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3112 Commits

Author SHA1 Message Date
Brian Webb
249ededcfd Added responding to OBJ_REQ and sending ACK/NACK on PipX. 2012-05-02 20:51:29 -07:00
Brian Webb
22f48ce8b0 Exposed the Send ACK/NACK function in UAVTalk. 2012-05-02 20:42:37 -07:00
Brian Webb
30d63b5b12 Merged USB CDC updates. 2012-05-02 06:45:24 -07:00
Brian Webb
8da4b9c745 Merge remote-tracking branch 'origin/stac/pt-win-vcp-fix' into Brian-PipXtreme-V2 2012-05-02 06:42:30 -07:00
Brian Webb
290acf0398 Fixed watchdog timeouts. 2012-05-01 20:48:35 -07:00
Brian Webb
217aad8c37 Now using read and write threads for both radio and com ports on PipX. Also cleaned up UAVTalk message handling. 2012-05-01 19:14:58 -07:00
James Cotton
3f63051df8 PiOS ADC: This could still use a lot of cleanup and needs to be implemented in 
the non-FreeRTOS case but now the ADC device is allocated dynamically which
means CC3D won't waste heap on it.
 2012-05-01 11:11:31 -05:00
James Cotton
311cbe37d2 Reenable PIOS_ADC for coptercontrol 2012-05-01 00:30:41 -05:00
Brian Webb
84a19ebeab Merge remote-tracking branch 'origin/next' into Brian-PipXtreme-V2 2012-04-28 19:30:35 -07:00
Brian Webb
25ffb99cee Added initialization of flash eeprom for saving settings to PipX. 2012-04-28 19:29:56 -07:00
Brian Webb
1048eb7e2c Added pios_eeprom for saving settings. 2012-04-28 19:29:25 -07:00
James Cotton
fb53d5621a Change the magKp term (hardcoded still) for revo complimentary filter so it 
tracks magnetic north when homelocation is set.
 2012-04-22 19:01:41 -05:00
James Cotton
2890fcdc9f When in complimentary filter mode use GPSVelocity so event system doesn't have 
warning.
 2012-04-22 19:01:18 -05:00
Corvus Corax
b97b0617aa bugfix, use correct variance parameter on z velocity 2012-04-22 18:43:17 -05:00
James Cotton
f06439ecf5 Fix a bug in calculating air temperature in baro sensor when it goes below 20 
deg C.
 2012-04-22 18:43:07 -05:00
Stacey Sheldon
63285ea451 bu: remove LED support from bootloader updaters 
Bootloader updaters were all broken due to recent
changes in LED configuration handling.  Removing
LED support from the BU loads allows them to build
again, but they provide no feedback about when they're
finished writing flash.
 2012-04-22 18:42:58 -05:00
Stacey Sheldon
2ec197298b gpio: stop enabling pull-ups on all GPIOs in bootloader 
The bootloader has been enabling pull-ups on all GPIO
pins during early init.  These pull-ups are disabled
immediately before jumping to the firmware.  This transition
results in all servos seeing a wide pulse as the board
resets making them jerk sideways aggresively and then snap
back to neutral.
 2012-04-22 18:42:53 -05:00
Stacey Sheldon
14cc9ef57c ppm: adjust min frame pulse width for 8ch x 18ms frames 
All channels at max when using the FrSKY 4ch D4FR in PPM
mode results in the frame pulse shrinking well below our
threshold of 3800us and we lose frame.

With all 8 channels at max, the frame pulse becomes
indistinguishable from the other channels.  Using all 8
channels with the FrSKY in PPM mode is NOT recommended
even after this change.

Recommend using at most 7 active channels in this mode so
we can still find the frame pulse.
 2012-04-22 18:42:45 -05:00
Brian Webb
aab47d6ed4 Final updates to throttled mode and further memeory reduction in the object manager and event dispatcher to reflect smaller data sizes in metadata. 2012-04-22 14:56:26 -07:00
Brian Webb
ed1937958e Changed PipX UAVTalkProcessInputStream calls to UAVTalkProcessInputStreamQuiet. 2012-04-22 08:45:01 -07:00
Brian Webb
fb6dedad2b Added UAVTalkProcessInputStreamQuiet function, which is a version of UAVTalkProcessInputStream that only processes (does not sens or receive). 2012-04-22 08:43:51 -07:00
Brian Webb
f726cc6a9d Added a RTC supervisor timer to RFM22B driver. 2012-04-21 18:31:49 -07:00
Brian Webb
5a2a3ad49b Fixed changes to UAVTalkProcessInputStream. 2012-04-21 16:54:35 -07:00
Brian Webb
eb6f175af4 Fixed metadata settings in object browswer, and removed update mode never from all uavobjects that used it (changed to manual). 2012-04-21 11:59:14 -07:00
Laura Sebesta
6feb198437 Improved comment message, aimed at beginners. 2012-04-20 17:10:16 -04:00
Stacey Sheldon
b255e7caaa hid+vcp: Add Windows INF file for CDC on OpenPilot boards 2012-04-20 09:02:40 -04:00
Stacey Sheldon
41d4ba4b1a hid+vcp: change default USB descriptor to HID+VCP 
Now that we have a USB descriptor for HID+VCP that works
on Ubuntu 11.10, MacOS 10.7.3, Win7-SP1-32bit,
WinXP-SP3-32bit, Win7-SP1-64bit.

VCP will is known to not work on WinXP without service pack 3.
 2012-04-20 08:39:04 -04:00
zedamota
4968df183a Working compliant VCP+HID descriptors for Windows. 2012-04-20 08:38:24 -04:00
Brian Webb
19166cc830 Added UPDATEMODE_THROTTLED to UAVObjects update modes. 2012-04-18 18:47:13 -07:00
Corvus Corax
1c3dc9c9e1 Airspeed: fixed calculation math - no more zero zone 2012-04-18 14:41:41 +02:00
Corvus Corax
d125abf335 Baro calibration 2012-04-18 10:48:31 +02:00
Brian Webb
62c5036220 Added PipXStatus and PipXSetting UAVobjects and some initial support for them. 2012-04-17 17:36:05 -07:00
Corvus Corax
3da88601a1 Airspeed module works, needs conversion 2012-04-17 20:32:56 +02:00
Corvus Corax
317cff10dd debug code added - revert this when no longer needed 2012-04-17 18:59:46 +02:00
Corvus Corax
edf26d15e6 Airspeed: some more fixes 2012-04-17 16:38:53 +02:00
Corvus Corax
c5a6ed7486 add missing headers and makefile entries 2012-04-17 16:25:39 +02:00
Corvus Corax
cf3f0b4226 Merge branch 'james/revolution' into stac/etasv3 2012-04-17 15:57:37 +02:00
Corvus Corax
5159d2029b new airspeed module - still needs matching PIOS driver from stac 2012-04-17 15:54:05 +02:00
Stacey Sheldon
ad75e354eb etasv3: Add etasv3 driver to revolution 2012-04-17 09:39:47 -04:00
Stacey Sheldon
6a37e433b6 etasv3: Add driver for Eagle Tree Airspeed Sensor v3 2012-04-17 09:39:00 -04:00
Stacey Sheldon
853600a2ef i2c: enable flexiport i2c on revolution 2012-04-17 09:38:27 -04:00
Brian Webb
78c7416bda Added returning of UAVTalk state from UAVTalkProcessInputStream 2012-04-16 20:21:00 -07:00
Stacey Sheldon
7f03a77492 bu: remove LED support from bootloader updaters 
Bootloader updaters were all broken due to recent
changes in LED configuration handling.  Removing
LED support from the BU loads allows them to build
again, but they provide no feedback about when they're
finished writing flash.
 2012-04-16 15:09:10 -04:00
Stacey Sheldon
62fb009acd gpio: stop enabling pull-ups on all GPIOs in bootloader 
The bootloader has been enabling pull-ups on all GPIO
pins during early init.  These pull-ups are disabled
immediately before jumping to the firmware.  This transition
results in all servos seeing a wide pulse as the board
resets making them jerk sideways aggresively and then snap
back to neutral.
 2012-04-16 14:41:25 -04:00
Stacey Sheldon
5ca4ec7934 ppm: adjust min frame pulse width for 8ch x 18ms frames 
All channels at max when using the FrSKY 4ch D4FR in PPM
mode results in the frame pulse shrinking well below our
threshold of 3800us and we lose frame.

With all 8 channels at max, the frame pulse becomes
indistinguishable from the other channels.  Using all 8
channels with the FrSKY in PPM mode is NOT recommended
even after this change.

