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954 Commits

Author SHA1 Message Date
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
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
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
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
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
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
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
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
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
4d3af7afbf Add ID test to ADXL345 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
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
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
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
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
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
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
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
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
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
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
Stacey Sheldon
53e9ef06b4 altitude: add optional altitude 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
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
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
0cc18e7dcf Add files for new L3DG20 sensor 2012-01-04 20:33:54 -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
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
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
Stacey Sheldon
6c192f67ee gasp: delete clutter 2011-12-31 13:03:49 -05:00
Stacey Sheldon
e7053c77f0 usb config: remove unused macro for number of endpoints 
This is no longer referenced and is confusing.
 2011-12-31 13:02:43 -05:00
Stacey Sheldon
b91f40eb94 iap: extend API to support read/write of boot counter 
Also clean up unused/obsolete definitions.
 2011-12-30 23:05:38 -05:00
Stacey Sheldon
2cf1fe93c6 com: don't block forever waiting for a transmitter 
Not all transmitters will continue to run when disconnected.
USB is one example of this.  When the USB cable was disconnected,
any transmitter blocked here would wait forever.

This was particularly noticeable when the telemetry Tx task
blocked forever on USB disconnect.  This also resulted in
the telemetry Rx task blocking forever waiting on the UAVTalk
connection lock.

We now block for a max of 5s waiting for space in the transmit
buffer.
 2011-12-30 23:05:37 -05:00
Stacey Sheldon
16619584e4 usb cdc: return valid data in response to SetLineCoding 2011-12-30 23:05:36 -05:00
Stacey Sheldon
80e0be3cec com: fragment transmitted buffers to match underlying device 
PIOS_COM_SendBufferNonBlocking() will now fragment its buffer
to match the max size of the underlying device.

This allows the buffer size of the underlying device to shrink
below the maximum message size, thus allowing us to use smaller
buffers on memory-constrained platforms.
 2011-12-30 23:05:36 -05:00
Stacey Sheldon
407bec0c95 usb cdc: track oversized rx buffers 2011-12-30 23:05:35 -05:00
Stacey Sheldon
b858cf387e com: track dropped bytes on rx for usart and usb com 2011-12-30 23:05:35 -05:00
Stacey Sheldon
2040645171 com: Use all bytes in Tx buffer 
Code would previously fail Tx if we happen to send data
that happened to be exactly the size of the available space
in the tx buffer.
 2011-12-30 23:05:35 -05:00
Stacey Sheldon
34af9ac92d usb_com: NAK rather than STALL on buffer full 
STALL should only be used to indicate an error has occurred.
NAK is the correct mechanism to provide backpressure.
 2011-12-30 23:05:35 -05:00
Stacey Sheldon
e2bb7140fe usb cdc: allow use of entire rx buffer 
Previously, the code only allowed n-1 bytes of the
available space to be used.
 2011-12-30 23:05:35 -05:00
Stacey Sheldon
86aead52ce usb cdc: only pass valid bytes from USB rx up to com layer 
Previously, up to 63 random bytes would be passed to the COM
layer and would be delivered to the application as though
the far end had sent them.
 2011-12-30 23:05:35 -05:00
Stacey Sheldon
f54c0552ce com: make sure we know when a higher prio task is woken 2011-12-30 23:05:34 -05:00
Stacey Sheldon
202b1bd428 com: Always kick rx_start if we got zero bytes 
This will ensure that we kick rx_start at least once every
time that a user tries to receive bytes from the underlying
device.
 2011-12-30 23:05:34 -05:00
Stacey Sheldon
64f498e48a com-bridge: add usart to usb vcp bridge 2011-12-30 23:05:34 -05:00
Stacey Sheldon
eebdda6276 usb cdc: make HID/CDC configurable in hwsettings 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
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
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
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
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
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
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
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
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
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
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
de9a8453ef Configure the board to use PWM input and servo output 2011-11-26 02:19:56 -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
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
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
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
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
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
Corvus Corax
aa69027cb2 Merge branch 'next' into CC_GPS 2011-11-11 11:44:11 +01:00
Corvus Corax
e03e3c2ed8 removed "special code" to start optional modules 2011-11-11 11:22:54 +01:00
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
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
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
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
3388843fb5 Merge in PixHawk F4 work 2011-11-01 01:09:55 -05:00
Oleg Semyonov
0116e6a007 spektrum: rework DSM2/DSMJ/DSMX driver for explicit DSMX resolution support 
- both CC serial ports are now disabled by default (no telemetry);
- serial ports now have DSM2, DSMX (10bit) and DSMX (11bit) options;
- ReceiverGroups now have DSM (MainPort) and DSM (FlexiPort) options.

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

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

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

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

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

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

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

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

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

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

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

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

This also provides the first step toward being able
to reassign some of the PWM input pins to be servo
output pins.  Still more work required, but this is
a good start.
 2011-08-27 21:39:56 -04:00
Stacey Sheldon
b3c43da90a stdperiph: Make TIM related APIs use const pointers 
This allows the configuration parameters to be stored in
flash instead of copied to RAM.
 2011-08-27 21:39:17 -04:00
James Cotton
dc340596f5 Merge branch 'next' into GCS_ChangesToUI-RuntimeCFG 
Conflicts:
	flight/CopterControl/Makefile
	flight/OpenPilot/System/pios_board.c
	flight/OpenPilot/UAVObjects.inc
	flight/PiOS/STM32F10x/pios_spektrum.c
	ground/openpilotgcs/src/plugins/config/config.pro
	ground/openpilotgcs/src/plugins/config/configgadget.qrc
	ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
	shared/uavobjectdefinition/hwsettings.xml
 2011-08-27 15:26:05 -05:00
Corvus Corax
4bd72923e5 Merge branch 'CorvusCorax_unidirectional-GPS-com' into CC_GPS 
Conflicts:
	flight/Modules/GPS/GPS.c
	flight/Modules/GPS/GTOP_BIN.c
	flight/Modules/GPS/NMEA.c
	shared/uavobjectdefinition/hwsettings.xml
 2011-08-25 15:33:23 +02:00
James Cotton
5f7a9b513a Merge branch 'sambas/dsmx_stuff' of ssh://git.openpilot.org/OpenPilot into next 
Conflicts:
	shared/uavobjectdefinition/hwsettings.xml
 2011-08-24 11:37:30 -05:00
James Cotton
4e59e697af IMU3000: Sometimes the irq is called before previous I2C transaction. This 
isn't good but for now just deal with it.  Need DMA I2C driver.
 2011-08-22 02:34:40 -05:00
James Cotton
8c16f614f2 INS: Use the data from the BMP085 and feed into EKF 2011-08-22 02:32:40 -05:00
James Cotton
b1c522def3 Merge remote-tracking branch 'origin/next' into ins 2011-08-21 01:34:40 -05:00