and evirq logs are exported

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2368 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-10 05:42:53 +00:00
peabody124
b173d74821 OP-237 I2C ESC support. This _will_ require you to reconfigure your
ActuatorSettings although for PWM aircrafts it should be done exactly as before

Actuator: Store the update times and maximum update time

OP-14 I2C: Start tracking short history of events and states in driver for
logging
OP-237 Flight/Actuator: Support for I2C based ESCs

OP-237 MK_ESC: Send all four motors as one atomic transfer

OP-237 Flight/Actuator: Allow channels to be mapped to MK I2C interface.  Currently
mixer channels are either PWM or MK but in the future this will change to
support more than 8 channels.

OP-16 PiOS/I2C: Further work to try and make I2C more stable, mstly special case
handline in IRQ

OP-237 I2C ESC: Support for Astect 4 channel ESCs

OP-237: When the I2C Actuator write update fails track this

OP-237 Actuator Settings: Change the way motor types are selected to keep that
information more appropriately within ActuatorSettings instead of MixerSettings

Also make motors stay at or above neutral when armed and throttle > 0

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2366 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-10 01:11:44 +00:00
peabody124
ed11e64bb2 OP-251 Watchdog: Get rid of the old extra watchdog module and instead have
tasks directly update a flag for each module (which they register) and when all
flags set clear the watchdog then.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2365 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-10 00:16:30 +00:00
vassilis
1e78cc7a30 Flight/FlightPlan: First release of flight plan scripting. The scripting engine is based on the PyMite Python VM. The released code is able to execute a simple python script on the target. However it is currently disabled from the makefile due to a few issues with more complex scripts. When the library is enabled in the makefile a python interpreter will be needed to compile the firmware since some intermediate code is generated by PyMite.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2364 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-09 22:36:15 +00:00
peabody124
5734e1f437 OP-176 PIOS/ADC: Decrease the priority of the ADC DMA/IRQ
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2360 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-09 20:49:43 +00:00
peabody124
0175e25ddf Flight/ADC: If there is a DMA error for the ADC transfer dont copy those values
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2359 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-09 20:49:39 +00:00
peabody124
148ea6fdc1 Flight: Make PWM outputs default to 0 us to avoid either pushing servos to
exteremes or running up motors

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2358 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-09 20:49:35 +00:00
peabody124
0f07d7f671 OP-240 OP-176 Flight: Setting the priority group back to 4 (anything higher
priority preempts) and adjusting the priorities around to be more sensible.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2355 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-09 20:49:26 +00:00
vassilis
407e660c97 Flight/TaskMonitor: Create TaskMonitor library, used to monitor the remaining task size of all running tasks.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2349 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-08 23:43:34 +00:00
peabody124
d8022a320d OP-238 PiOS/USB: Fix for problem Ed's being see where being plugged into usb
but not having telemetry causes a reset.  If the buffer got full enough it
would never start to transmit again.

Note: also making Telemetry non-blocking

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2346 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-08 08:05:02 +00:00
pip
cb8e9ef07b Added a moving-average-filter to the pressure reading, and increased BMP085 oversampling from 2 to 3
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2336 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-05 11:26:47 +00:00
edouard
3bad347386 Reverted a change which caused resets on the MB under certain conditions. Should be back to normal now.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2311 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-30 19:24:57 +00:00
sambas
0b2a0884ae OP-22 Flight/PiOS: Spektrum improvements, removed my zero throttle glitch
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2306 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-28 18:37:36 +00:00
peabody124
7ab6dfeeba PiOS/USB_HID: Lower priority of USB interrupt
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2280 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-24 17:16:07 +00:00
peabody124
1142b1fb1e PiOS/USB_HID: No longer clear buffer after getting a NAK. This was required
before because if transmission got NAK then sending would stop.  Now the next
time data is added to the buffer a new send will be attempted.