Recommend using at most 7 active channels in this mode so
we can still find the frame pulse.
 2012-04-16 14:33:28 -04:00
James Cotton
ad074aee4b Fix nasty bug in guidance where I missed some breaks 2012-04-16 08:59:25 -05:00
James Cotton
a7ba6d96c1 Allow guidance to run purely off raw GPS data 2012-04-15 16:23:34 -05:00
James Cotton
050c756d54 Merge branch 'revolution_path' into testing 2012-04-15 12:34:31 -05:00
James Cotton
4928cbba44 Merge branch 'sim' into testing 2012-04-15 12:34:27 -05:00
James Cotton
59da9deffb Merge remote-tracking branch 'revo/D-Lite/ubx-parser' into sim 2012-04-15 12:33:54 -05:00
James Cotton
6a094ac326 Increase stack for the path planner 2012-04-15 12:31:50 -05:00
Corvus Corax
88f7567247 change to GPS: do not update UAVObject more than 1ce per cycle 2012-04-15 19:17:03 +02:00
James Cotton
85852df00b Make simulation produce data asynchronously for testing and add random accel 
bias
 2012-04-15 11:51:42 -05:00
James Cotton
08fd08deb8 Fix some compiler warnings in guidance code 2012-04-15 11:51:26 -05:00
James Cotton
1559eeb2e1 Use GPSVelocity updates when they are available instead of timing based on 
GPSPosition
 2012-04-15 11:50:56 -05:00
James Cotton
6e215bd029 Updating INS Pos/Vel variance includes the vertical velocity 2012-04-15 11:50:11 -05:00
James Cotton
b71e9fc9dc Create simulated OveroSync module which simply drops updates to log file 2012-04-14 22:01:33 -05:00
unknown
0b7538c3fe Constants changed to float for better portability. 2012-04-15 01:28:31 +02:00
James Cotton
9a2e0b071c Revert "Allow simulated quadcopter to include GyroBias in the artificial sensor data." 
This reverts commit 212a10bcd4.
 2012-04-14 17:20:01 -05:00
James Cotton
212a10bcd4 Allow simulated quadcopter to include GyroBias in the artificial sensor data. 2012-04-14 14:52:56 -05:00
James Cotton
af02eb6517 Merge branch 'sim' into testing 
Conflicts:
	ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
 2012-04-14 14:40:43 -05:00
James Cotton
267e9fa87c Merge branch 'revolution' into testing 2012-04-14 14:40:11 -05:00
James Cotton
a86e75bc99 Merge branch 'revolution' into sim 2012-04-14 14:12:03 -05:00
James Cotton
deb3336729 Make sure for revolution all the GPS objects are always initialized even if 
there is no GPS port.  Otherwise connecting to relevant queues will fail.
 2012-04-14 14:02:20 -05:00
James Cotton
b7c3b1fdd1 Make the simulation provide GPSVelocity object since this is critical for EKF 
now
 2012-04-14 14:01:42 -05:00
James Cotton
ce6def870b Add feedforward component to guidance 2012-04-14 13:38:10 -05:00
James Cotton
be21ec441e Add ability to run guidance based on raw GPS velocity instead 2012-04-14 13:34:30 -05:00
James Cotton
1a98a46606 Merge branch 'revolution_ubx' into sim 2012-04-14 12:10:23 -05:00
James Cotton
5d160860a3 Fix from Corvus for gyro bias from EKF 2012-04-14 12:09:12 -05:00
James Cotton
3e2feb64cf Fix bug limiting maximum velocity desired 2012-04-14 10:49:54 -05:00
James Cotton
b0ef456ccb Kickstart MPU6000 if there is no data 2012-04-13 20:29:41 -05:00
James Cotton
a0d1b00ade Cover an edge condition for the MPU6000 IRQ not firing 2012-04-13 19:37:30 -05:00
Brian Webb
4936cd8fd2 Added PipXStatus and PipXSettings UAVObjects and added support the sending/receiving UAVTalk objects on the PipX. 2012-04-10 20:22:53 -07:00
James Cotton
a1351fcdbe Make the path velocity come from the waypoint. 2012-04-10 02:56:10 -05:00
James Cotton
a42d756b3e Add path navigation mode to the path planner module. I don't like how this is 
done because the mode is in the settings so can't be command from path planner.
I.e. it would be nice to be able to say do these paths then go to position hold
mode.
 2012-04-10 02:51:50 -05:00
James Cotton
dfa18eaef1 Deal with the case where path start and endpoints are the same to avoid NAN. 2012-04-10 02:49:19 -05:00
James Cotton
1aec5b8deb Add altitude control to the path navigation 2012-04-10 01:59:26 -05:00
James Cotton
26b73e3c8b Add path navigation mode to guidance. Works well in simulation. 2012-04-10 01:48:03 -05:00
James Cotton
136bbe3814 Update the EKF code to use the GPSVelocity 2012-04-09 19:03:21 -05:00
James Cotton
dbcb47e249 Merge branch 'D-Lite/ubx-parser' into revolution_ubx 2012-04-09 17:34:34 -05:00
Werner Backes
4ede7a8af6 Experimental u-blox binary data format parser. See "u-blox 6 
Receiver Description" for reference. Currently supports NAV-VELNED
message only and populates it to the GPSVelocity UAVObject.
 2012-04-09 23:14:34 +02:00
Werner Backes
422944ce29 Experimental extension to the GPS stream parser to extract u-blox 
binary data format. See "u-blox 6 Receiver Description" for
reference. GPS data stream may carry mixed NMEA and UBX data.
 2012-04-09 23:12:24 +02:00
Werner Backes
56108b5381 Introduced GPSVelocity UAVObject 2012-04-09 22:59:38 +02:00
Brian Webb
3914d22b09 Turned off watchdog timer, which was crashing on real PipX. 2012-04-07 19:56:12 -07:00
Brian Webb
e639d173a0 Create ID from a hashed CPU serial number. 2012-04-07 19:41:23 -07:00
Brian Webb
7b49a6b820 Added watchdog to radio com bridge in PipXtreme. 2012-04-07 19:12:49 -07:00
Brian Webb
f4d886de75 Added support for determining when the radio->com link is between UAVTalk packets. This is required to inject UAVTalk messages into the message stream. 2012-04-07 18:17:57 -07:00
Brian Webb
0f9f897870 Added PPM packet to packet handler, created replacement system module for PipXtreme (PipXtreme module), removed all UAVObjects from PipXtreme, and added parsing of incoming (over USB/COM) UAVTalk stream. 2012-04-07 18:17:32 -07:00
James Cotton
414e62f14e Revert "Disable baro updates into INSGPS for now. Seems to cause issues." 
This reverts commit 04591309770679e7b01c53a6cb54cac1c043f8b6.
 2012-04-07 00:58:36 -05:00
James Cotton
fcb9193d25 Disable baro updates into INSGPS for now. Seems to cause issues. 2012-04-07 00:58:36 -05:00
James Cotton
aa6c8a451d Shrink some stack sizes 2012-04-07 00:58:36 -05:00
James Cotton
81fcfd45c4 Some work on the code to initialize the INSGPS and allow setting the variance 
of the baro
 2012-04-07 00:37:42 -05:00
Brian Webb
56a2006fd8 Reconfigured to run on the real PipX board. 2012-04-06 18:44:31 -07:00
Brian Webb
eeb96955f9 Fixed ADC configuration 2012-04-06 17:43:43 -07:00
Brian Webb
253de47967 Merge remote-tracking branch 'raid/Brian-PipXtreme-V2' into Brian-PipXtreme-V2 2012-04-06 17:37:31 -07:00
Brian Webb
bc1adb2519 Some cleanup of rfm22 driver. 2012-04-06 17:36:35 -07:00
James Cotton
345b6578b1 Fix a possible race condition for complimentary filter on L3GD20 attitude 
estimation where the accel queue wouldn't immediately have data available.
Added 1 ms timeout on queue.
 2012-04-06 13:59:12 -05:00
James Cotton
e60c70251f Slow down update rate for the altitude hold smoothed EKF 2012-04-06 13:58:46 -05:00
James Cotton
6c004678d5 Need a really big telemetry queue size on revo for object manager not to choke. 
Probably should slow down how quickly AltHoldSmoothed is set.
 2012-04-06 13:22:30 -05:00
James Cotton
ea13536da0 Take quidance settings from simulation and make the INSGPS pick up the GPS 
noise from a setting.
 2012-04-06 12:59:49 -05:00
Brian Webb
fff93910e2 RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module. 2012-04-05 20:24:50 -07:00
James Cotton
3071f77d59 Add Baro offset to the simulation 2012-04-03 10:58:48 -05:00
James Cotton
c988685293 Simulate GPS noise drift 2012-04-03 09:17:55 -05:00
James Cotton
f491c924d6 Start updating the OSX UDP simulation to use a separate thread for receiving 
but it needs two - one as a task (where the com callback occurs) and another
for the physical process stuff that doesn't need to suspend (like teh TCP
thread does)
 2012-04-03 09:17:55 -05:00
James Cotton
5d0e513678 Fix small deg/rad issue in generating gps data 2012-04-03 09:17:55 -05:00
James Cotton
df6bc4deff Enable guidance on simulation and add wind model 2012-04-03 09:16:31 -05:00
James Cotton
fdfaac6559 More tweaks to OSX simulator 2012-04-03 09:16:31 -05:00
James Cotton
ca535c2632 Fix bugs in simulated sensor data. Now works well with INSGPS. 2012-04-03 09:16:31 -05:00
James Cotton
84040d25b4 Add attitudesimulated object to capture the simulated state 2012-04-03 09:16:30 -05:00
James Cotton
09ce6e1ab4 Restore the original Revolution FreeRTOSConfig and make the osx simulation 
scheduler not start high priority tasks when they are created because I can't
reliably get the starting task to stop (because currently in a swapping mutex I
think).
 2012-04-03 09:16:30 -05:00
James Cotton
6df9691609 Bring back the original module files and remove comments from FreeRTOS 
debugging
 2012-04-03 09:16:30 -05:00
James Cotton
82a2987b2c More improvements to the osx simulation FreeRTOS port. Only tick the tick 
handler when we have confirmed the running thread has halted.  This is more
like what would happen on a single core machine.
 2012-04-03 09:16:30 -05:00
James Cotton
543500ed78 Improve the simulated sensors to produce (I think) consistent data now 2012-04-03 09:16:30 -05:00
James Cotton
0b342ea3d6 Changing the tick counter to only happen after current thread is suspended 
seems to fix stability issues
 2012-04-03 09:16:30 -05:00
James Cotton
fbd8695d7d Check in WIP for osx simulation 2012-04-03 09:16:30 -05:00
James Cotton
c1726e30e5 Make pios_tcp uses two threads - one for the socket stuff and another within 
FreeRTOS to receive the data.
 2012-04-03 09:16:30 -05:00
James Cotton
75262b400a More osx simulation work 2012-04-03 09:16:29 -05:00
James Cotton
da294384b6 Getting closer on osx simulation 2012-04-03 09:16:29 -05:00
James Cotton
a2bc7b8668 Osx Simulator Not running quickly but at least it's staying up 2012-04-03 09:16:29 -05:00
James Cotton
898a595d81 Delete old files 2012-04-03 09:16:29 -05:00
James Cotton
adad006530 More work on OSX simulation 2012-04-03 09:16:29 -05:00
James Cotton
99e246f151 More of the 7.0 files for OSX simulation 2012-04-03 09:16:29 -05:00
James Cotton
356802b5ac Update to FreeRTOS 7 for OSX sim 2012-04-03 09:16:28 -05:00
James Cotton
0d3a6d94d8 Delete some old files 2012-04-03 09:16:28 -05:00
James Cotton
491df5d130 Small update to the osx wdg 2012-04-03 09:16:28 -05:00
James Cotton
51f0c3453b More work on osx simulation engine 2012-04-03 09:16:28 -05:00
James Cotton
3c0b65fbf8 Implement a simulated watchdog to catch when the chip would have reboot 2012-04-03 09:16:28 -05:00
James Cotton
28cab678ce Simulate a more complete QC model. 2012-04-03 09:16:28 -05:00
James Cotton
9d5dbe4bfe Create stub for TCP connection of simulation 2012-04-03 09:16:28 -05:00
James Cotton
6aa1f1e344 Had some debugging outputs (logged to file) still enabled 2012-04-03 09:16:28 -05:00
James Cotton
f1aa3b658e Add a new sensor simulation mode that essentially has a gyro rate that is rate 
desired and the accel based on the current attitude.
 2012-04-03 09:16:28 -05:00
James Cotton
ce54c4205d Disable a print from the port that was causing rashes 2012-04-03 09:16:27 -05:00
James Cotton
6df2df6eec Get rid of the mutex when enabling/disabling soft IRQs. This isn't ideal but 
it seems to be triggering deadlocks.
 2012-04-03 09:16:27 -05:00
James Cotton
6adc74f6f9 Check in the fake sensor data module 2012-04-03 09:16:27 -05:00
James Cotton
dee17f8fd4 Enable task run time monitoring in osx simulation 2012-04-03 09:16:27 -05:00
James Cotton
0e815540ff Patch from Stac that processes module names without using sed. Also enable 
diagnostic stuff for simulation.
 2012-04-03 09:16:27 -05:00
James Cotton
2391385788 Remove the pauase in the idle task. Increases load but also stability. 2012-04-03 09:16:27 -05:00
James Cotton
e97c1bc016 Include the module include file before any uavo ones 2012-04-03 09:16:27 -05:00
James Cotton
dfa39b59bf Rename the pios_config file for simulation 2012-04-03 09:16:26 -05:00
James Cotton
cb7b475d03 Remove the need ot have two ways of listing the modules for simulation 2012-04-03 09:16:26 -05:00
James Cotton
76bdd09795 Rename the pios_config file for simulation 2012-04-03 09:16:26 -05:00
James Cotton
e79a6e292b Add watchdog flag for simulated sensor task 2012-04-03 09:16:26 -05:00
James Cotton
e0fbdaf9fe Move the pios_board_posix file to something more general 2012-04-03 09:16:26 -05:00
James Cotton
c8a64ccbc7 Need to use slightly different code to generate the InitMods.c function for 
simulation because of the Attitude/Revolution format.
 2012-04-03 09:16:26 -05:00
James Cotton
1763d0c72c Switch to conditional signaling. Seems more robust. 2012-04-03 09:16:26 -05:00
James Cotton
f0e84088c1 Simulated LED now flashing. 2012-04-03 09:16:26 -05:00
James Cotton
5589ca60db Check in compilation files for OSX simulation. Update to work on revolution 
tree.
 2012-04-03 09:16:26 -05:00
James Cotton
ea5b733ac8 Fix the soft timing in pios_delay. Also disable LED printing messages. 2012-04-03 09:16:26 -05:00
James Cotton
dd5a71c48d Add watchdog flag for simulated sensor task 2012-04-03 09:16:25 -05:00
James Cotton
ae2f1e95f6 Move the pios_board_posix file to something more general 2012-04-03 09:16:25 -05:00
James Cotton
5fd569829c Need to use slightly different code to generate the InitMods.c function for 
simulation because of the Attitude/Revolution format.
 2012-04-03 09:16:25 -05:00
James Cotton
5901a07eb1 Switch to conditional signaling. Seems more robust. 2012-04-03 09:16:25 -05:00
James Cotton
99b81c7159 Simulated LED now flashing. 2012-04-03 09:16:25 -05:00
James Cotton
4e64b27034 Disable matlab simulation for now 2012-04-03 09:16:24 -05:00
James Cotton
cfd92de87a Add explicit casts in manualcontrol to avoid compiler warnings/errors 2012-04-03 09:16:24 -05:00
James Cotton
7ba32f8735 Check in compilation files for OSX simulation. Update to work on revolution 
tree.
 2012-04-03 09:16:24 -05:00
James Cotton
5827e3f565 Add box around logo path 2012-04-03 03:42:37 -05:00
James Cotton
bfb0c6935e Make pathplanner use callbacks on the waypoints and their index to pick up 
changes from the GCS while flying
 2012-04-03 03:42:37 -05:00
James Cotton
c26cceb47b If the waypoint index is changed then update teh position desired. This should 
probably be done with change callbacks because currently changing the waypoints
themselves doesn't update position desired.
 2012-04-03 03:42:36 -05:00
James Cotton
6d1c36680f Scale the max velocity as a magnitude on teh vector instead of independently on 
each direction
 2012-04-03 03:42:36 -05:00
James Cotton
5b3cc4876e In simulations a higher GPS noise is required for the INS 2012-04-03 03:42:35 -05:00
James Cotton
32f76db8ae Only update position desired when you change waypoints active 2012-04-03 03:42:35 -05:00
James Cotton
ba1ade33cb Get navigation working and program hardcoded flight path 2012-04-03 03:42:34 -05:00
James Cotton
62117430cf Flip the sign of throttle in the guidance altitude control 2012-04-03 03:42:34 -05:00
James Cotton
7f226867c6 Some bug fixes for revo attitude estimation. 2012-04-03 03:42:33 -05:00
James Cotton
d4488512c0 Add RTH waypoint action 2012-04-03 03:42:33 -05:00
James Cotton
3eac69e953 Create stub for waypoint navigation 2012-04-03 03:42:32 -05:00
James Cotton
c8ceea72e6 Increase the telemetry queue size from revolution 2012-04-03 03:42:32 -05:00
James Cotton
af9f36d7df Improve the attitude initialization for all of the modes 2012-04-03 03:42:32 -05:00
James Cotton
3888d6ff69 Changed settings that makes updates smoother 2012-04-03 03:42:31 -05:00
James Cotton
319b53a342 Make sure full initialization routine for INSGPS occurs each time it is 
restarted.
 2012-04-03 03:42:31 -05:00
James Cotton
372f959c37 Refine some stack sizes 2012-04-03 03:42:30 -05:00
James Cotton
54880c83a0 Fix some task sizes and the memory limits 2012-04-03 03:42:30 -05:00
James Cotton
a83fb019f6 When in complimentary filter mode pass the GPS information straight 
through to Position Actual
 2012-04-03 03:42:29 -05:00
James Cotton
98b1a21921 Fixup: Shouldn't update gps until home location is set 2012-04-03 03:42:29 -05:00
James Cotton
7a3ec3e173 Some code cleanup to get rid of some warning messages 2012-04-03 03:42:29 -05:00
James Cotton
23625904c5 Remove the now unused ECEF and Rne fields from HomeLocation. Also reenable 
calculation of the WMM and HomeLocation from the GPS code for revolution.
 2012-04-03 03:42:28 -05:00
James Cotton
71d0180d45 Use the sensor variances from object 2012-04-03 03:42:28 -05:00
James Cotton
ce2d1f94f6 Better hardcoded constants for INS variances 2012-04-03 03:42:27 -05:00
James Cotton
de7fc81795 Fixes to the GPS LLA to NED translation 2012-04-03 03:42:27 -05:00
James Cotton
e32ab9342c Shuffle some stack sizes around 2012-04-03 03:42:26 -05:00
James Cotton
4cadb7ec0e Forgot to initialize revo settings object 2012-04-03 03:42:26 -05:00
James Cotton
337d5b7079 Enable guidance in revo. Update manual control to set the position desired 
when the switch is flipped.
 2012-04-03 03:42:25 -05:00
James Cotton
0eedaa1250 Change how we convert LLA to NED. Now it is done with a taylor expansion 
around the home LLA coordinate to avoid the conversion into ECEF coordinates.
This has the benefit of not requiring double precision math and uses less
operations.

