2581 Commits

Author	SHA1	Message	Date
Stacey Sheldon	eebdda6276	usb cdc: make HID/CDC configurable in hwsettings	2011-12-30 23:05:34 -05:00
Stacey Sheldon	e6ead85857	usb cdc: fix device descriptor to work on Mac ... Apple is very particular about requiring the bDeviceClass to be set to 2 (Commmunication Device) even for composite devices which seems wrong. Device is enumerated without error on Mac now. Not sure if it works though.	2011-12-30 23:05:34 -05:00
Stacey Sheldon	617a30c07c	usb cdc: attach telemetry to CDC rather than HID	2011-12-30 23:05:34 -05:00
Stacey Sheldon	59cb489e01	usb: clean up pios hooks into stm32 usb_core ... Reduced scope of many variables since they were being exposed unnecessarily. Renamed pios_usb_hid_prop code to pios_usbhook to reflect the fact that it implements all of the callout functions that are hooked into the stm32 usb library.	2011-12-30 23:05:33 -05:00
Stacey Sheldon	c0259dc616	usb cdc: USB composite device with HID + VCP	2011-12-30 23:05:33 -05:00
James Cotton	25dfb5463e	Add option to switch to using the MPU6000 accel instead of BMA180. Disabled by ... default.	2011-12-29 02:08:13 -06:00
James Cotton	c080080810	Add ability to change the SPI bus runs at	2011-12-29 00:09:53 -06:00
James Cotton	bf98630851	Add streaming the sensor data out of the serial port	2011-12-26 17:52:45 -06:00
James Cotton	9bf06bbd3e	Force the loading of the sensor gains and biases at the beginning	2011-12-24 16:14:28 -06:00
James Cotton	1092ac3184	Use the scale and bias terms for hte mag and accel	2011-12-24 15:58:12 -06:00
James Cotton	05da41a79b	Get FirmwareIAP object working on revo	2011-12-24 13:15:56 -06:00
James Cotton	569b201b58	Move the bl_helper out of the common directory as it isn't	2011-12-24 13:10:23 -06:00
James Cotton	5d4da2213f	Accidentally used floating point when parsing NEMA. Lost resolution on ... position.	2011-12-24 10:37:30 -06:00
Oleg Semyonov	7fbbb0e6af	Merge remote branch 'origin/next' into os/TxPID-module	2011-12-24 15:44:16 +02:00
Oleg Semyonov	495a8f2836	TxPID: initialize the AccessoryDesired object before use its handle ... Also save few bytes of static RAM and add PIOS_Assert(0) for unhandled cases.	2011-12-24 15:37:14 +02:00
James Cotton	0b00e748a9	OP-565: Added the ability to do a trim flight to compute the accels for level flight	2011-12-21 15:25:00 -06:00
James Cotton	dd89d232ba	Add a magnetometer bias term although currently hardcoded to my board	2011-12-15 00:57:19 -06:00
James Cotton	0432dd450e	Enable the mag to be used in the complimentary filter to stabilize the yaw ... direction	2011-12-15 00:56:50 -06:00
James Cotton	2240ad924a	Fix the orientation of the magnetometer	2011-12-15 00:46:43 -06:00
James Cotton	43ed6cd89c	Need to initialize the HomeLocation object	2011-12-14 14:08:03 -06:00
James Cotton	9148bb2c65	Make sure the sensors module grabs the sesor biases initially.	2011-12-14 10:38:43 -06:00
James Cotton	6dbad243db	Convert the CoordinateConversion functions to all be float until I determine ... how to use doubles safely on F4.	2011-12-14 02:08:14 -06:00
James Cotton	09864a8cf6	Get outdoor EKF running although need to add in the ability to swap modes ... (probably).	2011-12-14 02:07:33 -06:00
James Cotton	fd8899018f	Get EKF running	2011-12-14 01:54:06 -06:00
James Cotton	ed7cbd5a6c	Have to initialize the BaroAltitude object ini the init section for it to show ... up on telemetry	2011-12-13 23:27:26 -06:00
James Cotton	9f50391fc5	Merge branch 'next' into revolution_sensors ... Conflicts: ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml	2011-12-13 20:50:10 -06:00
James Cotton	a37a17a4fb	Created a separate Sensor module and Attitude module for revolution	2011-12-12 21:40:39 -06:00
James Cotton	53cb5b67d1	Make the revo attitude now use the separate gyro object. CopterControl ... attitude still needs an update.	2011-12-12 13:28:35 -06:00
James Cotton	d22e0e66dd	Create separate UAVOs for the sensors.	2011-12-12 13:05:40 -06:00
James Cotton	7273f87f9b	Fix NMEA parsing for M4 FPU	2011-12-12 09:47:11 -06:00
James Cotton	a9c61845af	Create a separate task for sensors and attitude on revo.	2011-12-12 00:47:16 -06:00
James Cotton	33a12d829e	Merge branch 'next' into revolution ... Conflicts: flight/PiOS/Common/pios_flashfs_objlist.c	2011-12-11 22:55:54 -06:00
Oleg Semyonov	10287e3e29	CC: rename ReceiverPort PPM+Servo (Servo) options to PPM+Outputs (Outputs)	2011-12-11 22:52:51 +02:00
James Cotton	162b0d7f75	Because the UAVO field sorting required for revo changes all the object IDs, ... trigger a flash wipe on all existing boards with this upgrade.	2011-12-10 14:13:28 -06:00
Corvus Corax	a0cd71abe6	UAVObjects ; Modules/ManualControl: Fixed metadata interface and segfault when retrieving it	2011-11-30 09:20:46 +01:00
James Cotton	44ca9736df	Fix floating point calculation in NMEA parser and delete duplicate of NMEA ... functions	2011-11-28 09:36:31 -06:00
James Cotton	43fa9e702e	Move DSM to Flexiport and enable GPS on GPS port. Currently GPS module locks ... up though.	2011-11-28 09:11:13 -06:00
James Cotton	c33816dd79	Force mode switch to be floating point so F4 works	2011-11-28 09:10:26 -06:00
James Cotton	671c7537a0	Reorganize the pios_config.c file for revolution	2011-11-28 08:29:14 -06:00
James Cotton	1af66fc3d2	Get rid of 500 ms delay in startup for the pios_sys so that servos start ... properly but a delay is still needs to get MPU6000 up right. Fucking POS.	2011-11-27 18:05:20 -06:00
James Cotton	9357960268	Get rid of old bootloader code for revolution using the ahrs spi link	2011-11-27 18:04:31 -06:00
James Cotton	f7f94011ee	Damnit. For higher bus speeds MPU6000 chip must be initialized twice in a row. ... WTF piece of shit.	2011-11-27 02:35:08 -06:00
James Cotton	deea7cde41	Speed up coms to MPU6000	2011-11-27 01:51:43 -06:00
James Cotton	57e7126979	Increase stack size for manualcontrol. This might need to be applied to main ... code.	2011-11-27 01:51:23 -06:00
James Cotton	f7d13ebd57	Hack to tweak the gyro gain for now although its too far out at the moment so ... something isn't configured properly. Possibly it is staying in 250 deg/s mode. Also make sure if the MPU6000 fifo backs up to pull extra data.	2011-11-27 01:22:37 -06:00
James Cotton	8bbc767a4e	Get the pressure sensor working and reading into Revolution	2011-11-27 00:52:09 -06:00
James Cotton	cd65df013e	Merge branch 'next' into revolution ... Conflicts: flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj	2011-11-26 22:52:32 -06:00