fifoBuf: in clearData just set the read pointer to the write pointer.  This is
safer for multiple people accessing it assuming the reader will be clearing it.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2279 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-24 17:16:04 +00:00
peabody124
ba8351f60a PiOS/USB_HID: When using FreeRTOS use a sempahore to stop multiple tasks
pushing data to the transmit buffer

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2278 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-24 17:15:59 +00:00
zedamota
14ef24a3de OP-21/Bootloader - Maximize flash space available for user code. Bring back delay on HID send (board->pc) it still hangs when blasted with data. AHRS is now Readable.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2263 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-21 17:25:24 +00:00
peabody124
f010502229 PiOS/I2C: Was throwing out repeated byte transmitted events but this is
required for longer sequences,  Need to deal with when it happens
inappropriately better.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2245 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-18 07:09:34 +00:00
peabody124
af99c31a61 PiOS/I2C: Fixed typo and also the values for I2C Diagnostics when disabled.
Enabled by default though.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2243 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-18 07:09:28 +00:00
zedamota
917f03121d Fixes a problem with the reset function introduced on the new ST libs migration, it was preventing the user space reset used with the bootloader to function properly.
I think someone still likes to honor his avatar :)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2241 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-17 14:16:58 +00:00
peabody124
4b4a66c2d7 PiOS/I2C: Lots of small changes. Added a few weird bus events that are
sometimes thrown, and made errors not lock it up by default.  It works for me,
but since this has historically been associated with lots of lock ups please
check your systems carefully.

PiOS/I2C: Make the bus by default try to recover from errors instead of locking
up

PiOS/I2C: After a bus error and clocking all previous data create a STOP
condition to make sure bus is released (note, this also requires creating a
START condition first)

PiOS/I2C: If the same event hits the I2C bus twice in a row then disregard
second one, there is no situation where we should get the same event multiple
times that matters and this gets us out really quickly to catch the real
events.  I was seeing this with repeated 0x70084 which means byte transmitted.
This is related to STM32 bugs in the IRQ timings I believe.

PiOS/I2C: 1) Mask out some bits we don't care about in the event flags
2) Don't lock up if the give semaphore fails, although why it does is strange
3) Recover from bus failure through the "auto" state path instead of just
coding state

PiOS/I2C: Change the reset bus code to follow
http://www.analog.com/static/imported-files/application_notes/54305147357414AN686_0.pdf
(thanks for the reference Neontangerine).  Although this may actually NOT clear
the bus the first time through, subsequent bus errors should eventually clock
it out.  The up side is it is less likely to clock a bunch of 1s into an ESC
and make it run up.

PiOS/I2C: Some cleaned up code for getting a snippet of the history when
something strange happens

PiOS/I2C: Export logging information from I2C through a UAV object

PiOS/I2C: Improve the diagnostic information

PiOS/I2C: Need to handle the event 0x30084.  This seems to happen between a
byte transmitted and new byte started

PiOS/I2C: Handle the NACK condition by simply going to the stopping state.

PiOS/I2C: Add a new NACK state to handle sending the STOP signal after a NACK
following the STM documentation.  Other error conditions still are not dealt
with.

PiOS/I2C: Should handle the NACK condition from all the write cases.  Need to
think about read cases

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2239 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-17 07:01:58 +00:00
zedamota
c034a35d2c OP-21/Bootloader - Changes to the IAPObject. Implements MB and AHRS user mode IAPObject. Added user mode reset command to the CLI. To many changes to bootloading system to write here, a Wiki page will have to be writen.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2238 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-15 19:06:28 +00:00
peabody124
36ea75bc0d Flight/HID: Change how the HID code handles the transmit buffer getting empty
and starting transmission again.  This should address the bootloader locking up
on verify.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2235 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-14 01:43:16 +00:00
peabody124
1086a6b567 Flight: Changes to STM library to work with our code. Basically all the
configuration structures are const which keeps them in flash instead of ram.
However the library needs to declare them const for the compiler to work.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2231 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-13 07:03:28 +00:00
peabody124
18858571ce Flight: Updated to the latest StdPeriph libraries
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2230 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-13 07:03:24 +00:00
peabody124
e6a21977f1 OP-156 AHRS: Make the account for the fact the analog data is downsampled two
times for each EKF update