Now we should remove the Rne and ECEF fields from HomeLocation as they are
unused
 2012-04-03 03:42:25 -05:00
James Cotton
e8cc7748af Clean up some unused variables in attitude code 2012-04-03 03:42:24 -05:00
James Cotton
a9aa6b696b Add object for setting the fusion algorithm 2012-04-03 03:42:24 -05:00
James Cotton
1911c7360d New NEDPosition object which is the transformed GPS location 2012-04-03 03:42:24 -05:00
James Cotton
e3c36ac99a Change requires for GSP updated to be set to true (wrong sign on PDOP check) 2012-04-03 03:42:23 -05:00
James Cotton
1630267324 Some small updates to 16 state INS 2012-04-03 03:42:23 -05:00
James Cotton
9e4651ab80 INS working on Revo 2012-04-03 03:42:22 -05:00
James Cotton
7e36d086de More work on INS algorithm to force constants to single 2012-04-03 03:42:22 -05:00
James Cotton
137429d92d More work for the simulation 2012-04-03 03:42:22 -05:00
James Cotton
96edea9d4b Some fixes to GPS parsing 2012-04-03 03:42:21 -05:00
James Cotton
55ee568fe2 Work on the INS algorithm 2012-04-03 03:42:21 -05:00
James Cotton
7034a45e44 Force more calculations to explicitly being float 2012-04-03 03:42:20 -05:00
James Cotton
8c8224c122 Use a bigger event queue for overo logging to avoid event system warnings, and 
add code to shortcircuit formatting a packet if it will not fit.
 2012-04-03 03:42:19 -05:00
James Cotton
e82323af32 Make revolution work with the FreeRTOS queue based MPU6000 driver 2012-04-03 03:41:52 -05:00
James Cotton
bb41bc1472 Add no for DIAG_TASKS to make file to make it easier not to miss. 2012-04-03 02:07:04 -05:00
James Cotton
d7cb232315 Add MPU6000 accel range to config structure. Also put in correct values. 2012-04-03 02:07:04 -05:00
James Cotton
3346e848e0 Attitude error timeout was 2 ms when sensors at 500 Hz. Caused lots of errors 
and overwhelmed event system.
 2012-04-03 02:07:04 -05:00
James Cotton
3f22ef8c66 Slow MPU6000 on CC3D to 500 Hz 2012-04-03 02:07:04 -05:00
James Cotton
35854b35f6 MPU6000 accel value coming out twice as high as it should. Need to store scale 
in cfg structure to fix this properly.
 2012-04-03 02:07:04 -05:00
James Cotton
8032130769 Slow down gyro a bit on CC to give the CPU some breathing room. Might need to 
come down more.
 2012-04-03 02:07:03 -05:00
James Cotton
a960f3d07e Switch the MPU6000 driver to using a FreeRTOS queue. Need to update Revo code 
to take advantage of this.
 2012-04-03 02:07:03 -05:00
James Cotton
1415728762 Get the MPU6000 CC3D working. Right now the ADC system is commented out, which 
will break regular CC.
 2012-04-03 02:07:03 -05:00
James Cotton
a0b7453580 Make the firmwareIAP variable not a global 2012-04-03 02:07:03 -05:00
Stacey Sheldon
9b33be5d65 ef: pad any gaps between the BL bank and the FW bank 
The Entire Flash (EF) image for revo has a gap between
the end of the BL bank and the start of the FW bank.
This fills the gap with 0xFF and properly aligns the
FW image in flash.
 2012-04-01 22:39:27 -04:00
Brian Webb
df0a1c2ac1 Upgraded Brian-Metadata-Mods to current next. 2012-04-01 12:25:13 -07:00
Brian Webb
496a323b7f Fixed indentaion. 2012-03-31 07:59:44 -07:00
Stacey Sheldon
eab923fee0 revo: move fw image into 128KB sectors 
This saves the more versatile 16KB and 64KB sectors
for other purposes.
 2012-03-28 21:52:43 -04:00
Stacey Sheldon
f971fc14d5 openocd: update to latest git snapshot (f1c01333) 2012-03-27 00:53:27 -04:00
Stacey Sheldon
91cffb1809 f4 usb: don't skip yield from ISR 
Function was returning prior to the code that might
need to yield from within the ISR.
 2012-03-27 00:18:44 -04:00
Corvus Corax
0742c88a98 enabled optional rtation of Revolution board 2012-03-26 05:25:52 +02:00
Corvus Corax
d32dd0ccd4 Fixed fmod() versus fmodf() usage in flight/... 2012-03-26 04:16:54 +02:00
Brian Webb
1669f00456 Merge remote-tracking branch 'origin/next' into Brian-PipXtreme-V2 2012-03-24 15:21:16 -07:00
Brian Webb
23f6c8af73 Merge remote-tracking branch 'origin/next' into Brian-PipXtreme-V2 2012-03-23 20:49:12 -07:00
Stacey Sheldon
730defb698 f4 flash: fix flash voltage range setting in bl_helper 
F4 boards are powered by 3.3V which corresponds to
VoltageRange_3.  Fix this to match actual VDD so we
get faster erase/write times.
 2012-03-22 22:37:31 -04:00
James Cotton
8059004755 Make sure if an event has a null handle and the queue is full we don't try and 
query UAVObjID
 2012-03-22 10:46:30 -05:00
James Cotton
c7ff2a46c7 Merge remote-tracking branch 'origin/laurent/modelview' into revolution 
Conflicts:
	flight/CopterControl/Makefile
	ground/openpilotgcs/src/plugins/config/config.pro
	ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
 2012-03-22 02:58:24 -05:00
James Cotton
2f8049e20a Update the bootloader hw version for the mpu6000 board and make the sensor code 
and initialization respond appropriately.  Enable hte L3GD20 and BMA180.
Let the board type determine which is used.
 2012-03-22 00:41:37 -05:00
James Cotton
6350ec575e Merge remote-tracking branch 'origin/os/features/stick-deadband-next' into next 
Conflicts:
	ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
 2012-03-21 16:03:40 -05:00
James Cotton
e7ca02c038 Initialize mag before mpu6000. Seems more reliable but I don't know why. 2012-03-21 03:42:15 -05:00
James Cotton
e4290d678b Reenable the pressure sensor and other modules 2012-03-21 00:49:29 -05:00
James Cotton
720684c248 Flag to enable pressure/mag 2012-03-21 00:49:04 -05:00
James Cotton
a77a859e5c Using some config switches to get this board up and running 2012-03-21 00:48:31 -05:00
James Cotton
6b88a278b3 Disable overosync by default. It was triggering event system warnings due to 
the extra updates from altholdsmoothed.  Increase queue size when reenabled.
Also AltHold is is trigger warnings because other tasks starve it during
startup.
 2012-03-21 00:29:09 -05:00
James Cotton
f4663b98e4 When the event system or object manager has an error store the object ID in the 
SystemStats.
 2012-03-20 23:18:07 -05:00
Brian Webb
fc2d81cd8c Added optional ADC initialization to PipXtreme (turned off). 2012-03-19 17:59:05 -07:00
Brian Webb
fdf853a2fe Cleaned up the PipXtreme makefile. 2012-03-18 19:26:18 -07:00
Brian Webb
823b111d60 Added Reed-Solomon error correction to PipXtreme. The code is a slight modification of rsscode (http://rscode.sourceforge.net). Packet acking has also been turned on as the default, so each packet is error corrected, and if errors remain, the packet is NACKed, otherwise it is ACKed. Also temporarily turned off UAVTalk parsing. This was causing the CC to be identified as a PipX due to the PipX sending UAVObjects (I believe) from the system module. The system module is going to have to be modified/replaced for the PipX. 2012-03-18 17:43:29 -07:00
Brian Webb
aba3789d87 Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into Brian-Metadata-Mods 2012-03-18 13:28:11 -07:00
Brian Webb
346ae1bc6e Removed crc from PipXtreme build. 2012-03-18 10:29:28 -07:00
Brian Webb
620e862022 Moved unused crc.c/h back to PipXtreme directory. 2012-03-18 10:26:47 -07:00
Brian Webb
ecdf150946 Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data. 2012-03-18 10:22:05 -07:00
Brian Webb
41c68a6f6b Updates to PipX configration. 2012-03-15 19:51:46 -07:00
Brian Webb
78b622a8d8 Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into PipXtreme 2012-03-15 19:31:18 -07:00
Brian Webb
b34b849453 Added start at a modified PipX packet handler. 2012-03-15 19:29:54 -07:00
James Cotton
a319a6b14c Flags to disable mag/baro init 2012-03-14 22:35:09 -05:00
James Cotton
0d42303d37 Fix some compilation errors/warnings in attitude.c 2012-03-11 16:30:18 -05:00
James Cotton
c8d1534b87 Convert inline functions to static, let the compiler figure it out. Also some 
formatting since code was probably written with tabstop = 2 :)
 2012-03-11 13:18:08 -05:00
James Cotton
bbbca319d8 Merge commit 'c4df0c0ceff8ba985bb20d815f27910b9e59d992' into revolution 2012-03-11 13:14:06 -05:00
Alessio Morale
c4df0c0cef Support for port remapping on serial ports 
Support for receiver configuration (PPM, PWM and DSM)
There are still problems with Flexi port (not sure if related to a problem with my board) and Uart/SBUS that has the input always inverted.
 2012-03-11 18:38:49 +01:00
Stacey Sheldon
3782cdc58e bu: drop CC and PipX from BU targets since they don't build 
The CC and PipX bootloader updater (BU) builds don't currently
work due to some recent changes in how LEDs are handled.