James Cotton	13729f854e	PiOS F4: Fix PWM timer interrupts and enable PWM input	2011-11-26 22:41:41 -06:00
James Cotton	21367d3a22	Spektrum support for Revolution	2011-11-26 22:19:42 -06:00
James Cotton	e24c905ff7	F4 PiOS: Reimplement the RTC logic for F4	2011-11-26 22:13:57 -06:00
James Cotton	b11a4f7405	Clean up the actuator module for floating point usage. Also there was a bug I ... don't understand where the channels should be scaled AFTER all of them are computed. It feels like a memory overwriting bug and needs followup.	2011-11-26 16:12:32 -06:00
James Cotton	07e3ad10af	Force some floating point units to be safe	2011-11-26 15:52:25 -06:00
James Cotton	04f4afce46	Set idle load for revo	2011-11-26 15:52:04 -06:00
James Cotton	8c0db424fa	Fix long subtle bug where failsafe didn't show the output values it was using	2011-11-26 15:51:24 -06:00
James Cotton	c70a9a5381	Sanitize the floating point math in systemmod.c to be consistently floating and ... not double	2011-11-26 15:16:16 -06:00
Oleg Semyonov	1f60f80053	Bring back the ERASE_FLASH option support for SettingsEraseFirmware	2011-11-26 22:57:33 +02:00
James Cotton	d3314f041a	MPU6000: Bring SPI down to 5 Mhz - much closer to spec	2011-11-26 14:56:28 -06:00
James Cotton	99123372d0	TO BE REVERTED: Temporary patch to make the w25x driver work with the revo m25p ... chip. Need to abstract out the erase commands into a general pios_spi_flash driver.	2011-11-26 14:55:16 -06:00
James Cotton	8b7aca0dcd	Include the accel bias into revolution attitude function and also make sure ... downsampling is correct.	2011-11-26 14:40:32 -06:00
James Cotton	11ad135b27	Some changes to MPU6000 driver to make it start more reliably on fresh powerup	2011-11-26 14:12:12 -06:00
James Cotton	1574c96c3a	Add all the pin remappings and pin sources for F4 timers	2011-11-26 03:36:36 -06:00
James Cotton	c57acf6459	F4 PiOS: Must use a different remap command on F4 for timer module to command ... pin. Include the remap source in the config structure now.	2011-11-26 03:35:26 -06:00
James Cotton	57b381235e	Init the timers and PWM in the board file	2011-11-26 02:19:56 -06:00
James Cotton	de9a8453ef	Configure the board to use PWM input and servo output	2011-11-26 02:19:56 -06:00
James Cotton	3e01c84a15	Add pin mappings for PWM and receiver port	2011-11-26 02:19:56 -06:00
James Cotton	e71030c6ce	Remove testing code for pressure sensor	2011-11-26 02:19:56 -06:00
James Cotton	c118159a6f	Remove refence to deleted object	2011-11-26 02:19:55 -06:00
James Cotton	fae611a01f	Fix bug where clicking back at last screen of input wizard would go back to ... main screen and then in future buttons hung around for no reason	2011-11-25 11:30:12 -06:00
Oleg Semyonov	6d78b97d92	dsm: update DSM protocol binding details in the comments (no code change)	2011-11-19 17:33:04 +02:00
James Cotton	7637e9f669	Get flash chip working and saving to memory. Also get the I2C working with ... BMA180 driver.	2011-11-19 00:13:02 -06:00
James Cotton	da75e9fdaf	PiOS: Make I2C return an error code for NACK	2011-11-19 00:11:16 -06:00
James Cotton	a7ef5601e0	Update the MPU6000 FIFO code and also fix the temperature code	2011-11-18 00:24:55 -06:00
James Cotton	6d74e96c31	Got attitude working again. MPU6000 FIFO reading needs a bit of work.	2011-11-18 00:00:55 -06:00
James Cotton	79730d5afa	Try and get the MPU6000 buffer to run down. Staying high for some reason.	2011-11-17 11:23:31 -06:00
James Cotton	0efffef1fa	Work on bringing the Revolution board up	2011-11-17 10:13:34 -06:00
James Cotton	d97e5dbc59	Add SPI MPU6000 driver. Unfortunate hack in HMC5883 EXTI handler to call ... MPU6000. Need to generalize EXTI ASAP.	2011-11-17 10:12:10 -06:00
James Cotton	8477c2229b	Using real prototype board now. Move telemetry to GPS port for easy-ness right ... now.	2011-11-17 01:58:51 -06:00
James Cotton	1c7c85635d	Typo with renamed PI	2011-11-16 19:48:13 -06:00
James Cotton	1deb799b6f	Get simple attitude estimation working on F4 INS. Also make MPU6050 return ... scaling that casts to degrees.	2011-11-16 11:36:04 -06:00
James Cotton	8e79f86716	Make the CoordinateConversions use a floating point PI	2011-11-16 11:35:52 -06:00
James Cotton	aa698f7b0a	Increase the CC IRQ stack to avoid some memory warnings	2011-11-16 09:20:30 -06:00
James Cotton	aeb42332d6	Get the MPU6050 fifo running and read by the attitude module	2011-11-14 11:23:14 -06:00
James Cotton	59507249e1	Hack in attitude to read directly from gyros instead of fifo. All sensors ... reading now.	2011-11-14 11:12:10 -06:00
James Cotton	1086df5b21	Correctly configure MPU6050 interrupt. However currently not pushing data to ... the buffer as that seems to fail.	2011-11-14 11:11:40 -06:00
James Cotton	2cc2e55248	Add attitude solution for revo	2011-11-14 10:49:37 -06:00
James Cotton	4c04d01be4	Dos2unix pios_config.h for revo	2011-11-14 10:25:57 -06:00
James Cotton	e32cc92002	For now act like revo is using init call system to fix compile errors.	2011-11-14 10:25:28 -06:00
James Cotton	da679441ec	Duplicate the spektrum (dsm) driver to F4 branch	2011-11-14 10:12:51 -06:00
James Cotton	684715930a	Merge branch 'next' into revolution ... Conflicts: flight/OpenPilot/Makefile flight/Revolution/System/inc/openpilot.h	2011-11-14 10:11:53 -06:00
James Cotton	180d84e373	Update the MPU6050 code a bit more to use the right registers.	2011-11-14 10:09:49 -06:00
James Cotton	2eb89e9b81	No reason for the data read flag in pios_bmp085.c to be a semaphore	2011-11-14 10:07:19 -06:00
James Cotton	76a956416c	Switch revo over to MPU6050	2011-11-13 19:45:06 -06:00
James Cotton	96a098bf74	Add code for MPU6050 driver	2011-11-13 19:44:56 -06:00
James Cotton	1e2fe77e3f	Start migrating the attitude solution to FreeRTOS	2011-11-13 18:51:35 -06:00
James Cotton	0c103f7b2c	Delete F2 PiOS port since unused	2011-11-13 17:33:43 -06:00
James Cotton	fffb6449ac	Delete the old INS target	2011-11-13 17:31:34 -06:00
James Cotton	c44235494c	Update the Revolution board file a bit	2011-11-13 17:23:56 -06:00
James Cotton	938a577d11	Small change to pios_adc so it works when not enabled	2011-11-13 17:14:08 -06:00
James Cotton	ec84fc4058	Get the Revolution bootloader working	2011-11-13 17:13:42 -06:00
James Cotton	2b37d4bbb5	Enable telemetry on revo	2011-11-13 16:10:19 -06:00
Oleg Semyonov	4a99ec3298	code style: move variable into function and free 1 byte of RAM :-) ... component free heap used ---------------------------- Nothing 2560 - PWM 2432 128 PPM 2408 152 DSM 2464 96 S.Bus 2448 112 GPS (port only) 2368 192 GPS (port+module) 1312 1248 CameraStab 2096 464 Telemetry 1928 632	2011-11-13 18:27:52 +02:00