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2193 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-04 18:13:08 +00:00
peabody124
45e3ed27a7 OP-156 AHRS_ADC: Make the ADC system use a callback to better separate ADC code
from the AHRS code (which will facilitate code integration with new INS) and
also will help set up a fifo queue for the downsampled data to allow gyro data
output from AHRS faster than EKF output.  Also decreased ADC interrupt priority
so the SPI comms don't drop out.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2190 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-04 17:34:27 +00:00
pip
0cae6df8b0 Aligned fifo buffers to 32-bit for possible speed improvement.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2173 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-28 11:06:45 +00:00
pip
d4c24de556 Updated to use the new fifo_init function
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2172 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-28 11:00:20 +00:00
peabody124
cfbdad5e0d Flight/USB_HID: Change to deal with buffer filling up when GCS not ACK'ing the
usb transmissions.  Clear TX buffer after any NAK.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2147 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-23 19:29:10 +00:00
peabody124
e89911bb8a OP-203 PIOS_USART: Don't disable interrupts for receive buffer since
only one receive task.  This is less generally safe but decreases the
frequency of resets in our current configuration

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2144 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-23 17:13:49 +00:00
peabody124
a454f06bf8 OP-203 PIOS_UART: Tweaked the way the interrupts are reenabled to get comms
stable again

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2143 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-23 17:13:48 +00:00
peabody124
300a3bc8ad OP-203 PIOS_USART: Get TX buffer using fifo_buffer
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2142 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-23 17:13:46 +00:00
peabody124
e3dd542609 OP-203 PIOS_USART: Make USART Rx code use fifo_buffer
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2141 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-23 17:13:44 +00:00
zedamota
d57441e8f4 OP-21/Bootloader - forgot to commit this too..sorry (check last commit)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2137 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-21 22:58:14 +00:00
zedamota
98b0f406dc OP-21/Bootloader - fixes GPS connected issues, enhances timings problems, further work on serial support
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2136 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-21 19:37:40 +00:00
osnwt
ed49f7fc40 Prevent some compiler warnings treated as errors during RELEASE build (possible use of uninitialized variables - CodeSourcery under Windows build system). It may be done with some #pragma as well, but this way is more portable.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2132 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-21 13:09:05 +00:00
sambas
c74c9cc08e OP-73 Flight/PiOS: deinits started, still just for review
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2107 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-11 20:38:44 +00:00
sambas
f94dc41712 OP-73 Flight/PiOS: runtime RC input change, initial files just for review, not integrated to build yet
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2106 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-11 19:09:39 +00:00
peabody124
42a02e5662 Flight/HID: USB priority to 8 instead of 1. Probably Need to make the HID layer use a
similar driver format to the PIOS_USART system.  (p.s. are you happy now, PT?)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2029 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-28 15:07:07 +00:00
peabody124
b9f74a86c3 OP-198 Flight/Libraries: Swap to using circular buffer code from Pip because it
supports thread safe write/read simultaneously

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2027 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-28 14:30:03 +00:00
peabody124
0bdaf4d0df OP-197 Flight/USB: Make non-blocking send return -2 instead of -1 for not enough space
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2026 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-28 14:30:00 +00:00
peabody124
acc6df4c2d Flight/USB_HID: Make the userspace command wait until not in interrupt before
running and block the interrupts while modifying the buffers

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2003 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-24 01:35:30 +00:00
peabody124
cd04845c3d Flight/HID: NAK instead of stall USB bus (former was mistake) and change
polling time to 4 ms