Remove them from the default BU targets so that the all_flight
target can build clean again.

Also fix a linker warning in OP build.
 2012-03-10 20:41:15 -05:00
Stacey Sheldon
6038bfcb40 revo servo: swap servo pins 3 and 4 definitions to match schematic 
Note non-standard pin numbering on JP3 on the schematic.
 2012-03-10 15:06:21 -05:00
James Cotton
820ca6a970 Initialize loop variable OUTSIDE loop so that baro is used still for altitude 
hold.
 2012-03-10 11:28:51 -06:00
James Cotton
f4705551b6 Update task info to cover the AltitudeHold module 2012-03-10 11:14:30 -06:00
Dmitry Zaitsev
d45e88515b firmware: disable Attitude module in simulation 
this part should be rewritten to completely disable the polling of sensors.
i just do not know how to do it correctly.
 2012-03-10 06:02:23 +04:00
James Cotton
690f1b5f29 Enable camera stabilization 2012-03-08 01:37:34 -06:00
Stacey Sheldon
3210bd3f9c f4 usb_dcd: disable FIFO empty IRQ while waiting for tx completion 
CPU was being hammered with FIFO empty IRQs if we queued data but
the host wasn't actively draining the FIFO.

This was entirely unexpected so this hack should probably be
removed once we can figure out why this was happening.

This is almost certainly hiding some other issue.
 2012-03-07 20:36:37 -05:00
Stacey Sheldon
c4bd286739 f4 usb_hid: track whether we have buffers queued on endpoints 
Make sure we don't clobber our endpoint configuration by
double configuring an Rx or Tx buffer against it.  Wait for
the completion of the previous operation before allowing
endpoint configuration again.
 2012-03-07 20:36:36 -05:00
Brian Webb
d73895de7d Working PipX com relay. 2012-03-07 18:05:42 -07:00
Stacey Sheldon
65fc6104e6 f4 usb_hid: ignore upper layers if USB IF not yet enabled 
Upper (COM) layer was calling down into the HID layer before
the HID interface had been enabled.  This was leading to
interacting with the endpoint Rx and Tx FIFOs prior to init.
The FIFO config was then being clobbered when we the USB IF
was eventually enabled.
 2012-03-07 20:01:35 -05:00
Stacey Sheldon
1f37806eab f4 usb_hid: fix typo in EP IN registration call 
Code was using the size of the Rx buffer instead of the Tx
buffer when registering.  Buffers are currently the same
size so wasn't causing any issues.
 2012-03-07 20:01:35 -05:00
Stacey Sheldon
bc3ee6209c f4 usbhook: drop in/out bit from EP numbers before using as index 
USBHOOK endpoint callback arrays should not be indexed with the
0x80 (in/out) bit set.  Oops.
 2012-03-07 20:01:35 -05:00
Stacey Sheldon
6832a62872 f4 bl_helper: clear all flash errors as we unlock the flash 
Error flags being set were causing flash erase operations to
fail.  Not sure why these flags were set though so this might
be hiding some other problem.
 2012-03-07 19:53:18 -05:00
Stacey Sheldon
4ea1156e7b f4 bl_helper: teach bl_helper about f4 flash sector map 2012-03-07 19:53:17 -05:00
Stacey Sheldon
d1d123e4f6 revo bl: turn on USB and add support for OP DFU protocol 2012-03-07 19:53:17 -05:00
Stacey Sheldon
b8fcbad297 revo bl: remove unneeded code from revo BL 
Clean up BL source tree and makefile.
 2012-03-07 19:53:17 -05:00
Stacey Sheldon
c854c3f4a4 usbhook: add support in API for deactivating USB 2012-03-07 19:53:17 -05:00
Stacey Sheldon
cb9c3a9b7e usbhook: delete dead code 
Remove old code left-over from porting from F1 to F4.
 2012-03-07 19:53:17 -05:00
Stacey Sheldon
e2ab662b5d sysclk: pass in correct definition for HSE_VALUE 
The code in RCC_GetClocksFreq() uses HSE_VALUE to determine
the tick rate of the SYSCLK.  This in turn is used by the
code in PIOS_DELAY_* to compute delays.

ST Library defaults this to 25MHz for the F4.  Our board
actually has an 8MHz oscillator so delays were way off.

Mostly affects the bootloaders since most FW code uses RTOS
delays rather than busy-waiting using PIOS_DELAY_*.
 2012-03-07 19:52:54 -05:00
Stacey Sheldon
fdf54ab86c hid: fix response to HID descriptor 
HID driver was incorrectly giving back the HID interface
descriptor when asked for the HID descriptor.  This should
let OP boards interact better with generic HID layer drivers
and also gives us nicer output in lsusb once the HID descriptor
is read.
 2012-03-07 19:52:54 -05:00
Brian Webb
444150269a Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into PipXtreme 2012-03-05 18:22:08 -07:00
James Cotton
61d59828dc Disable the new features if not revolution and set an error flag. Fixes 
compilation errors.
 2012-03-05 00:24:11 -06:00
Alessio Morale
637af911ef Merge remote-tracking branch 'origin/james/revolution' into amorale/revolution 2012-03-04 12:31:13 +01:00
James Cotton
7961aba83c Clean up a few more compiler warnings 
Conflicts:

	flight/PiOS/Common/pios_ms5611.c
 2012-03-03 13:32:56 -06:00
James Cotton
91a226fc12 Sometimes the mag stops updating so kickstart it 2012-03-03 13:31:46 -06:00
James Cotton
bc8b72623e Get rid of some unused variables 2012-03-03 11:54:09 -06:00
James Cotton
b3f620af7c Merge remote-tracking branch 'revo/stac/openocd' into revolution 2012-03-03 11:52:09 -06:00
James Cotton
f20e5da9ed Merge branch 'next' into revolution 
Conflicts:
	ground/openpilotgcs/src/plugins/config/config.pro
	ground/openpilotgcs/src/plugins/config/configrevowidget.h
	ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp
 2012-03-03 11:41:41 -06:00
Stacey Sheldon
0684a42fac build: use board-specific JTAG interface for openocd 
Removes hard-coding of JTAG interface config in the
<board>_program make macros.