Oleg Semyonov	de6e450b5f	Merge branch 'next' into os/TxPID-module ... Conflicts: flight/CopterControl/Makefile flight/CopterControl/System/coptercontrol.c ground/uavobjgenerator/generators/generator_common.h shared/uavobjectdefinition/hwsettings.xml component free heap used ---------------------------- Nothing 2544 - PWM 2416 128 PPM 2392 152 DSM 2448 96 S.Bus 2432 112 GPS (port only) 2352 192 GPS (port+module) 1296 1248 CameraStab 2080 464 Telemetry 1912 632 TxPID 2272 272	2011-11-13 16:25:58 +02:00
James Cotton	b110e9c549	Style suggestions to cleanup GPS from Stac	2011-11-12 21:31:01 -06:00
James Cotton	f0b22519be	Merge remote-tracking branch 'origin/corvuscorax/CC_GPS' into next	2011-11-12 21:30:53 -06:00
James Cotton	fdcc6c2d41	Fix a bug I made in programming the bootloaders via jtag	2011-11-12 21:29:46 -06:00
Corvus Corax	198c819943	some more makefile cleanup	2011-11-11 11:54:31 +01:00
Corvus Corax	cd473ed1fd	some makefile cleanup	2011-11-11 11:51:45 +01:00
Corvus Corax	aa69027cb2	Merge branch 'next' into CC_GPS	2011-11-11 11:44:11 +01:00
Corvus Corax	61ecc0d310	make optional modules check themselves if they should start or not	2011-11-11 11:39:57 +01:00
Corvus Corax	e03e3c2ed8	removed "special code" to start optional modules	2011-11-11 11:22:54 +01:00
Corvus Corax	5e14e69a08	Revert "OpenPilot: Initialize optional modules based on UAVObject" ... This reverts commit 9f03ba178b.	2011-11-11 11:08:49 +01:00
Corvus Corax	9679638244	Revert "Modules/GPS: removed comment line" ... This reverts commit 109a58ef30.	2011-11-11 11:07:02 +01:00
Corvus Corax	88f161dd42	Revert "Makefiles: fixed comment line" ... This reverts commit 0065842de7.	2011-11-11 11:06:32 +01:00
Oleg Semyonov	8f77d07119	System Module: fix stupid out of memory detection bug	2011-11-07 19:14:55 +02:00
Oleg Semyonov	f5e82b8242	spektrum: rename Spektrum to DSM (DSM2/DSMJ/DSMX used by Spektrum and JR radios) ... No code changes, just file, variable and define names are changed. First, it better describes the serial protocol used by DSMx satellite receivers. Second, many people using Spektrum radio, assume Spektrum protocol. This is the attempt to address those inaccuracies.	2011-11-04 21:40:34 +02:00
Oleg Semyonov	8ed23c76b7	spektrum: fix OpenPilot MB target (deprecated) after spektrum changes	2011-11-04 20:43:49 +02:00
James Cotton	c0f16d2f44	Revolution: Configure clocks correctly	2011-11-03 20:12:34 -05:00
James Cotton	a2015a4f8d	Compiled and flashing	2011-11-02 13:20:39 -05:00
James Cotton	0ce80e02f5	Compiles now	2011-11-02 02:51:20 -05:00
Oleg Semyonov	481bff2578	spektrum: code style fixes accoring to OPReview-122	2011-11-01 18:48:07 +02:00
James Cotton	0931a518d4	Bring F4 PiOS up to date with some of our timer conventions	2011-11-01 04:39:51 -05:00
James Cotton	48d2e038bb	More work to the revolution build	2011-11-01 04:39:20 -05:00
James Cotton	4d6f810984	Make ADC driver play properly when not included	2011-11-01 03:22:48 -05:00
James Cotton	7eee6bf85b	Create revolution board file	2011-11-01 03:22:19 -05:00
James Cotton	7ee4a0412c	Work on the build process and include FreeRTOS	2011-11-01 03:20:25 -05:00
James Cotton	9607da9c62	Add some drivers to the device specific library for now until the exti problems ... are fixed	2011-11-01 03:19:58 -05:00
James Cotton	2cc0b301ce	Make some of the StdPeriph function calls const where appropriate	2011-11-01 03:18:59 -05:00
James Cotton	cdb6059752	Coyp over some of how the PH build system works	2011-11-01 01:36:52 -05:00
James Cotton	9bdd021b2e	Make new Revolution target	2011-11-01 01:17:59 -05:00
James Cotton	3388843fb5	Merge in PixHawk F4 work	2011-11-01 01:09:55 -05:00
Oleg Semyonov	a8b36ddd28	HwSettings: disable GPS and telemetry port speed updates at run-time ... This is to be consistent across the HwSettings object fields which are read on boot only by convention.	2011-10-31 23:04:17 +02:00
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
James Cotton	27bf2b383e	Merge remote-tracking branch 'origin/james/remap_outputs' into next	2011-10-23 18:35:25 -05:00
Oleg Semyonov	4ed23dd891	Output Remapping: renamed PPM_SERVO option to PPM+Servo	2011-10-24 00:34:01 +03:00
James Cotton	23150a48fe	Merge remote-tracking branch 'origin/os/sbus_dynamic_malloc' into next	2011-10-23 15:26:26 -05:00
James Cotton	24d6ae731b	Output Remapping: Added option to just use servo outputs on input lines but not ... PPM. This saves resources. Good suggestion Os. In this configuration we could allow 12 channels of output but for now I'll leave it capped at 10 to lessen resources on the mixer table. With spektrum and camera stab enabled there was 1632 bytes heap remaining 180 bytes irq stack remaining	2011-10-23 15:21:40 -05:00
Oleg Semyonov	2a98a52f4c	gps: include optional GPS module by default	2011-10-23 00:41:18 +03:00
Oleg Semyonov	6a9208e8c3	Merge branch 'next' into os/TxPID-module	2011-10-22 23:34:58 +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
Corvus Corax	167010e8a0	UAVTalk: Fixed bug in parser failing to handle length of multi-instanceobjects ... UAVTalk (on GCS): Fixed a null pointer dereference when receiving in a NACK	2011-10-21 02:04:29 +02:00
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	e0cc289de0	Remapping inputs to outputs: Drop S2 so there are ten outputs ... Output 7 = S3 input Output 8 = S4 input Output 9 = S5 input Output 10 = S6 input Also fix bug that prevented them outputting signal	2011-10-20 06:28:07 -05:00
Corvus Corax	cb8d9c791c	PiOS.posix: fixed missing defines in pios_config. removed platform specific inclde from Systemmod (pios_config.h gets included from pios.h)	2011-10-19 22:28:39 +02:00
Corvus Corax	b00751af91	Systemmod bugfix: UAVObject used without Initialization	2011-10-19 22:28:08 +02:00
Corvus Corax	e244581b18	PiOS.posix: bugfix in pios_udp com driver - data send loop	2011-10-19 13:37:35 +02:00
James Cotton	9312610f3b	Output: Enable two more channels to support octo + camera	2011-10-15 16:59:42 -05:00
James Cotton	ce7f424131	CC: When receiver port is set to PPM_SERVO use the spare pins as outputs	2011-10-15 16:59:42 -05:00
James Cotton	19c9528d80	CopterControl: Create structures to supply more output channels	2011-10-15 16:59:42 -05:00
Corvus Corax	425bc5abbe	PiOS.posix: PIOS_RCVR : fix posix port of pios_rcvr to allow compilation on 64bit systems	2011-10-11 18:07:04 +02:00