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1996 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-20 05:21:25 +00:00
dankers
4ed3359f6f Comment was misleading.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1992 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-19 17:25:07 +00:00
kokomojoe
2fe266650f OP-185 Flight - support files for Firmware IAP object
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1891 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-06 02:06:13 +00:00
kokomojoe
20c6e2292a OP-185 Flight helper functions for the firmware IAP object. Allows setting/clearing of back-up registers
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1890 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-06 02:02:37 +00:00
peabody124
ea3fb03c7f Flight/AHRS Communications: Switch to Les' very nice UAVObject communication
scheme

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1835 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-02 02:17:18 +00:00
les
498f3d0fa6 PIOS SPI: Added a function to detect if the channel is busy
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1829 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-01 16:52:20 +00:00
sambas
2d90a80e22 Flight/PiOS: this patch makes dosfs work with both MBR and VBR formats. Backup your SD files in case this messes something!! Testing needed.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1798 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-29 16:29:38 +00:00
kokomojoe
6f1f990d85 OP-21 AHRS/Bootloader - Moved start of user code to 0x08002000. Must be used with latest AHRS Bootloader compiled with DEBUG=OFF.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1788 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-28 02:21:48 +00:00
peabody124
3c021c09d9 Flight/PiOS: Whitespace changes
find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f    | xargs -I{}
bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1
-il0 -hnl -l150 {};'

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 07:28:45 +00:00
peabody124
77b68e5169 Flight/Guidance: Initial template for guidance module
Flight: Create PositionDesired (the active waypoint) UAVObject and make the FlightSituationActual no update since it not used.
Flight: New velocity desired object that passes information between the look computing the desired velocity and the PID loop to get it (updated at different rates)
UAVObjects/PositionActual: Remove unused GPS fields
UAVObjects/PositionActual VelocityActual: Split the velocity into a separate object.  ALso make sure all the information telemetered around is in cm to avoid using floats.
UAVObject/GuidanceSettings: New guidance settings object for the guidance module
Flight/Posix: Add the new objects to the Posix sim
Flight/Guidance: Computes a desired velocity based on position error than runs a PID loop to control roll and pitch to achieve that velocity.  All distances are in cm, and updated the PositionActual fields to reflect this and use int32.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1760 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-26 03:06:27 +00:00
peabody124
a01783b2a8 OP-140 AHRS: Explicilty deal with if it is initialized or not, use that to
determine retransmitting calibration, home location and such.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1755 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-25 21:05:38 +00:00
peabody124
9b28f2d72c OP-167 OP-157 AHRS/Calibration: Added mag scale and really cleaned up calibration.
Calibration should take less time now too (using second moments to estimate
variance in one pass).  Now need to change to multiple messages to get the
calibration in to keep the request message size minimal.  Also currently
running sensor calibrate doesn't store the gyro bias so if you want to use this
you'll have to tweak it manually.  I'll fix that step tomorrow.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1741 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-25 09:20:38 +00:00
sambas
24840b461d OP-22 Flight/PiOS: added failsafe and recovery "watchdog" timer
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1697 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-20 18:00:31 +00:00