This allows the use of STLINKv2 for F4 boards while
continuing to use the FOSS JTAG revB on F1 boards.
 2012-03-03 08:43:01 -05:00
Stacey Sheldon
d78c5d2a9a openocd: reenable flash commands on f4 boards 2012-03-03 08:43:01 -05:00
Stacey Sheldon
c0c38609ec openocd: move to newer openocd (dec6b913) 
This update fixes flash writing on F4 chips
 2012-03-03 08:43:01 -05:00
Alessio Morale
226cd09a13 Merge branch 'james/revolution' into amorale/revolution 2012-03-02 21:24:56 +01:00
James Cotton
e3df261213 Merge branch 'stac/revo-usb' into revolution 
Conflicts:
	flight/Revolution/System/pios_board.c
 2012-03-02 13:00:13 -06:00
James Cotton
72a93dbae5 Fix from PT for OSX/Windows F4 USB HID to send the full report size even if not 
all used.
 2012-03-02 11:11:36 -06:00
Alessio Morale
e8880d7271 Removed duplicate InitClock for tim_4 2012-03-02 00:55:50 +01:00
Alessio Morale
691e8760bc Updated OpenPilotOSX.xcodeproj to include Flight as a reference to the actual folder 2012-02-29 23:13:02 +01:00
Brian Webb
a0bdc58e5b Added framework for rfm22b com device. 2012-02-28 21:30:06 -07:00
Brian Webb
992aa3bec6 Updated PipX branch to use CDC device with a VCP (not working yet). 2012-02-25 09:07:37 -07:00
Brian Webb
e2cb750dc6 First cut on RadioComBridge module, which is intended to pass data from either a USART or a USB port to the PipX radio link. 2012-02-25 07:37:05 -07:00
Brian Webb
01f314724b Updates to USB configuration on the PipXtreme. 2012-02-24 15:54:26 -07:00
Brian Webb
483a96c31d Some more cleanup to PipXtreme codebase. 2012-02-24 07:49:41 -07:00
Brian Webb
b69b285f58 Fixed PipXtreme bootloader. 2012-02-23 20:40:24 -07:00
Brian Webb
182f285e60 Added missing startup file for PipXtreme. 2012-02-23 20:06:34 -07:00
Brian Webb
cf34baec69 Some cleanup on PipXtreme codebase. 2012-02-23 19:58:23 -07:00
Oleg Semyonov
2271b95816 Merge remote branch 'origin/next' into os/features/stick-deadband-next 
Conflicts:
	ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
	ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
	ground/openpilotgcs/src/plugins/config/configtaskwidget.h
 2012-02-23 08:32:27 +02:00
Oleg Semyonov
e62cc8914c Merge remote branch 'origin/next' into os/features/pid-tuning-from-transmitter-next 
Conflicts:
	flight/CopterControl/Makefile
	ground/openpilotgcs/src/plugins/config/config.pro
	ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
	ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
	shared/uavobjectdefinition/hwsettings.xml
 2012-02-22 23:03:17 +02:00
Brian Webb
f0dfba6fc0 Re-baslined the PipX codebase using the experimental Transmitter codebase. 2012-02-21 20:29:06 -07:00
Oleg Semyonov
403e9cd220 TxPID module: add ILimit values to the list of settings 2012-02-21 19:57:10 +02:00
James Cotton
7b548eaa54 Fix bug in the integral for altitude hold where it was accumulating wrong variable. 2012-02-21 00:40:55 -06:00
Brian Webb
43f6458f86 Reduced the sizeof the UAVObject metadata by: 
1) Combining all binary or mode values into a single byte
  2) Adding accessor functions to read/write the flag bits
  3) Reduced the size of the time values from 32 bits to 16 bits
 2012-02-20 18:45:18 -07:00
James Cotton
900780e10c Add bias estimation to the altitude fusion algorithm. Necessary to increase 
the gains on acceleration and velocity feedback terms (they are a problem when
biased).
 2012-02-19 11:38:09 -06:00
James Cotton
47fac7e31c Move the throttle setting code for alt hold into the fast accel loop. 2012-02-18 18:16:15 -06:00
Oleg Semyonov
c721d001c0 Subtract deadband offset from then input to still have fine control 2012-02-18 10:21:51 +02:00
James Cotton
7d4582e5f0 Update the altitude KF to use the updated measurements appropriately and check 
in the relevant matlab code to check it and genererate it.  Produces quite
smooth traces.
 2012-02-16 05:33:47 -06:00
James Cotton
c957172f8f In the case of swapping in userspace due to the buffer being blocked during 
ISR, make sure the latency is less than 50 us to avoid framesync errors.  Still
seeing a few nonsense packets on Overo side but fairly few.  Probably need to
add CRC to whole packet now and call it done.
 2012-02-14 11:06:16 -06:00
James Cotton
1930d092eb In the case where the overo scheduler cannot swap buffers (userspace loading 
it) then set a flag so as soon as the buffer is loaded then we schedule it.
 2012-02-14 11:00:29 -06:00
James Cotton
f04c58b0f4 Make the overo transaction occur based on the rising edge of the NSS line. 
This fixes most of the frame sync problems.  However, it's a bit hacky as
there is currently hardware information inside a module.
 2012-02-14 10:37:30 -06:00
James Cotton
d018d93e88 Clean up previous commit a bit and make the sampling rate a variable (and adapt 
the sampling time accordingly).
 2012-02-13 01:49:54 -06:00
James Cotton
3acbfbe96c Convert the pressure sensor code to most of the calculations as int64 to retain 
precision.
 2012-02-13 01:22:48 -06:00
James Cotton
4717af1afd Swap telemetry port and gps ports back 2012-02-12 13:55:52 -06:00
James Cotton
f23f53dc4e Add settings for the altitude kalman filter settings and init the state when 
first measurement arrives
 2012-02-12 09:07:27 -06:00
James Cotton
34ca5777dd Kalman filter for altitude 2012-02-11 21:08:19 -06:00
James Cotton
d8f0494e57 Merge branch 'revolution' into revolution_overo 2012-02-11 20:02:20 -06:00
Alessio Morale
22b211167c Ported pios_iap.c to F4 
restored failed boot count check on pios_board.c for revo
 2012-02-11 13:49:32 +01:00
James Cotton
3026527801 Now the desired altitude is relative to when the switch was flipped so that the 
baro altitude module can use a smoothed altitude estimate for the starting
point.
 2012-02-08 23:02:29 -06:00
James Cotton
80d602ef7b Switch order of some commands to make sure it loads the correct hover throttle 2012-02-08 20:47:10 -06:00
James Cotton
ab41bae071 Separately smooth the error estimate from the derivative 2012-02-08 11:15:33 -06:00
James Cotton
60c951843d Use backtracking to limit integral in altitude hold and smooth the velocity 
error.  Initialize the throttle integral better.
 2012-02-08 10:39:31 -06:00
James Cotton
c6b1d6b8df Rework the altitude hold code a bit 2012-02-08 09:42:10 -06:00
James Cotton
49a03a868b Merge branch 'altitudehold' into revolution_overo 
Conflicts:
	flight/OpenPilot/UAVObjects.inc
	flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
	flight/Revolution/Makefile
	flight/Revolution/ins.c
 2012-02-07 23:00:29 -06:00
James Cotton
6ec0f06c80 Back to 1024 byte packets 2012-02-07 13:02:11 -06:00
James Cotton
2c60447200 Switch back to 512 byte packets and fix bug when writing the header size that 
was smashing the crc
 2012-02-07 11:32:04 -06:00
James Cotton
221a0c5e53 Add the number of dropped updates to the overosync stats 2012-02-07 09:13:26 -06:00
James Cotton
a89d425b23 Reset the received rate for overo sync object 2012-02-07 09:01:58 -06:00
James Cotton
02bec750bd In the attitude loop need to check all the queues even if unused or the event 
system will have warnings
 2012-02-07 08:46:34 -06:00
Stacey Sheldon
e2939dae2a revo usb: Add support for USB to Revo 2012-02-07 02:25:31 -05:00
Stacey Sheldon
8b73ae7d16 remove trailing whitespace 2012-02-07 02:25:31 -05:00
Stacey Sheldon
b8c16fe7a5 hw defs: move misc defines and non-const data out of board_hw_defs.c 
The board_hw_defs.c file should only contain static
const declarations that only describe the hardware.

All other non-const variables should be put into one
of the pios_board.c files.
 2012-02-07 02:25:31 -05:00
Stacey Sheldon
3c1b1001f9 f4 usb: Allow USB descriptors to be const through ST APIs 2012-02-07 02:25:31 -05:00
Stacey Sheldon
56102013aa f4 usb: correct function prototypes in bsp template 
This file is not actually used but it should still be accurate.
 2012-02-07 02:25:31 -05:00
Stacey Sheldon
57f9f6e3d1 f4 usb: configure and build ST USB OTG and USB DEV libraries 2012-02-07 02:25:31 -05:00
Stacey Sheldon
1e79ed6d54 f4 usb: fix invalid reference to stm32f4_discovery.h 2012-02-07 02:25:31 -05:00
Stacey Sheldon
04b81f13a7 f4 usb: fix invalid references to stm32f2xx.h 2012-02-07 02:25:31 -05:00
Stacey Sheldon
266b95561f f4 usb: rename device template to real config file 2012-02-07 02:25:30 -05:00
Stacey Sheldon
a4ae844f2b f4 usb: rename otg template to real config file 2012-02-07 02:25:30 -05:00
Stacey Sheldon
58bbe0870d f4 usb: allow device->host data to be const 
This allows the application code to pass const
descriptors to the Tx APIs in the STM32 USB
library.
 2012-02-07 02:25:30 -05:00
Stacey Sheldon
4b911bb3be f4 usb: remove unused device class examples 2012-02-07 02:25:30 -05:00
Stacey Sheldon
efbe8bbfdd f4 usb: convert all line endings to LF-only 
Line ending changes only.  No functional changes.
 2012-02-07 02:25:30 -05:00
Stacey Sheldon
6a43d1c7ed f4 usb: Import pristine STM32F4 USB Library v1.1.0 
Taken from version STM32F4-Discovery_FW_V1.1.0 of the
library from ST.
 2012-02-07 02:25:30 -05:00
Stacey Sheldon
240425ff22 gdb: add config file for revo bl 2012-02-07 02:25:30 -05:00
Stacey Sheldon
1532338847 ef: fix dependencies in entire flash image build 
ef_$(BOARD_NAME).bin files were not properly depending
on their fw and bl files resulting in the ef files not
being regenerated.
 2012-02-07 02:25:30 -05:00
James Cotton
ae01936808 Add the portTickTime into the OveroSync stream 2012-02-06 10:00:02 -06:00
James Cotton
dbcb499d7f Add object to monitor the overo link status. Current just records the bytes/s 
being sent and the connected status (based on sending more than 500 bytes per
second)
 2012-02-06 09:37:31 -06:00
James Cotton
5b2376dbee Remove the semaphore for buffer swapping and make this occur during the receive 
ISR.  This leads to a possible condition where a copy is taking place in
userspace and then a buffer swap interrupts it.  However, the copy should
always finish before the SPI DMA slave catches up to that place in memory at 10
MHz.