James Cotton	9cbb48417a	Merge branch 'long_erase_settings' into next	2011-10-08 14:18:56 -05:00
James Cotton	0f1a6264de	Fix jtag programming of bootloader	2011-10-08 14:14:11 -05:00
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	7800fbe6de	gps: initialize GPS UAVO and start GPS module only if port is configured	2011-09-29 00:41:51 +03:00
Oleg Semyonov	469feecb13	pios: remove some unused #defines	2011-09-28 23:40:12 +03:00
Oleg Semyonov	ed8cf89888	Initcall: fix compilation errors for firmware which does not use Initcalls	2011-09-28 22:57:18 +03:00
Oleg Semyonov	a38c569cd0	HwSettings: move Telemetry and add GPS port speed to the HwSettings object ... TelemetrySettings object removed (saved 200+ bytes of RAM). Telemetry port speed moved to the HwSettings object. Added GPS port speed setting. GCS code updated to reflect changes and support both fields.	2011-09-28 22:11:42 +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	fef9570e4d	INS: Get bootloader working again	2011-09-27 01:17:14 -05:00
James Cotton	cf6a59468f	Merge branch 'next' into ins ... Conflicts: flight/INS/Makefile flight/Project/OpenOCD/stm32f1x.cfg flight/Project/OpenOCD/stm32f2x.cfg make/firmware-defs.mk	2011-09-27 01:02:06 -05:00
James Cotton	f1e70d2ff5	Merge remote-tracking branch 'origin/msmith/OP-578' into next	2011-09-23 16:43:00 -05:00
Oleg Semyonov	a9137e9db1	TxPID: add update mode option as a workaround for GCS interaction	2011-09-19 16:16:28 +03:00
Oleg Semyonov	aad263bdd8	TxPID: enable ramp-shaped throttle-dependent PIDs ... Besides of knob PID tuning it is now possible to use throttle channel to ramp-shape PID coefficients. This can be used to lower some PIDs on VTOL while sinking to prevent wobble. To use the feature select throttle as control input, choose throttle range max and min values, assign the instance to particular PID coefficient and define a range for it. When throttle is lower than defined throttle range min value (or higher than max), then min and max PID values will be used accordingly. Changing throttle from throttle min to max will linearly scale PID value. Note that it is possible to set MinPID > MaxPID. In that case increasing control input value will decrease the PID coefficient. Up to 3 independent instances can be configured. The number can be increased changing the UAVO definition, but at the cost of extra RAM.	2011-09-18 14:38:50 +03:00
Oleg Semyonov	d923117c25	TxPID: optional module to tune PID settings using R/C transmitter ... This module will periodically update values of stabilization PID settings depending on configured input control channels. New values of stabilization settings are not saved to flash, but updated in RAM. It is expected that the module will be enabled only for tuning. When desired values are found, they can be read via GCS and saved permanently. Then this module should be disabled again.	2011-09-17 22:49:51 +03:00
James Cotton	a1aeab9393	Increase size of framing signal for logging	2011-09-15 10:19:59 -05:00
James Cotton	0d3d5ad094	INS: Get rid of old code that tried to detect when indoor mode wasn't called ... for a while	2011-09-14 17:30:02 -05:00
James Cotton	acf2aa218b	Merge remote-tracking branch 'origin/stac/upgrade-to-openocd-0.5.0' into next	2011-09-14 11:49:01 -05:00
James Cotton	06190d1d95	Fix altitude hold dead band range	2011-09-13 10:34:56 -05:00
James Cotton	3b399ad44c	Increase gyro bias rate again	2011-09-13 08:30:50 -05:00
Oleg Semyonov	c92870d29e	Remove unused file (versionblob.py)	2011-09-13 16:10:10 +03:00
James Cotton	1783817b96	INS: First pass at altitude hold code	2011-09-13 01:44:53 -05:00
James Cotton	400ba3bd47	Merge branch 'next' into ins	2011-09-12 18:57:11 -05:00
James Cotton	c36297227d	Stabilization fix typo	2011-09-12 11:56:01 -05:00
James Cotton	63bb80649b	Merge branch 'max_rate_for_attitude' into next	2011-09-12 11:51:03 -05:00
James Cotton	00c9d62f6a	INS: Miscellaneous changes for debugging handling and also some stuff for GPS ... signal loss.	2011-09-12 11:17:17 -05:00
James Cotton	5b836db54c	INS/Guidance: Convert distance to using m instead of cm. This is mainly to be ... able to use NAN to indicate when values aren't valid from INS.	2011-09-11 23:02:05 -05:00
James Cotton	a682d5deb6	INS: In indoor mode if GPS is found use that to populate PositionActual	2011-09-11 22:53:07 -05:00
James Cotton	8f2fad6918	Fix for merging with the collective channel with the swashplate fix.	2011-09-11 18:53:10 -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
Oleg Semyonov	7b3056d10f	Input Configuration: fix S.Bus receiver in multi-receiver code	2011-09-12 02:06:48 +03:00
James Cotton	b38081bb1b	Stabilization: When in none mode zero the integral accumulators for rate and ... attitude loops. When not using outer loop zero that accumulator.	2011-09-11 16:33:38 -05:00
Mike Smith	deade53c5d	OP-578 - check for CODE_SOURCERY before setting -fpromote-loop-indices	2011-09-11 10:49:09 -07:00
James Cotton	6945f17eba	Make the StabilizationSettings.MaxRate field only apply to the stabilized ... modes. That way ManualRate can exceed MaxRate.	2011-09-11 12:27:17 -05:00
James Cotton	b8bb2dd2ca	Merge branch 'next' into ins	2011-09-10 17:02:15 -05:00
James Cotton	aad41ebb4f	Merge branch 'mainboard_receiver_fix' into next	2011-09-10 16:01:22 -05:00
James Cotton	01cd2ded57	Mainboard config: The rcvr port is used for PPM/PWM/Spektrum so make these one ... setting that is mutually exclusive.	2011-09-10 14:20:51 -05:00
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	c2a8cc3faa	Mainboard config: The rcvr port is used for PPM/PWM/Spektrum so make these one ... setting that is mutually exclusive.	2011-09-10 14:19:12 -05:00
James Cotton	f725fbe128	CopterControl: Fix build due to changing the AttitudeRaw structure.	2011-09-10 13:56:00 -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	199db1362d	Actuator: Found a bug in actuator that affects how throttle and pitch curves ... were used. Basically 80% was always 100%. This should make hovering better and fix heli swash pitch.	2011-09-09 19:40:58 -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	dfe91af686	UAVObjects: Space allocated in manualcontrolcommand did not match the number of ... channels in settings. Fixed this and added assertion to catch in future.	2011-09-09 01:17:13 -05:00
James Cotton	22821e3c93	HMC5883: Missed a channel for HMC5883	2011-09-08 22:25:35 -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	e79e8cdbde	INS data output: Add the latency the logged messages	2011-09-08 03:39:39 -05:00