zedamota
87dc0908ce OP-21/Flight Bootloader - Bug fix
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1695 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-20 16:29:34 +00:00
zedamota
3ba6372dc4 OP-21/Flight Bootloader - Clean up and linker files for the AHRS
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1691 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-19 18:27:53 +00:00
zedamota
c9752a6a3a OP-21/Flight Bootloader - some changes for the bootloader to work
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1682 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-18 23:11:42 +00:00
peabody124
8e0c5136c0 AHRS/Comms: Make the polling delay 1ms instead of 20ms to make sure if a message isn't ready we don't pause for a long time.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1673 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-17 18:12:25 +00:00
peabody124
a6ca5b82e7 OP-155 Flight/HID: Make the HID stall when buffer full. Not sure the consequences on ground (i.e. if it handles the stall correctly)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1665 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-16 20:23:02 +00:00
zedamota
e8d6e7c557 Flight - Centralized board specific files, BL and User FW uses the same board definitions, no need to have 2.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1663 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-16 19:19:38 +00:00
peabody124
110c46216e OP-155 Flight: Increase the pios_com buffer size to support these larger objects. If this gets worse and we don't want to use as much OP memory we can make it stall the USB bus when the buffer is full.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1657 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-16 05:57:03 +00:00
peabody124
885c966e53 AHRS: Added a tracker for number of ADC updates the EKF misses. Also updated the Telemetry autogenerated files to accomodate the 11500 baud rate.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1652 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-16 02:59:00 +00:00
peabody124
19e80da928 AHRS: Update UAVObject with information about AHRS rate
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1650 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-16 01:54:21 +00:00
zedamota
3e89e388fa OP-21/Flight Bootloader
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1643 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 17:09:27 +00:00
zedamota
c72a5b1cfe OP-21/Flight Bootloader
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1642 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 17:08:24 +00:00
zedamota
f972b78bfb OP-21/Flight Bootloader
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1641 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 17:07:43 +00:00
pip
89fb0b8582 Made pios_hmc5843_data_ready volatile (accessed by both interrupts and main exec loop).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1638 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 17:00:36 +00:00
stac
55d90970ed hmc5843: hide internal #defines and functions
Way too much was being exposed in the API for the
HMC5843.  This commit properly hides internal
details of the driver.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1629 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:21:04 +00:00
stac
0e7a801e9e hmc5843: Add support for DRDY signal from magnetometer
The DRDY signal from the magnetometer is connected to PB8
on the STM32.  This pin is now configured as an external
interrupt and is now used to signal when new data is
available from the magnetometer.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1628 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:21:02 +00:00
stac
4ac001553d hmc5843: convert line endings from CRLF to LF
No functional changes.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1627 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:21:00 +00:00
stac
88e73906d0 i2c: Add recovery code for i2c bus errors
I2C bus errors are now recoverable.  The bus is properly reset
and an error indication is now provided to the caller whenever
a bus error occurs during processing of the transaction list.