This fixes a common condition where the userspace task (low priority) was not
swapping buffers in time from user space and logs were corrupted.
 2012-02-06 08:21:24 -06:00
James Cotton
179e66b754 Refactor how new packets are scheduled to avoid trying to start a transaction 
from an ISR.  This was causing lock ups.  It's a bit higher latency probably
(trivially slow) but if we aren't keeping up with the Overo transactions then
using a proper DMA double buffer will be required.
 2012-02-04 20:11:31 -06:00
James Cotton
665801662d In cc3d update sensors add accelbias before scaling to allow more precision in 
levelinIn cc3d update sensors add accelbias before scaling to allow more
precision in levelingg
 2012-02-04 12:12:41 -06:00
James Cotton
4e190f99e2 Improved the revo overosync code to put multiple uavobjects into a packet 2012-02-04 12:06:03 -06:00
Stacey Sheldon
60a2af2e58 ef+dfu: Move EF image generation into separate makefile 
A separate makefile for EF (Entire Flash) targets allows
the removal of board-specific hard-coded addresses.  These
values can now be included from the board-info.mk files
for each board.
 2012-02-04 12:03:42 -05:00
Brian Webb
3f66afd74a Removed emacs mode header from pios_gcsrcvr.c 2012-02-04 08:42:16 -07:00
Stacey Sheldon
4fafbb13ed makefile: Add EF (Entire Flash) targets for all boards 
These new build targets will construct a flash image that
includes both a bootloader as well as a firmware image all
in one.  Examples:
  make ef_coptercontrol
  make ef_revolution

This also adds support for a new target for writing this EF
image to boards that support a DFU interface (only F4-based
boards).  This can be done by running:
  make dfuutil_install
  # Boot board with SBL asserted to activate STM32 DFU ROM
  # Attach USB cable
  make ef_revolution_dfu

Bootloader images are also now padded out to occupy the full
BL flash region.
 2012-02-03 00:59:36 -05:00
Stacey Sheldon
ce544cf4ab gdb: remove cortex_m3 remnants from revo gdb init file 2012-02-03 00:59:31 -05:00
Stacey Sheldon
99f5f20cb2 openocd: add support for stlink on stm32f4 targets 2012-02-03 00:51:31 -05:00
Brian Webb
a314604f9b Added failsafe to GCS Receiver device. 2012-02-02 19:59:42 -07:00
James Cotton
18a64e261f Going a bit overkill with this - deinit who SPI block between transactions. 2012-02-02 12:32:57 -06:00
James Cotton
c26154f303 Switch back to 256 byte packets and 0xFF pad the end 2012-02-02 11:40:49 -06:00
James Cotton
03cfb1453a DeInit SPI DMA between transactions. Somehow if this doesn't happen the next 
transaction doesn't start at the beginning again.  Something is still not quite
right because first few bytes aren't getting across.  Need logic analyzer.
 2012-02-02 11:37:35 -06:00
James Cotton
77a6abb341 For PIOS_SPI F4 do not enable the TX irq. Also do not wait for the 
transmission to finish either.
 2012-02-02 11:24:14 -06:00
James Cotton
8b1137c6a0 Align the tx and rx SPI buffers from Overosync 2012-02-02 11:23:40 -06:00
James Cotton
0a71a48c57 Sending all FF finally again 2012-02-02 10:36:09 -06:00
James Cotton
80b839d145 The SPI3 TX DMA channel was wrong 2012-02-02 10:13:09 -06:00
James Cotton
29237f97ae For SPI slave devices we need to handle the interrupt differently since 
transactions should already be completed.  Also reset the callback so in the
case of noise on the IRQ line it will not keep firing interrupts.

I suspect we should probably disable interrupts in this handler to prevent
refiring.
 2012-02-02 10:13:09 -06:00
James Cotton
88b9f20cda Fix nasty bug in the DMA stream configuration 2012-02-02 10:13:09 -06:00
James Cotton
95abb56d5e Added module to send updates out the SPI port 2012-02-02 09:19:25 -06:00
James Cotton
e434ab94a9 Enable SPI port for revolution to overo communications 2012-02-02 01:42:38 -06:00
Alessio Morale
5449408763 Merge branch 'amorale/timerprescaler' into inoutch8 2012-02-01 00:23:53 +01:00
Alessio Morale
cb2dadd0ea fix Motor 8 out not working 2012-02-01 00:20:50 +01:00
Alessio Morale
322ced44a1 Solve PWM Input 8 not working 2012-02-01 00:16:48 +01:00
Alessio Morale
820e8ac062 Handle different prescaler values for timers on APB1 and APB2. 
The PIOS_MASTER_CLOCK has been removed in favor of
PIOS_SYSCLK (the master clock value,168000000 for revolution)
PIOS_PERIPHERAL_APB1_CLOCK and
PIOS_PERIPHERAL_APB2_CLOCK
Look at STM32F4xx_Revolution.h for the list of timer/peripheral and APB them belongs.
 2012-01-28 20:04:55 +01:00
James Cotton
a778c45d6f For L3GD20 sensor task run at the sensor speed 2012-01-28 10:11:30 -06:00
James Cotton
13447ac907 Fix the MPU6000 implementation 2012-01-28 00:21:58 -06:00
James Cotton
e07fca0465 Commit the revolution board_hw_defs.c file 2012-01-26 23:32:36 -06:00
James Cotton
b4435d0b35 For L3GD20 sensor task on revo update gyro once per physical sample 2012-01-26 23:29:12 -06:00
James Cotton
f311700804 Flashfs: Whenever failing out of a transaction unlock the semaphore 2012-01-26 14:14:50 -06:00
James Cotton
85bfa7dcf9 Flashfs: Missed calculation of the header crc for monolitihic write 2012-01-26 13:32:53 -06:00
James Cotton
84dd1dbc40 A bit more lenient settings for CC sensor timings 2012-01-26 13:00:06 -06:00
James Cotton
ad3d470f40 Flashfs and Flash: Add new function to write a series of blocks in one flash 
write transaction to improve efficieny.
 2012-01-26 12:39:35 -06:00
James Cotton
80705cdba1 Flash: Because on CC/CC3D the flash is initialized before FreeRTOS is started 
we cannot use the transaction lock or the delay while saving.
 2012-01-26 11:50:05 -06:00
James Cotton
4fc907ad0d Add a transaction semaphore to flash and flashfs to make sure multiple saves 
or loads can't be attempted between threads
 2012-01-26 11:36:07 -06:00
James Cotton
8b15fdd88b Flash: Add a vTaskDelay when waiting for flash operations to complete to 
prevent blocking the bus from accels
 2012-01-26 11:26:19 -06:00
James Cotton
7f38d113eb Delete more old target stuff 2012-01-26 11:21:34 -06:00
James Cotton
e69a0937bc Flash: Wrote status instead of read it 2012-01-26 11:17:00 -06:00
James Cotton
69dc5abf0c Flash: Get rid of some defines and directly reference the cfg structure 2012-01-26 10:56:26 -06:00
James Cotton
6d572986e5 Flashfs: Clean up some of the JEDEC commands and also format whole chip when FS 
is wrong.
 2012-01-26 10:04:49 -06:00
James Cotton
fe7b9a909a LED: Update the LEDs on revo 2012-01-26 09:11:27 -06:00
James Cotton
7eab883d5c Fix some small revolution typos 2012-01-25 22:50:19 -06:00
James Cotton
20670d049b Update pios_led for F4 targets to match the new F1 implementation. Also fix 
type for F1 in GPIO labels.
 2012-01-25 22:50:19 -06:00
James Cotton
727f0befc5 Make the gyro go a bit more regularly to stabilization but needs updating 
regular CC
 2012-01-25 22:50:19 -06:00
James Cotton
e4df3202e0 L3GD20: Update sensor task for revo to use the new queue 2012-01-25 22:50:19 -06:00
James Cotton
205aabe895 L3GD20: Make this sensor push data onto a FreeRTOS queue so that the sensor 
reading task can block according.  Also now the gyro data is sent to
stabilization multiple times per update of the attitude loop.
 2012-01-25 01:20:07 -06:00
James Cotton
0da20bb846 Flash: Because most of the commands are a JEDEC standard rename this file 
pios_flash_jedec and abstract out the methods that can vary between chips.
 2012-01-25 00:23:24 -06:00
James Cotton
a02cad6f52 Flashfs: Separate out the sector sizes and magic values into a runtime 
configurable structure.  This makes it easier to deal with different chip
layouts.
 2012-01-24 23:56:59 -06:00
James Cotton
1971ba30dc No longer hardcode baudrate 2012-01-24 23:42:43 -06:00
James Cotton
5ad37e691c USB: Update the USB configuration structure to include the GPIO that is used 
for sensing and then load different config for CC and CC3D.  Updated the
bootloader as well.  Also changed the PIOS_USB_CheckAvailability function to
only return the sense signal and not the transfer_possible flag as this is not
set in time for the bootloader on CC3D for some reason.
 2012-01-24 22:15:43 -06:00
James Cotton
bc3703ce33 Need more irq stack for CC3D 2012-01-24 19:48:52 -06:00
James Cotton
104c091590 Correct the range constants for the L3GD20 driver 2012-01-24 19:48:14 -06:00
James Cotton
a25d52785b Change the bus speed for the L3GD20 to 10MHz and some small cleanups 2012-01-24 19:17:49 -06:00
James Cotton
3880b0ddc3 CC3D and CC use different CS lines for the flash chip. Add a second cfg 
structure for each SPI interface.
 2012-01-24 16:21:48 -06:00
James Cotton
587ec5a615 Revert earlier patch on filesystem for Revolution. Need to make erase command 
and positioning of filesystem dependent on board type.