James Cotton	c87a042195	IMU3000: For now sample at 1k which allows us to bring down the I2C clock rate ... to 400k	2011-09-08 03:37:51 -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	1a5fd9f30e	Heli: Added an explicit collective channel. Also make the default channel ... number 0 since that is not invalid.	2011-09-07 01:48:39 -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
Stacey Sheldon	1e9bcf8426	openpilot: fix merge of unidirectional gps feature branch	2011-09-04 23:22:29 -04:00
James Cotton	465527a980	INS: Enable GPS parsing. GPS data is processed on INS now. HomeLocation and ... WMM are not currenly implemented.	2011-09-04 20:03:04 -05:00
James Cotton	7ff5cd7655	INS: Try and get load down on event system.	2011-09-04 16:21:04 -05:00
James Cotton	cd8ebdf427	INS: Store the gyro bias in the settings so it doesn't get overwritten	2011-09-04 15:21:53 -05:00
James Cotton	b1e0366525	Merge remote-tracking branch 'origin/CorvusCorax_unidirectional-GPS-com' into next ... Conflicts: flight/OpenPilot/System/pios_board.c	2011-09-04 13:33:52 -05:00
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	5e2a36aa03	Merge branch 'stac/allocate-device-instances-from-heap' into next	2011-09-04 12:03:42 -05:00
James Cotton	c326c0941d	INS: Work on initialization. Improve the zeroing of the gyros at powerup.	2011-09-04 11:49:15 -05:00
James Cotton	510a1760ca	When disconnected set any accessory channels to neutral. Otherwise the ... actuator module could keep the pitch at high. However the "right" thing to do seems very specific. For example negative pitch is probably preferable.	2011-09-04 03:45:36 -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	20de046292	Force system to be disarmed when a bad configuration is present	2011-09-04 00:43:33 -05:00
James Cotton	d3de8ff0ef	OP-559: Process the arm status when disconnect and allow it to timeout and ... disarm	2011-09-03 23:57:51 -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	63f64003e5	INS: Change how the initialization of algorithms is handled to ensure sensor ... dat always good	2011-09-02 13:50:36 -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	e0ed82eef0	INS Settings: Use the calibration data on the sensors	2011-09-02 13:28:01 -05:00
James Cotton	1d04715476	INS: Rework how the sensor calibration behaves and clean up the interface a ... bit.	2011-09-02 13:24:35 -05:00
Mathieu Rondonneau	ae1dd945b1	Fix win32 sim macro problem ... This is to get the macro in pios.win32 in sync with sim posix and real flight.	2011-09-01 21:50:13 -04:00
James Cotton	3b20df22d1	Updates to config gadget for new INS objects ... Make scope gadget check if object exists before using it. Avoids segfaults when scoped objects disappear.	2011-09-01 12:21:37 -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
James Cotton	37878ed4e8	Get the OpenPilot compiling again using a previvous pios_board until doing a ... proper merge with next	2011-09-01 03:31:23 -05:00
Stacey Sheldon	eea011c53b	openpilot: fix compile error on OP	2011-09-01 03:31:23 -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	86ce79af1d	openpilot: fix compile error on OP	2011-08-31 21:43:57 -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
Stacey Sheldon	a72c657e21	rcvr activity: Speed up activity acquisition ... Activity detection logic can now move through the active receivers more quickly.	2011-08-27 20:17:56 -04:00
James Cotton	6514fd95c7	Also initialize the ReceiverActivity object in manual control	2011-08-27 16:08:57 -05:00
James Cotton	c5746335c6	Initialize GCSReceiver object if it is being used	2011-08-27 15:57:09 -05:00
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
Stacey Sheldon	f29b99521e	openocd: collapse JTAG rules for STM32F1 and STM32F2	2011-08-27 10:43:02 -04:00
Stacey Sheldon	5a51077493	openocd: add support for RTOS autodetection ... This allows things like 'info threads' to work in gdb when combined with openocd 0.5.0+.	2011-08-27 10:38:50 -04:00
Stacey Sheldon	89d23df8cd	openocd: Add default config for stm32f2x ... Pulled from origin/james/ins.	2011-08-27 10:37:20 -04:00
Stacey Sheldon	3d22258843	Merge remote branch 'origin/james/openocd' into upgrade-to-openocd-0.5.0	2011-08-27 09:19:46 -04:00
James Cotton	1d77d77832	Merge branch 'stac/use-malloc-failed-hook' into next	2011-08-27 00:24:13 -05:00
James Cotton	274333a9bf	Merge branch 'next' into stac/use-malloc-failed-hook	2011-08-27 00:12:45 -05:00
James Cotton	55f64802d1	Also enable malloc error catching on OpenPilot	2011-08-27 00:12:16 -05:00
Corvus Corax	0065842de7	Makefiles: fixed comment line	2011-08-25 16:28:34 +02:00
Corvus Corax	658ae3f809	Modules/System: removed comment line	2011-08-25 16:26:46 +02:00
Corvus Corax	109a58ef30	Modules/GPS: removed comment line	2011-08-25 16:25:19 +02:00
Corvus Corax	8173c7b7c6	Refactor GPS_PURISTIC into GPS_MINIMAL	2011-08-25 15:44:49 +02:00
Corvus Corax	3690586f3a	Optional Modules: Forced re-generation of mod init.h when makefile has changed	2011-08-25 15:42:11 +02:00
Corvus Corax	1d797bf004	Fixed error introduced by merge	2011-08-25 15:40:45 +02:00
Corvus Corax	c63a10d05e	CopterControl: Fix GPS buffer sizes	2011-08-25 15:37:38 +02:00
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
Corvus Corax	54ecf233f3	Modules/PS: typo fix	2011-08-25 15:13:50 +02:00
Corvus Corax	7e396efbbf	Modules/GPS: Assert buffer creation	2011-08-25 15:11:29 +02:00
Corvus Corax	dfdea16065	Modules/GPS: Make GPS COM unidirectional (rx only) and use smaller, runtime allocated heap buffers	2011-08-25 14:46:30 +02:00
Corvus Corax	8b7fea0d19	Merge branch 'OP-567 GPS com layer fix' into next	2011-08-25 13:35:49 +02:00
Corvus Corax	697ac6067e	OP-567 Modules/GPS: Block in PIOS_COM, not in TaskDelay - or we will miss updates!	2011-08-25 13:33:41 +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	1477ea6e94	Make mag updated flag always true when it's updated. Responsibility of INS ... algorithm whether to use data.	2011-08-22 03:05:02 -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
Stacey Sheldon	edc0caf521	heap: set memory critical alarm on malloc failures ... Activate the FreeRTOS malloc failed hook and use it to set the memory critical alarm.	2011-08-21 23:14:32 -04:00
Corvus Corax	838149b53f	GPS: homelocation init is optional, satellites must be initialized	2011-08-21 18:20:33 +02:00