For now, the users of the I2C layer just retry infinitely on
failure.  The BMP085 and HMC5843 code should be changed to
report errors to its callers to allow a more sensible retry
strategy.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1625 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:57 +00:00
stac
0122394481 i2c: consolidate handling of AUTO transitions
AUTO transitions in the FSM are now handled immediately
after processing each newly injected event rather than only
at the end of the EV ISR.

This consolidation allows the upcoming addition of event
injection from both the EV and ER ISR contexts.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1624 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:56 +00:00
stac
7d5463e5e6 i2c: Move polling for bus stopped from ISR to task/mainloop
Occasionally, the I2C driver races with the STM32 I2C peripheral
at the end of a bus cycle.  This leaves the bus in an errored
state and the stop condition is not properly asserted on the bus.

The polling for the stopped condition was previously implemented
in ISR context since it was expected to be nearly instananeous.
In the error condition, however, the stop condition will never
happen.  The polling for this case is now done by the initiating
task (or mainloop on the AHRS) to prevent the timeout condition
from triggering the watchdog.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1623 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:55 +00:00
stac
65ad2caf8a i2c: Make transaction initiator available in txn list
The info field in the pios_i2c_txn list can now be used
to provide a const string which describes the context
for this transaction.

This is very helpful when diagnosing an error that occurs
somewhere in the middle of the I2C FSM since the FSM runs
primarily in the ISR where the original context for the
transactions is no longer available in the traceback.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1622 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:53 +00:00
stac
85c60479c1 i2c: rename FSM faulted state
Differentiate the _FSM_ faulted from the (soon to
exist _BUS_ faulted state.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1621 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:52 +00:00
pip
cc3860daaf Added 'uint32_t PIOS_SYS_getCPUFlashSize(void)' into pios_sys.c/h files.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1616 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-14 09:18:55 +00:00
pip
8bfaa997d3 made curr_state 'volatile' in pios_i2c_priv.h to prevernt compiler optimization lockup.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1611 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-13 20:52:56 +00:00
zedamota
66560786f4 Flight - #ifdefs to make it work with both normal and bootloader packet formats.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1609 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-13 17:08:52 +00:00
zedamota
257b4d2c95 flight - BL AHRS Comms - fixes to make it compile, not tested yet.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1601 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 21:08:43 +00:00
pip
d0b8a9755d Added USB_LED_ON/USB_LED_OFF and checks to see if they are defined to the PIOS_USB_HID_ChangeConnectionState function ..
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1596 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 10:47:20 +00:00
pip
9fca16db41 Added an RTOS detection is 2 places because I'm using this file on the modem (without an RTOS). #if defined(PIOS_INCLUDE_FREERTOS) ...
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1595 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 10:33:45 +00:00
stac
d18e0c3ef8 ahrscomms: Add low-level message code for bootloader msgs
Implement low-level utility functions for sending/receiving
the opahrs proto v0 (bootloader) messages.  These are used
by the OP firmware loader and the AHRS bootloader.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1586 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:31 +00:00
stac
c3c8a30bfc ahrscomms: fix return values on error
Some functions were returning -1 instead of one of the
valud enum values.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1585 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:29 +00:00
stac
6bf3038f3f ahrscomms: provide helper function for simple requests
This cleans up some of the boiler plate code that is
repeasted for simple (empty) requests that expect a
response.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1584 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:28 +00:00
stac
7ecbb5f5b8 opahrs_proto: Add new boot and versions messages
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1583 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:26 +00:00
stac
d1dc300081 ahrscomms: remove unused sync and switch_proto messages
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1582 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:25 +00:00
zedamota
aa1af2b9f3 OP-21/Flight Bootloader - Changes to make it independent of RTOS
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1570 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-09 18:44:55 +00:00
peabody124
b853c392f3 Flight: Was only returning half of the serial number (thanks for catching that Pip)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1476 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-31 02:33:47 +00:00
pip
7813414f29 added casting to prevent int overflows when calculating the watchdog delay
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1467 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-30 16:48:33 +00:00
pip
ba5f1b37ee changed pios watchdog from 8-bit to 16-bit ms capability, plus moved the .h file from the .c folder into the inc folder
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1466 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-30 16:29:36 +00:00
peabody124
f202884ce8 AHRS: Numerous changes. Added CPU load monitoring for AHRS as well as some friendly debugging output options. Also added a new CalibrationMode setting to AHRS (Echo) to speed up sensor calibration. Cleaned up the 6 point calibration interface to make it more friendly, but I think Edouard will clobber it with something nice and sexy :).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1455 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-29 06:38:30 +00:00
stac
a19c225697 ahrscomms: reduce retries and retry delay
The number of retries and delay between retries was
increased in a previous commit.  This doesn't appear
to be necessary so I'm reverting the increases.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1432 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 02:15:02 +00:00
stac
47df1faa8d ahrs: whitespace adjustments
No functional changes.  Whitespace/tab fixups only.
Use TRUE/FALSE instead of 1/0.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1430 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 02:14:58 +00:00
stac
0a7088c24a ahrs: fix type on flags, remove redundant code
No need to have boolean flags being floats.
Some of the attitude message was being populated twice.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1428 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 02:14:54 +00:00
peabody124
8dd81443be OP-122 Flight: Same changes regarding 62 byte limit applied to the receiving code on the device.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1405 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-25 05:32:56 +00:00
peabody124
dd491160c5 OP-121 OP-122 Flight: Improved the Blocking/Nonblocking behavior for USB to be correct. I'd like a mutex still around the transmission buffer but don't want to slow down the interrupt.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1404 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-25 05:32:54 +00:00
peabody124
4ca10e92c7 OP-121 OP-122 Flight: Improved USB HID communication.
1. Added reenumeration function and call it on USB init (device will appear after reprogramming now)
  2. Moved buffer.c to general flight/Libraries location
  3. Removed the 62 byte transmission limitation by adding a transmission buffer
  4. Sped up USB communication by increasing endpoint polling frequency