Reverted 99123372d0
 2012-01-24 16:14:41 -06:00
James Cotton
b6c056fef2 Use the updated L3GD20 format and make attitude.c use the gyro data from the 
fifo
 2012-01-24 15:52:17 -06:00
James Cotton
c9263cb8c0 L3GD20: Dynamically allocate buffer structure when used 2012-01-24 15:51:38 -06:00
James Cotton
5efbfb02fa Make the BMA180 sensor system acquire from the queue. Correct the orientation 
and speed it up to 10 MHz communications.
 2012-01-24 15:09:20 -06:00
James Cotton
8c208412c9 Give the BMA180 a dynamically allocated device structure and also make it 
properly bind to a SPI and slave number.  Temporarily reducing spi bus to
slowest possible speed.
 2012-01-24 14:38:00 -06:00
James Cotton
aec7dd0b00 Initialize the LEDs early in the bootup process 2012-01-24 14:37:04 -06:00
James Cotton
8e79bc2ee2 Temporarily refactor attitude to directly read the sensors instead of pull from 
their queues until the interrupts are working properly
 2012-01-24 11:54:23 -06:00
James Cotton
e9552065a9 Reenable the CC3D sensors 2012-01-24 11:03:33 -06:00
James Cotton
466992a907 Migrate some of the CC board settings to the new board_hw_defs 2012-01-24 10:58:40 -06:00
James Cotton
c242ab8b86 Merge branch 'next' into revolution3 
Conflicts:
	flight/AHRS/ahrs.c
	flight/AHRS/pios_board.c
	flight/Bootloaders/Revolution/Makefile
	flight/CopterControl/System/pios_board.c
	flight/INS/pios_board.c
	flight/OpenPilot/Makefile
	flight/OpenPilot/System/openpilot.c
	flight/OpenPilot/System/pios_board.c
	flight/PiOS/Boards/STM32103CB_CC_Rev1.h
	flight/PiOS/Boards/STM32F4xx_Revolution.h
	flight/Revolution/Makefile
	flight/Revolution/System/inc/pios_config.h
	flight/Revolution/test.c
 2012-01-24 10:46:35 -06:00
James Cotton
f029567e66 Remove meaningless settings from CC config file 2012-01-24 10:39:35 -06:00
James Cotton
66293a9788 Merge remote-tracking branch 'origin/stac/led-boottime-config' into next 2012-01-24 10:38:33 -06:00
James Cotton
7c22215e0b Patch from Sambas to fix F4 on windows 2012-01-24 10:33:07 -06:00
James Cotton
486cdb5dbb Got CC running again although with altitude and bmp085 disabled as well as the 
CC3D drivers.
 2012-01-24 10:32:42 -06:00
James Cotton
be50c00b7c Make sure BMA180/L3GD20 can be disabled 2012-01-24 09:23:13 -06:00
James Cotton
4d3af7afbf Add ID test to ADXL345 2012-01-24 09:23:12 -06:00
James Cotton
946c6a7f1d Fix small bugs in pios_board.c relating to adxl345 spi configuration 2012-01-24 09:23:12 -06:00
James Cotton
728c05f973 Crude implementation of sensor reading for CC3D 2012-01-24 09:23:12 -06:00
James Cotton
0cb6b13d33 Add BMA180 to CopterControl 3D. Had to reduce the stack space by 256 bytes. 
Some can be reclaimed by making the BMA180 allocate its fifo dynamically but
I'll do that later when it uses FreeRTOS queues for the FIFO.
 2012-01-24 09:23:12 -06:00
James Cotton
11471ff68b Update drivers for CC to the new EXTI system and SPI calls 2012-01-24 09:23:12 -06:00
James Cotton
a20d654744 Update the attitude algorithm for CC to use the Gyros and Accels UAVObjects 
instead of AttitudeRaw
 2012-01-24 09:23:12 -06:00
James Cotton
4cf82815ce Get the right pios_iap.c from next 2012-01-24 09:23:07 -06:00
James Cotton
aaf1c5dfdd Update the F1 SPI library to support multiple NSS lines 2012-01-23 23:27:02 -06:00
James Cotton
5fd458426a Merge branch 'cc3d' into revolution3 
Conflicts:
	flight/PiOS/inc/pios_l3gd20.h
	flight/PiOS/pios.h
	flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
 2012-01-23 22:09:45 -06:00
Stacey Sheldon
5907022b6d Merge remote-tracking branch 'origin/stac/ld-2.22-fix' into next 2012-01-23 23:05:52 -05:00
James Cotton
bcb49cbd33 Merge branch 'next' into cc3d 
Conflicts:
	flight/PiOS/STM32F10x/pios_exti.c
 2012-01-23 17:09:47 -06:00
James Cotton
2524662475 Copy the BMP085 back from next 2012-01-23 16:58:07 -06:00
James Cotton
b01d5c6b87 Include the drivers from the common directory 2012-01-23 16:58:07 -06:00
James Cotton
886d5456ac Update pios_exti for F4 2012-01-23 16:55:54 -06:00
James Cotton
9a12299074 Update the driver cfg structures for the EXTI changes. Make the drivers call 
the pios_exti_init instead of their individual implementations.
 2012-01-23 16:55:52 -06:00
James Cotton
b2a292e9c4 Move all the drivers to the PiOS/Common directory to prepare for refactoring 
the EXTI calls they make to the portable version
 2012-01-23 10:11:46 -06:00
James Cotton
c84240e485 Merge branch 'next' into revolution3 
Conflicts:
	flight/PiOS/STM32F10x/pios_bmp085.c
	flight/PiOS/STM32F10x/pios_exti.c
 2012-01-23 06:51:30 -06:00
James Cotton
21ae37b3de Remove BMP085 driver from F4 target 2012-01-23 06:44:25 -06:00
James Cotton
d864b481a1 Fix a few more merge conflicts 2012-01-23 04:47:35 -06:00
Stacey Sheldon
bfe6676eed exti: rewrite exti layer to improve portability 
The exti layer now allows drivers to register interrupt callbacks
during board initialization.  All details of the driver using a
particular EXTI pin have been removed from the EXTI layer so it
can now be used on any board without board-specific modification.

This includes some nice refinements provided by Mike Smith during
initial review.  His original commits have been squashed into this
one.
 2012-01-22 23:23:41 -05:00
Stacey Sheldon
dc4aa07a32 board_hw_defs: factor out board-specific hw config definitions 
Board specific HW configuration is now collected in a single .c
file for each board.  This HW configuration is #include'd into
the FW, BL and BU builds for each board.

These new .c files are found in:
  flight/board_hw_defs/<board_name>/board_hw_defs.c

Parts of this information were previously duplicated between
the BL and FW builds.  This commit cleans up the duplication.

Using a #include on a .c file is a bit ugly but it allows us
to ensure that all of the symbols in the board_hw_defs.c file
are *ONLY* used in the PIOS_Board_Init() function for each
software build.
 2012-01-22 19:41:41 -05:00
Stacey Sheldon
6bb4f0c61d leds: use boot-time config for PiOS LED layer 
LEDs are now configured based on a board-specific initialization
in PIOS_BOARD_Init().

LEDs are now named:
  PIOS_LED_HEARTBEAT
  PIOS_LED_ALARM
 2012-01-22 18:22:59 -05:00
Stacey Sheldon
3cbf4499e1 ld: make sure current pointer never goes backwards 
Fixes linking on ld version 2.22.
 2012-01-21 21:18:06 -05:00
James Cotton
cc0cbf0381 Enable IAP code on revolution now 2012-01-21 13:22:39 -06:00
James Cotton
fe44a3d37a Reference correct taskmonitor file compiled in to revolution 2012-01-21 13:22:17 -06:00
James Cotton
e505de7ba0 Remove redundant remap field from merge 2012-01-21 13:22:00 -06:00
James Cotton
838370b3a4 Fix calls to backup registers on F4 2012-01-21 13:21:37 -06:00
James Cotton
bb0bfe0ae4 Merge branch 'next' into revolution3 
Conflicts:
	flight/Bootloaders/CopterControl/Makefile
	flight/Bootloaders/PipXtreme/Makefile
	flight/Bootloaders/Revolution/inc/pios_config.h
	flight/CopterControl/Makefile
	flight/INS/inc/pios_config.h
	flight/Libraries/taskmonitor.c
	flight/Modules/Altitude/altitude.c
	flight/Modules/Attitude/attitude.c
	flight/OpenPilot/Makefile
	flight/OpenPilot/Makefile.posix
	flight/OpenPilot/System/inc/pios_usb_board_data.h
	flight/OpenPilot/System/inc/taskmonitor.h
	flight/OpenPilot/System/pios_board.c
	flight/OpenPilot/System/taskmonitor.c
	flight/PiOS/Boards/STM32F4xx_Revolution.h
	flight/PiOS/STM32F4xx/pios_bmp085.c
	flight/PiOS/STM32F4xx/pios_iap.c
	flight/PiOS/pios.h
	flight/Revolution/System/inc/pios_config.h
	flight/Revolution/System/inc/taskmonitor.h
	flight/Revolution/System/taskmonitor.c
	ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp
	shared/uavobjectdefinition/systemalarms.xml
	shared/uavobjectdefinition/taskinfo.xml
 2012-01-21 11:27:03 -06:00
James Cotton
f8e59443b8 If the BMA180 isn't read when an IRQ fires (because the flash chip has claimed 
the bus) then it won't fire another interrupt until read.  For now this is
dealt with in the sensor loop by forcing a read when the fifo is empty.
 2012-01-21 10:13:46 -06:00
James Cotton
f6db859e4f Fix bug in flash driver where it could assert CS line after failing to claim 
the bus.  Also added a "claimed" flag to the device structure.
 2012-01-21 09:57:12 -06:00
James Cotton
5dbbfec8a9 Make the BMA180 driver use the appropriate claim method from the ISR. Also 
slow down this bus to 10 MHz.
 2012-01-21 09:57:02 -06:00
James Cotton
ff0bd87f4e PIOS SPI: Add a second claim bus method for use in ISR. This has no timeout 
and uses an ISR safe queue claiming method.  This avoids deadlocks when ISR
blocks other tasks from freeing the bus.
 2012-01-21 09:07:06 -06:00
James Cotton
ec903449cd Remove line that bypassed the BMA180 startup test 2012-01-21 08:46:32 -06:00
James Cotton
6d72678086 Add timeout in the sensor task for reading sensors to stop the watchdog firing. 
All sensors should later be converted to use FreeRTOS queues.
 2012-01-21 08:32:41 -06:00
James Cotton
476cb4d9c2 Unfortunately for now hardcoding new LED configuration. Need to generalize LED 
out to a proper run-time configuration.  This unfortunately breaks a general
firmware for now.
 2012-01-20 15:45:51 -06:00
James Cotton
8935614a3f Switch the gyro driver loaded based on the board revision flag from the 
bootloader
 2012-01-20 14:52:05 -06:00
James Cotton
a252ee134a Fix the l3gd20 initialization in pios_board.c and also change the (ugly) 
hardcoded exti system to use line3 on F1xx for L3GD20
 2012-01-20 14:39:05 -06:00
James Cotton
c76e9f2d7a Updates to the l3gd20 driver for stm32f1xx. Need to eventually merge these 
drivers with F4 drivers.
 2012-01-20 14:36:16 -06:00
James Cotton
4f28c8d48e Change the init structures to be const in the std periph library for exti 2012-01-20 14:35:27 -06:00
James Cotton
a5d006d1a9 Set up the SPI interface to the l3gd20 2012-01-20 14:20:37 -06:00
James Cotton
8f535bd28c Import of l3gd20 driver from revo branch 2012-01-20 13:42:58 -06:00
James Cotton
7f284596f2 Attempting to get flash and BMA180 to coexist 2012-01-20 13:33:21 -06:00
James Cotton
1e8811362e On revolution attach the flash chip to the accel bus now. Also extended the 
flash chip driver to take in the slave number during initialization so this is
no longer a hardcoded option.
 2012-01-20 07:37:47 -06:00
Stacey Sheldon
64202ce092 Merge remote-tracking branch 'origin/stac/i2c_decoupling' into next 2012-01-17 22:35:36 -05:00
Stacey Sheldon
ad141c908a Merge remote-tracking branch 'origin/stac/usb-composite-device-v2' into next 2012-01-17 22:26:38 -05:00
James Cotton
1b5e776dc5 Hardcoded scale for now since it isn't picking up from the cfg structure. 2012-01-17 19:53:20 -06:00
James Cotton
ce2d0fcbb1 L3GD20 data now running through IRQ -> FIFO 2012-01-17 19:36:32 -06:00
James Cotton
35025303cd Getting data from gyro. 2012-01-17 19:29:38 -06:00
Stacey Sheldon
bffb184b7a usb: add standard boilerplate to new files 2012-01-16 21:32:52 -05:00
Stacey Sheldon
ee0895aa77 usb hid: remove stale files from pipx 
These files are no longer relevent for USB configuration.
 2012-01-16 21:31:07 -05:00
Stacey Sheldon
3bda0f450d bootfault: force fault when no telemetry available on OP too 
If no telemetry link is configured, this will force the board
to reset before finishing init.  The BootFault logic will
catch this after 3 resets and will boot with default hwsettings
on the next reset.