Corvus Corax	0ce337b42d	UAVTalk: fix off by one error preventing the largest UAvObject (gpssatellites) from being sent.	2011-08-21 18:15:10 +02:00
James Cotton	e4e952f270	Manual control settings needs to be initialized in OpenPilot board file for ... spektrum to work	2011-08-21 02:21:09 -05:00
James Cotton	04072accd4	Manual control settings needs to be initialized in OpenPilot board file for ... spektrum to work	2011-08-21 02:20:10 -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	f756e9cbc8	INS: Swap the mag axis	2011-08-21 01:29:24 -05:00
James Cotton	a642f3672c	Report running time per loop in us	2011-08-21 00:54:31 -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	1ad65e0718	Fixed include in sysstemmod. pios_config.h should not be included explicitly.	2011-08-20 15:04:00 +02:00
Corvus Corax	9f03ba178b	OpenPilot: Initialize optional modules based on UAVObject	2011-08-20 15:03:31 +02:00
Corvus Corax	4f1f20e801	OpenPilot: Bugfix: For some reason Debugging information didn't work. Symbols are created now	2011-08-20 14:37:53 +02:00
Corvus Corax	d21f6705aa	Disabled double definition of pmlib compilation in openPilot/Makefile - target gencode	2011-08-20 13:11:15 +02:00
Corvus Corax	5ea35bb28c	Make Diagnostic UAVObjects optional in OP and Sim_Posix (but enabled by default)	2011-08-20 13:06:58 +02:00
Corvus Corax	7395a369a9	Optional Modules: Ported optional module concept to OpenPilot and Sim_Posix	2011-08-20 13:02:44 +02:00
Corvus Corax	53d0732fc6	Enable GPS module as "optional module" in CooterControl	2011-08-20 01:25:49 +02:00
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	952b4e1809	Have to speed up the comms rate for gyro to handle the oversampling we are ... using.	2011-08-19 14:35:13 -05:00
James Cotton	cefc2b8c2e	Clean up main INS function a bit.	2011-08-19 14:34:56 -05:00
Corvus Corax	b75890fcd4	Merge branch 'next' into CC_GPS	2011-08-19 21:34:38 +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
Corvus Corax	85aef9c7b4	OpenPilot: bugfix: Add GPS tx buffer by default (needed until GPS has been refactored to not send or only send when configured so)	2011-08-19 20:22:05 +02:00
Corvus Corax	2062ec0aeb	AHRS_COM: Initialize transpherred objects before using them	2011-08-19 19:52:27 +02:00
Corvus Corax	5e4941f7cb	PiOS.posix: make PiOS.posix bail in case of a Panic with an error message	2011-08-19 18:41:59 +02:00
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
Corvus Corax	9bba1f7ae9	Posix: fix object initialization where necessary	2011-08-19 18:36:30 +02:00
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	03a8bd7674	Statically initialize object handles to null to make sure the uavobjectmanager ... can catch it and return -1. Do NOT panic when they are null as this is something that should be caugth at run time in some cases. Ideally as a compromise in a task start it could have a set of PIOS_Assert(ObjectNameHandle()) to make sure the minimal set of objects it needs are there.	2011-08-19 10:12:39 -05:00
James Cotton	ab7e57ad2b	Initialize objects for guidance in the correct place. Init some objects in ... pios_board_posix since AHRSComms not around.	2011-08-19 09:52:05 -05:00
James Cotton	ced29e221e	Revert "Debugging: Add PIOS_DEBUG_Panic() call wen an UAVObject handle is requested but object is uninitialized, make PiOS.posix bail in case of a Panic with an error message" ... We do not want to panic in this case as we want the ability to detect if objects exist at run time This reverts commit 78e42470d4.	2011-08-19 09:45:10 -05:00
James Cotton	482bec497b	Revert "Fixed modules that didn't initialize used UAVObjects correctly" ... Modules should initialize their settings and the objects they source. Not just everything. This reverts commit 9ad85e9b7b.	2011-08-19 09:44:38 -05:00
Corvus Corax	69f10cd6d0	PiOS.posix: bugfix in COM_UDP	2011-08-19 13:54:16 +02:00
Corvus Corax	adfb6eccc2	fixed usage of GPS buffer in sim_posix	2011-08-19 13:20:40 +02:00
Corvus Corax	9ad85e9b7b	Fixed modules that didn't initialize used UAVObjects correctly	2011-08-19 13:20:15 +02:00
Corvus Corax	78e42470d4	Debugging: Add PIOS_DEBUG_Panic() call wen an UAVObject handle is requested but object is uninitialized, make PiOS.posix bail in case of a Panic with an error message	2011-08-19 12:56:26 +02:00
Corvus Corax	01a844e0da	Fixed redefinition of configCHECK_FOR_STACK_OVERFLOW in OpenPilot/System/inc/FreeRTOSConfig.h	2011-08-19 12:11:05 +02:00
Corvus Corax	f86e53bf91	Merge branch 'OP-536_CorvusCorax_ObjectOrientedFirmwareUAVTalk' into next ... Conflicts: flight/Modules/Telemetry/telemetry.c	2011-08-19 12:10:40 +02:00
James Cotton	f85ae84ec3	Merge branch 'camera_stabilization' into next ... Conflicts: flight/OpenPilot/System/pios_board_posix.c	2011-08-19 01:48:24 -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	29026db5d5	Refactor the INS code out a bit but still a mess.	2011-08-17 06:15:14 -05:00
Corvus Corax	6fe495c088	Merge remote branch 'origin/next' into OP-536_CorvusCorax_ObjectOrientedFirmwareUAVTalk ... Conflicts: flight/Modules/Telemetry/telemetry.c	2011-08-17 08:30:32 +02:00
James Cotton	c0ead372e1	INS: Change LED flashing to indicate connected.	2011-08-16 11:30:38 -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
Corvus Corax	b75653a226	PiOS.posix: small corrections and bugfixes to make pios_com_udp work correctly. Telemetry works now.	2011-08-14 14:21:54 +02:00
Corvus Corax	5b240a2675	PiOS.posix: port pios_udp and pios_com to "next"	2011-08-14 14:21:54 +02:00
Corvus Corax	8a47ade16b	flight/Libraries/fifo_buffer: Use platform independent <stdint.h> instead of "stm32xxx.h" to get definition of intX_t types	2011-08-14 14:21:54 +02:00
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	02d5e27e93	Got SPI IRQ from mainboard firing	2011-08-14 01:44:44 -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	f766ba47aa	Increase the size of the eventdispatcher task and lower the maximum queue size.	2011-08-13 19:21:58 -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	ca413415a0	Code to make openocd 0.5.0 work. I'll keep this branch rebased on next.	2011-08-13 18:03:49 -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	e7990f5d43	Got a hint of some data with this code :)	2011-08-13 07:13:43 -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	8929e2f359	Update some of the DMA settings	2011-08-13 02:46:13 -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	e993fae463	Fix bootloader	2011-08-12 04:32:02 -05:00