Note, that the nonblocking and blocking USB send functions are not blocking entirely correcting.  The blocking calls the nonblocking, and the nonblocking blocks until the last chunk has started tranmission if it's a big transmission.  The buffering I added would generalize to non-blocking nicely, but would require using the EP1(IN) callback to handle most of the tranmission.  This creates a lot of issues if one function is pushing data onto the buffer and the interrupt is sending.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1403 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-25 05:32:52 +00:00
peabody124
bd8fffe4d0 AHRS/Flight: Renamed AttitudeSettings to AhrsSettings to make it more intuitive. Added the ability to change the algorithm from GCS.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1383 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-23 03:39:13 +00:00
peabody124
2596f43511 OP-120 AHRS: Moved conversion of quaternion to RPY over from AHRS to OP to minimize transfer and computational load on AHRS.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1381 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-23 02:35:39 +00:00
zedamota
b0d1d0dd09 OP-21/Flight Prep work for the USB HID bootloader
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1373 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-22 18:54:57 +00:00
peabody124
5662d85c4e OP-120 AHRS: Tightened up the communication protocol so it runs more quickly. Looks ok in gdb but GCS not crashing right now (rendering error) so I can't test it properly.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1366 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-22 00:21:54 +00:00
peabody124
8897c441fa OP-118 AHRS: Added AHRSCalibration object and messages associated with that to AHRS. Also made AHRS run calibration only when requested. We will create a GCS plugin that runs through computing the calibration settings. To compute the variances on the AHRS set the measure variances to true, wait ten seconds, then set it to false to read it back.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1363 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 21:46:02 +00:00
stac
26e257d340 spi: slow down OP <-> AHRS spi link
Issues have been reported with CRC errors
on the SPI link between the OP and AHRS
boards.  Slowing the link down eliminates
the errors in my testing.

If we speed this link back up in the future,
further investigation will be required to
diagnose the source of the CRC errors.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1356 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 16:19:20 +00:00
stac
f388deef34 hmc5843: standardize line endings
This file had mixed line endings.  Now they're all the same.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1353 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 16:19:14 +00:00
stac
7b2111e512 baroaltitude: rename AltitudeActual to BaroAltitude
This is to align the object names to matches the UAVObject
architecture doc.  No functional changes.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1351 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 16:19:10 +00:00
stac
47c36b3da0 i2c: fix error in FSM for restarted reads
The transition from the ADDR state to the read state
was broken for non-final reads.  The FSM diagram was
also wrong for this transition.

Since reads are always the last transaction in a sequence
in our current usage, this doesn't actually fix any known
bugs.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1350 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 16:19:06 +00:00
stac
98822bff98 i2c: force bus free on warm starts
Since the i2c bus is bidirectional, there are certain
states (eg. part way through a read) where the slave
device is in control of driving the SDA line.

On a cold start (power on), the slave devices are all
quiescent and will not drive the bus.  However, on a warm
start (eg. watchdog or jtag restart), it is possible that as
the CPU boots, the slave device may be holding the SDA line
low.  This is a bus busy condition and will prevent the I2C
bus master in the CPU from being able to seize the bus during
init.

The fix for this is to clock the i2c bus sufficiently to ensure
that the the slave device finishes its transaction and releases
the bus.