This won't currently ever fire on OP though since we always
configure the serial telemetry interface.  This just makes sure
the pattern is present in case anyone decides to compile without
serial telemetry.
 2012-01-15 23:04:31 -05:00
Stacey Sheldon
8cd4816d7b taskmonitor: move taskmonitor into flight/Libraries 
taskmonitor.[ch] existed as (nearly) identical copies under
CC and OP directories.  Both builds now reference the common
version under Libraries.
 2012-01-15 21:37:10 -05:00
Stacey Sheldon
387ea77d30 diagnostics: enable DIAG_TASKS on OP board by default 2012-01-15 18:16:50 -05:00
Stacey Sheldon
b05697c2cf taskinfo: ensure usage of TaskInfo uavo is covered by DIAG_TASKS 
OpenPilot platform (and thus sim too) was missed when the
DIAG_TASKS macro was broken out from the DIAGNOSTICS macro.

This allowed accesses to the TaskInfo UAVO even though it hadn't
been initialized.
 2012-01-15 18:16:50 -05:00
Stacey Sheldon
0575b45378 usb: make USB usage depend on PiOS config 
USB is not supported on sim platforms.  Let PiOS
config determine when we use it.
 2012-01-15 18:16:49 -05:00
Stacey Sheldon
c97b108a1f bootfault: make IAP usage depend on PiOS config 
The sim platforms don't support an IAP mechanism.  Let
PiOS config control when we try to use it.
 2012-01-15 18:16:49 -05:00
Oleg Semyonov
912bea559f Add stick deadband option for Roll/Pitch/Yaw inputs to firmware 2012-01-15 21:13:22 +02:00
Stacey Sheldon
27ceb7ea92 modules: Allow optional modules to be used as built-in 
Some modules are written such that they can be included
or excluded at runtime.  These are added to the OPTMODULES
list in the makefile for a given board.

This change provides a mechanism to allow a build to force
a given module to be built-in (ie. always initialized)
regardless of the configuration in hwsettings.

The main use case for this is to handle a module being optional
on one platform but essential on another.

All modules added to the MODULES list in the Makefile will
automatically result in a matching #define in the form
  MODULE_TheModuleName_BUILTIN
being defined in the CFLAGS for all compiled source.

Note that the capitalization of TheModuleName must match
exactly the capitalization used in the MODULES list.
 2012-01-14 16:55:55 -05:00
Stacey Sheldon
53e9ef06b4 altitude: add optional altitude module 2012-01-14 15:38:56 -05:00
Stacey Sheldon
717c1311e6 altitude: allow altitude to be an optional module 2012-01-14 15:38:56 -05:00
Stacey Sheldon
bae08fcad0 bmp085: decouple i2c adapter 
Let the bmp085 be attached to different adapters for different
boards.
 2012-01-14 15:38:56 -05:00
Stacey Sheldon
4cb0c41338 bmp085: only use eoc and drdy gpios when available 
When the bmp085 chip is on an external board, we don't
have access to the eoc and drdy gpio lines.  Only use
them when available.
 2012-01-14 15:38:56 -05:00
Stacey Sheldon
a0089f072a i2c: rename main adapter to flexi adapter on CC 2012-01-14 15:38:56 -05:00
Stacey Sheldon
feacec468d i2c: compile-time decoupling of i2c devices from adapters 
This allows each device to be moved (at compile time) to a
different adapter.  This is the first step to allowing devices
to be attached to different i2c adapters.
 2012-01-14 15:38:56 -05:00
Stacey Sheldon
ec6d550225 i2c: allow i2c adapters to remap pin functions 
Allows us to support more complex pin configurations
for i2c.
 2012-01-14 15:38:55 -05:00
Stacey Sheldon
a51bf72bc7 usb: allow runtime selection of USB descriptors via hwsettings 2012-01-14 14:28:15 -05:00
Stacey Sheldon
1d14ab00e1 safeboot: add safe boot support to OP and PIPX bootloaders 
Application support for OP and PIPX will show up in future
commits.
 2012-01-14 14:28:11 -05:00
Stacey Sheldon
2d27c54d48 com_msg: Create new message based COM layer for bootloaders 
The main purpose of this new COM implementation is that it is
much simpler, and requires less code space.  This takes a bit
of the pressure off of the CC bootloader which was right at
the limit of available code space in the bootloader partition.

This is not intended to ever be used by the application.

This driver also formalizes the assumptions in the bootloader's
usage of the COM layer.  All messages are assumed to arrive
in atomic chunks from the HID layer.
 2012-01-14 14:23:18 -05:00
James Cotton
147cd7eede Fix correct library.mk file 2012-01-08 09:27:32 +01:00
James Cotton
8b42fbeafc Revert "Fix case in library.mk to stop Brian bitching :)" 
This reverts commit d39e818ca6.
 2012-01-08 09:27:13 +01:00
James Cotton
d39e818ca6 Fix case in library.mk to stop Brian bitching :) 2012-01-08 09:10:56 +01:00
James Cotton
ebbe1bd497 Some beginning work on the l3gd20 driver 2012-01-08 09:07:07 +01:00
Stacey Sheldon
b0d1551cc2 Merge remote-tracking branch 'origin/stac/usb-composite-device-v2' into next 2012-01-07 13:35:42 -05:00
Stacey Sheldon
a86abcd140 usb cdc: fix index of first interface in IAD 
This error resulted in the HID interface being non
functional on windows platforms.
 2012-01-07 09:46:12 -05:00
James Cotton
cc47520baa Checking ID on ST gyro works 2012-01-04 23:23:42 -06:00
James Cotton
0fbcf7723d Code to disable all gyros. All modules now running. 2012-01-04 22:37:15 -06:00
James Cotton
5ee9c8008e Temporarily swap serial ports while debugging 2012-01-04 22:19:13 -06:00
James Cotton
0cc18e7dcf Add files for new L3DG20 sensor 2012-01-04 20:33:54 -06:00
James Cotton
e1c21462b0 Delete another unused file 2012-01-04 19:47:06 -06:00
James Cotton
d5eb38a065 Remove references to deprecated targets 2012-01-04 19:42:45 -06:00
James Cotton
cce351bb9a Delete references to unused objects 2012-01-04 19:37:38 -06:00
James Cotton
0da6109871 Update the F4 copyright headers to 2012 2012-01-04 19:29:29 -06:00
Stacey Sheldon
3bc45b0036 usb cdc: use proper macro for CDC mgmt endpoint packet size 
The hard-coded value (16) in the descriptor differed from the
macro (32) which was used to configure the low-level USB HW
block in the STM32.
 2012-01-04 00:38:19 -05:00
James Cotton
d2ce7761c5 Add derivative term 2012-01-03 12:37:18 -06:00
Stacey Sheldon
025ed0f43c Merge remote-tracking branch 'origin/stac/usb-composite-device-v2' into next 
Conflicts:
	HISTORY.txt
 2012-01-03 00:02:45 -05:00
Stacey Sheldon
e22bc0c51b copyright: remove incorrect attribution in boilerplate text 
These files do not contain content from the ID in the header.
This name seems to have been cut/pasted all over throughout
the openpilot source tree and should be removed from any files
that should not rightfully be attributed to this person.
 2012-01-02 23:33:07 -05:00
Stacey Sheldon
8d8715c8c1 copyright: add/correct GPL + copyright boilerplate 
I missed some of the boilerplate text on some of the
new files I've added recently.  Fixed.
 2012-01-02 23:28:53 -05:00
Stacey Sheldon
4d2760f11d cc bl: allow bootloader to force safe-boot into firmware 
This can be used by the GCS firmware uploader widget to boot
the firmware with a (temporarily) defaulted hwsettings uavo
so that a user can easily recover from a bad/incompatible
hwsettings configuration without wiping all settings.

This uses the same mechanism that the BootFault auto-recovery
code already uses in the CC firmware.  The auto-recovery is
triggered by setting the failed-boot counter to a maximum
value forcing recovery on the next FW init.
 2012-01-02 14:27:06 -05:00
Stacey Sheldon
481a13609e com: remove all references to PIOS_COM_ReceiveBufferUsed() 
The PIOS_COM_ReceiveBufferUsed() function call is no longer
necessary since the same semantics can be achieved using calls
to PIOS_COM_ReceiveBuffer().
 2012-01-02 14:27:06 -05:00
Stacey Sheldon
b94f4b49a4 usb: major refactoring of USB descriptors, CDC and HID 
Summary of changes:
 * USB CDC and HID drivers are completely split apart.
   * This will allow different max buffer sizes for HID and CDC.
 * USB descriptors have been overhauled:
   * Proper structs/macros/enums declared for USB (see pios_usb_defs.h)
   * Two common descriptor definitions.  One for HID+CDC another for HID only.
     See pios_usb_desc_{hid_cdc,hid_only}.c for details.
   * Long standing bugs in OP USB descriptors became much more obvious with the
     new struct definitions.
   * Board specific USB initialization is now in pios_usb_board_data.h in each build target.
   * Definition of USB descriptors is now entirely indpendent of STM32 libs.
     Glue into STM32 libs is provided by pios_usbhook.c.
 * Removed a lot of stale/irrelevant USB #defines throughout the tree.
 * Improved naming consistency throughout USB code:
   * PIOS_USB_HID_* now refers to the HID endpoint code.
   * PIOS_USB_CDC_* now refers to the CDC endpoint code.
   * PIOS_USB_* now refers to the low-level USB code.
   * PIOS_USB_BOARD_* now refers to board-specific USB data
   * PIOS_USBHOOK_* is glue between PIOS and STM32 USB libs.
   * struct usb_* and enum usb_* and USB_* and HID_* are all types from the USB spec.
 * Shrunk the buffer size on the CDC call mgmt endpoint to save some RAM.
 * Made a few more USB related variables static to save some RAM.
 2012-01-02 14:27:06 -05:00
Stacey Sheldon
7f03195aba stm32 usb: allow descriptor data to be const through API 
This allows a few more data structures to be const to save
some RAM.
 2012-01-02 14:27:06 -05:00
Oleg Semyonov
77a459af5c Merge remote branch 'origin/next' into os/TxPID-module 2012-01-02 14:49:54 +02:00
Oleg Semyonov
b01e332e03 CameraStab: rename UAVO field 2012-01-02 14:27:05 +02:00
Oleg Semyonov
65abb8f819 CameraStab: small optimization, freed 8 more heap bytes 2012-01-02 14:27:00 +02:00
Oleg Semyonov
406cff296d CameraStab: bypass LPF calculation if ResponseTime is zero 2012-01-02 14:26:58 +02:00
Oleg Semyonov
e11904c42f CameraStab: change ResponseTime type from float to int16 2012-01-02 14:26:56 +02:00