James Cotton	e57f774bb8	F2 INS compiles now	2011-08-12 04:30:14 -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	784c7b2646	Merge branch 'next' into ins	2011-08-11 21:52:10 -05:00
James Cotton	ec4e23aff9	Camera Stabilization: Bound outputs to [-1,1] although this should be redundant ... with checks in actuator.	2011-08-11 14:34:38 -05:00
James Cotton	9c7799dfe6	UAVObject Init: Get rid of deprecated linker init code	2011-08-10 22:48:42 -05:00
James Cotton	c8313d7b3e	Add the camera stabilization files to the Pro build. Not functional though.	2011-08-10 22:31:38 -05:00
James Cotton	bbe3c1533a	Merge branch 'next' into camera_stabilization	2011-08-10 21:57:45 -05:00
James Cotton	ab288e95ab	Stabilization: Small patch so that by default the integral is zeroed while ... throttle is low (good for quads) but can be disabled (good for planes and also testing helis).	2011-08-10 03:51:46 -05:00
James Cotton	f23eaa8273	Make the Actuator pull from the CameraDesired fields	2011-08-09 21:47:42 -05:00
James Cotton	f11aa80444	CameraStabilization: Make the CameraStabilization module put the desired ... position into another object (will help with configuration).	2011-08-09 20:45:38 -05:00
James Cotton	c4e272b9ad	Merge branch 'next' into camera_stabilization	2011-08-09 20:16:45 -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	ec2121bca8	Attitude: Keep first element of quaternion positive	2011-08-08 21:16:04 -05:00
James Cotton	d23e13716b	dos2unix: fifo_buffer	2011-08-08 08:37:14 -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	7720f9ff09	Add F2 support for the new OpenOCD for newer targets. Requires compiling ... OpenOCD from repo.	2011-08-06 18:21:21 -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
James Cotton	fd86c25b49	Make sure OP compiles with new object init structure.	2011-08-04 15:01:54 -05:00
sambas	a454cf844b	DX8 support, BIND3 only	2011-08-04 19:20:05 +03:00
James Cotton	a592e7d398	ManualControlSettings must be also initialized in pios_board.c	2011-08-04 07:47:50 -05:00
James Cotton	bac7836318	Revert "uavobj: shrink metadata struct to save RAM". I was premature merging ... this to next as it changes the on-the-wire representation and thus doesn't allow GCS to set the metadata. This reverts commit a641cd7956.	2011-08-04 07:17:36 -05:00
Stacey Sheldon	a641cd7956	uavobj: shrink metadata struct to save RAM ... This update saves 448 bytes of RAM with the current crop of UAVObjects. It reduces a 19 byte struct to 8 bytes. Note: This also introduces a limit of 65.534s for the update periods.	2011-08-03 00:00:50 -04:00
Stacey Sheldon	90b2625deb	rcvractivity: Add tracking of Rx channel activity	2011-08-02 01:27:37 -04:00
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	035b4103c4	Need to initialize the HwSettings before using them.	2011-07-31 09:42:15 +09:00
James Cotton	c5bf0ac657	Merge branch 'stac/refactor-usart-com' into camera_stabilization	2011-07-31 09:13:37 +09:00
James Cotton	568ea13471	Merge branch 'next' into stac/refactor-usart-com	2011-07-31 09:13:27 +09:00
Stacey Sheldon	6b1ec9a54e	bl: fix LED pwm computation with new stopwatch	2011-07-30 16:59:57 -04:00
James Cotton	3df730c64f	Merge branch 'stac/refactor-usart-com' into camera_stabilization	2011-07-30 13:38:43 +09:00
James Cotton	387a22398e	Make it possible to optionally enable the CameraStab module	2011-07-30 12:08:47 +09:00
Stacey Sheldon	8c0b60099f	rcvr: don't init spektrum and sbus rcvrs twice	2011-07-29 22:59:50 -04:00
James Cotton	cb9c6dfb5e	Change the sequencing of telemetry starting to make sure all the objects that ... were registered in an initialize and then enumerated by telemetry	2011-07-30 11:31:45 +09:00
James Cotton	132e19d613	Change the makefiles - always compile the optional objects but the flag ... indicates whether they are registered	2011-07-30 11:29:29 +09:00
James Cotton	ae67c51632	Register some missing objects with their modules	2011-07-30 11:28:21 +09:00
James Cotton	2e5a36a4db	Merge branch 'stac/refactor-usart-com' into camera_stabilization	2011-07-30 10:55:16 +09:00
James Cotton	b2d2114ede	Disable auto registration of all objects. Later the uavobj_init linker scripts ... should be deleted to not carry around old code.	2011-07-30 10:24:46 +09:00
James Cotton	23e9b56839	Dos2unix flight/CopterControl/System/coptercontrol.c	2011-07-30 10:06:35 +09:00
James Cotton	96c2d24253	Merge branch 'next' into camera_stabilization ... Conflicts: flight/CopterControl/Makefile flight/CopterControl/System/coptercontrol.c flight/Modules/Actuator/actuator.c flight/Modules/GPS/GPS.c flight/Modules/ManualControl/manualcontrol.c flight/Modules/Stabilization/stabilization.c flight/Modules/System/systemmod.c shared/uavobjectdefinition/manualcontrolsettings.xml shared/uavobjectdefinition/stabilizationdesired.xml	2011-07-30 10:06:10 +09:00
James Cotton	333ab645ec	Dos2unix manualcontrol.c to facilitate merging	2011-07-30 09:55:02 +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
Stacey Sheldon	b70d5ae148	Merge remote branch 'origin/msmith-delay-timer' into next	2011-07-26 09:04:06 -04:00
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 Cotton	056db1cdda	Merge branch 'bugfix-flight' into next	2011-07-24 07:09:42 +09:00
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	a89092e275	Update to use the delay API to get entropy rather than reading the timer directly.	2011-07-23 13:53:42 -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	dae4b44100	Remove commented code that refers to the now-obsolete PIOS_DELAY_TIMER	2011-07-23 13:49:36 -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
James Cotton	abee34e551	Getting posix simulation compatible with init and receiver changes	2011-07-22 07:50:06 -05:00
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	14370b5ac4	Reenable serial telemetry on OP main board	2011-07-15 19:10:00 -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
zedamota	b005346fab	Windows eclipse workspace. Sorry for the mess, all is good know...I think	2011-07-14 18:16:38 +01:00
zedamota	e559582bb8	Eclipse workspace update	2011-07-14 17:09:58 +01:00
zedamota	c22bc2a675	Merge branch 'bugfix-flight' of ssh://git.openpilot.org/OpenPilot into bugfix-flight	2011-07-14 14:07:28 +01:00
zedamota	16e28900d0	Created new eclipse workspace for windows	2011-07-14 13:34:34 +01:00
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	0aec3b592c	Changing stabilization so that the PIDs are zeroed when not armed, but NOT when ... the throttle is < 0. This will make things like axis-lock work while armed without throttle. HOWEVER don't hold your stick in the arming position for a long time or you can wind up the integrals now.	2011-07-12 14:35:32 -05:00