Once the slave has released the bus, the bus master can properly
initialize and assert a STOP condition on the bus.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1349 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 16:19:02 +00:00
peabody124
2031cfe4d0 OP-119 AHRS: Added error counters for the messages as well as changed an error on AHRS echo back for the HomeLocation message.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1344 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-20 22:52:13 +00:00
peabody124
ef0b307353 [OP-119] Flight/AHRS: Created a HomeLocation object which is updated when the GPS gets an initial 3D fix and populated with the information to convert from LLA from the GPS to NED reference frame. Also added a message for passing the MagneticNorth vector to the AHRS and removed that computation from AHRS.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1337 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-19 20:38:27 +00:00
peabody124
3c4def13cc AHRS: Added message to pass GPS information into AHRS from OP. This is then converted
into NED reference frame and used in the INSGPS algorithm, although currently this
information isn't propagated back to OP.  Data structures related to the GPS position
into the algorithm and the position estimate out will likely be in flux.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1334 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-19 05:18:34 +00:00
peabody124
cfd20922cd AHRS: Added the filtered data to the attitude raw object. Even though this seems like an oxymoron it's still raw to the EKF algorithm, and nice to see the real values after filtering to make sure nothing weird is going on. However, if people don't like this I'm open to suggestions/patches. I'd maybe suggest the whole attituderaw object be converted to ahrsraw anyway since it's more like that (eg. none of the values are actually attitude estimates).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1325 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-18 14:54:24 +00:00
peabody124
450cf07a89 AHRS: Keeping magnetometer I2C address consistent with change to I2C driver.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1323 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-18 13:54:15 +00:00
FredericG
b46bc68e96 "addr" field of I2C transaction struct now takes real I2C address, and not address that is pre-shifted to accommodate the R/W bit
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1321 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-18 10:04:55 +00:00
stac
3125ecfc4e AHRSComms: altitude sensor data is now sent to AHRS
Altitude/pressure sensor data is sent to the AHRS whenever
the AltitudeActual object is updated.

Altitude, Pressure and Temperature are sent as floats.
Same as in the UAVObject that goes to the GCS.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1291 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-15 01:02:13 +00:00
stac
c3e509c2cb attituderaw: Replace HeadingActual with AttitudeRaw
AttitudeRaw now includes:
 - magnetometers XYZ (in mG)
 - gyros XYZ (raw ADC samples)
 - accelerometers XYZ (raw ADC samples)
 - placeholder for gyro temp sensors (read as zero for now)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1289 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-14 23:42:14 +00:00
peabody124
a084d21804 Merge branch 'watchdog'
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1281 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-13 05:18:17 +00:00
stac
f74c6ffdd5 i2c: rewrite i2c layer
The STM32 I2C block has a number of errata associated with it.
These errata are primarily related to timing sensitivities between
the peripheral and the interrupt handler.  In particular, the
correct generation of the stop bit relies on the I2C IRQ running
immediately and not being held off for any reason.

NOTE: The I2C interrupts must be the highest priority IRQs in the
      system to ensure correct operation.

I2C protocol is now implemented as a formal state machine.
See: stm32_i2c_fsm.{dot,jpg} for FSM description.

I2C init is now expressed by const initializers in pios_board.c
for both OP and AHRS boards.

I2C device drivers (ie. bmp085/hmc5843) now pass in const arrays
of an unlimited number of bus transfers to be done atomically.
The I2C adapter driver now handles all bus-level locking across the
list of transactions.  Generation of start/restart/stop conditions
are handled automatically over the list of transactions.

Timeouts have been removed from the API for now.  May be added
back later.

This driver has run error free on both the OP and AHRS boards for
up to 48hrs but it still sometimes fails earlier than that on the OP
board.  There is another possible set of improvements to the driver
that could employ the DMA engine for transfers of >= 2bytes.  This
change would reduce the timing sensitivities between the peripheral
and the driver but unfortunately, both the SPI and I2C interfaces
share the DMA1 engine.  That means only one of these two peripherals
can use the DMA engine and right now, SPI between OP and AHRS is
already using it.

Failures are currently fatal and will lock up the CPU.  This allows
useful information to be obtained in the failure cases.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1241 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-08 04:15:08 +00:00
stac
b6c1f43145 i2c: Change API to allow passing const config data
Mark the I2C_InitStruct parameter as const so that we can pass
const data as the initializer.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1240 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-08 04:14:58 +00:00
peabody124
0fdfbb2ffb Deleting old USB code that I meant to delete a while ago. Also changed names of some functions to OP. Finally fixed the USB taking over PIOS telemetry. Detects the USB cable and that the configuration has been taken by the USB bus.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1217 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-05 23:43:52 +00:00