James Cotton	2c7cfe435f	Somehow this task runs quite a few times at the beginning so dT was going to ... zero and making the attitude get NaN. Wrote recovery code for that condition (should never occur) and also force minimum dT to 1 ms (also shouldn't occur)	2011-07-12 14:18:19 -05:00
James Cotton	53ca934b2b	Merge branch 'heli_stabilization' ... Conflicts: flight/CopterControl/System/inc/pios_config.h flight/Modules/Attitude/attitude.c flight/Modules/ManualControl/manualcontrol.c flight/Modules/Stabilization/stabilization.c	2011-07-12 13:28:20 -05:00
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	c33d3057cc	Dos2unix evendispatcher file	2011-07-12 12:36:20 -05:00
James Cotton	15a2b85729	For OpenPilot use the minimal stack size (512 words) for eventdispatcher as ... this is necessary for object saving. Creating a new define to override this for CopterControl down to 96.	2011-07-12 12:34:40 -05:00
James Cotton	557771d3ef	Change to OP MB code to make it work with input changes. Previously tried to ... register every possible input channel. Slipped through review because "obviously correct" change fixed previous bug masking this. Woohoo testing :)	2011-07-12 11:41:21 -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
James Cotton	3b3b76aa46	Revert "Drop 8 bytes per PID of unecessary information. Also trying to compute" ... This reverts commit 9c1e523260.	2011-07-12 11:37:36 -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	b86ef4de82	bootcfg: fix incorrect bounds checking on rcvr registration ... This was preventing any receivers from registering their channels.	2011-07-07 23:59:12 -04:00
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
Stacey Sheldon	a8787ee015	bootcfg: Add support for selecting S.Bus receivers in inputtype	2011-07-06 22:38:23 -04:00
Stacey Sheldon	bf39ab7a22	remove left-over comment about compile time configs ... No functional changes.	2011-07-06 22:36:15 -04:00
Stacey Sheldon	e82539c654	bootcfg: additional validation during board init	2011-07-06 22:34:59 -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
James Cotton	2d995dc2f7	OP-539: Don't call the gyro setting callback during init because it clears the ... gyro bias estimation.	2011-07-05 22:27:03 -05:00
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
Stacey Sheldon	0c4facac46	heap: reduce stack size on IDLE and Event tasks ... The FreeRTOS IDLE task was using 512 bytes of stack. The UAVObject Event task was also using 512 bytes of stack. Both have been reduced, recovering 400+ bytes of heap.	2011-07-05 20:13:00 -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
James Cotton	ad8876c62a	OP-193: Weak leveling variant on rate mode. Slowly will return to level.	2011-07-04 20:44:55 -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
James Cotton	46ae7eb17b	Merge remote-tracking branch 'origin/bugfix-ground' into heli_stabilization	2011-06-30 19:40:22 -05:00
James Cotton	39e646ae1d	Make the rates all work properly in axis lock	2011-06-30 19:38:52 -05:00
zedamota	567e3ffcad	OP-542 Board resets with new Uploader ... IAP module now checks magic value	2011-06-30 12:17:27 +01:00
James Cotton	a7206361d2	Slightly different way to respond to sticks in axis lock that is much more ... responsive and avoids overshoot.	2011-06-26 21:59:54 -05:00
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
Corvus Corax	fc62f6e522	Module initialisation rework ported to PiOS.posix	2011-06-26 00:25:06 +02:00
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
James Cotton	4c0245281d	Now we store the gyro bias avoid quashing the initialization correction.	2011-06-25 12:32:06 -05:00
Mathieu Rondonneau	de55c56427	OP-423: Change capital on macro to be uppercase for consistency.	2011-06-24 22:03:03 -07:00
James Cotton	dedbcbfceb	Correct nasty bug on range checking for max rate and use the axis lock rate ... desired when in that mode.	2011-06-24 11:30:28 -05:00
James Cotton	e6ad21d881	Make gyro bias in deg/s * 100 to calibrate more precisely.	2011-06-24 10:51:07 -05:00
James Cotton	5127d1e7ba	Change actuator memory to 900 bytes since it uses less now.	2011-06-24 10:49:36 -05:00
James Cotton	038f955cb1	OP-410 OP-333: Axis lock (heading hold) implemented	2011-06-24 10:38:26 -05:00
James Cotton	ab7ff56d96	Compute initial gyro bias while calibrating to speed up convergence	2011-06-24 10:38:26 -05:00
James Cotton	c0eff41dc6	OP-410 OP-333: Created an Axis-lock setting for stabilization	2011-06-24 10:38:26 -05:00
James Cotton	0a4bbcc12e	Added a field for initial gyro bias to speed up initialization.	2011-06-24 10:38:26 -05:00
James Cotton	28501842c3	Expose the rate D term which in simulations seems to help damp oscillations for ... high RateKp terms. However it might be sensitive to gyro noise (vibrations). In addition it is mathematically similar to lead shapign so probably only use one or the other.	2011-06-24 10:38:25 -05:00
James Cotton	a09642675c	Tweak the integral calculation so it is scaled in ms internally. This avoids a ... loss of precision on the accumulation.	2011-06-24 10:38:25 -05:00
James Cotton	373689207a	Add a 1-tap IIR filter into the gyros in the feedback path. This will make the ... stabilization output a bit more resilient to the high frequency noise from gyros. However this value shouldn't be too high as it will increase the phase delay of the feedback loop and decrease stability. Default is 5 ms. Note: this resests the stabilizationsettings object. Sorry guys.	2011-06-24 10:38:25 -05:00
Stacey Sheldon	d1104d3fdc	alarms: lower heap warning and critical thresholds for CC ... Free heap on CC is currently 160 bytes so the current thresholds were causing a continual alarm condition, thus preventing arming.	2011-06-24 10:38:25 -05:00
Mathieu Rondonneau	dcd2774103	OP-423 Fix some comment from code review: ... - update example module - use module init macro for POSIX and WIN to make code cleaner.	2011-06-24 06:59:51 -07:00
Corvus Corax	f52f6d30c6	VTalk (flight): Buffers allocated dynamically with size calculated by UAVObjGenerator. Support for tx packet sizes < object size.i	2011-06-24 02:08:20 +02:00
James Cotton	f6312c7798	OP-410 OP-333: Created an Axis-lock setting for stabilization	2011-06-23 14:51:18 -05:00
James Cotton	9aba787b02	OP-193: Check for instance read success was backwards	2011-06-23 03:01:37 -05:00