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.
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.
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.
needed by users because if too much changes I change the FS magic and trigger a
wipe.
Possibly the erase should require a particular "magic" object id value to
execute? This would make it harder to do manually through UAVOs though.
This allows the GCS to emulate a receiver device via the
telemetry link.
Select "GCS" as your input type in the manualcontrol config
screen and calibrate it as normal.
Note: The expected values for the channels are in microseconds
just like a PWM or PPM input device. The channel values
are validated against minimum/maximum pulse lengths just
like normal receivers.
This allows the spektrum and sbus receiver drivers to bind
directly to the usart layer using a properly exported API
rather than overriding the interrupt handler.
Bytes are now pushed directly from the usart layer into the
com layer without any buffering. The com layer performs all
of the buffering.
A further benefit from this approach is that we can put all
blocking/non-blocking behaviour into the COM layer and not
in the underlying drivers.
Misc related changes:
- Remove obsolete .handler field from irq configs
- Adapt all users of PIOS_COM_* functions to new API
- Fixup callers of PIOS_USB_HID_Init()
Each channel was previously tracking a separate driver.
Now, channels are grouped within a channel group to save
RAM used for tracking and to better reflect how channels
are actually mapped.
It was tested being merged with OP-472_CorvusCorax_CopterControl-Guidance_v3
branch, Spektrum on USART3 and GPS on USART1 and seems to work.
Currently defaults mimic original behavior, that is, if USE_SPEKTRUM
is not defined - define USE_PWM and USE_GPS. Thsi should be refactored
later to make it configurable from the Makefile.
Also it was not ported to the OP MB: it currently does not support the
S.Bus hardware and still has original behavior with the patch. But this
is one more step to dynamic configuration of ports.
matches. Read the flash first bytewise to compute CRC instead of buffering
which is more RAM efficient but very inefficient as it sets up many one byte
SPI transfers.
Also incremented the filesystem magic flag to trigger an automatic flash wipe
on this upgrade.
The pipxtreme boards use a sector of the on-board flash
for configuration storage. Adjust the memory maps to
reflect this.
The board_info_blob is also extended to include the EE
bank definitions. This should be used by the pipxtreme
firmware rather than determining it based on chip size.
Now that every bootloader build has a board info blob,
make all fw and bl images use it.
The following MACROS are removed:
BOARD_TYPE, BOARD_REVISION, BOOTLOADER_VERSION,
START_OF_USER_CODE, HW_TYPE
These values are now ONLY available from the bootloader
flash via the pios_board_info_blob symbol. These values
must not be #defined or otherwise hard-coded into the
firmware in any way. The bootloader flash is the only
valid source for this information.
NOTE: To ensure that we have an upgrade path from an
old bootloader (without board_info_blob) to a
new bootloader (with board_info_blob), it is
essential that the bu_* targets do not depend
on (or validate) the board_info_blob being present
in the bootloader flash.
The board info blob is stored in the last 128 bytes of the
bootloader's flash bank. You can access this data from the
application firmware like this:
#include <pios_board_info.h>
if (pios_board_info_blob.magic == PIOS_BOARD_INFO_BLOB_MAGIC) {
/* Check some other fields */
}
DO NOT link pios_board_info.c into your application firmware.
Only bootloaders should provide the content for the board info
structure. The application firmware is only a user of the data.
AHRS_comms still needs to be implemented. INS/GPS functionality still needs to be implemented. Double-check of the new drivers still needs to be done.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3162 ebee16cc-31ac-478f-84a7-5cbb03baadba
- Removed all unnecessary device instances and their cfg's.
- SPI to SD card
- I2C
- Aux USART
- Moved SPI baudrate setting into cfg rather than init func.
- Abstracted forcing slave select under OPAHRS API.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2786 ebee16cc-31ac-478f-84a7-5cbb03baadba
only one CS line is asserted. No checks are enforced on this by the SPI code
as I cant see a clean way of it being aware of the CS lines. We could add
another CS mode those which is driver managed per transfer and has a GPIO i
line for each device.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2579 ebee16cc-31ac-478f-84a7-5cbb03baadba
gyro data into attitude raw. Hardcoded calibration for now.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2474 ebee16cc-31ac-478f-84a7-5cbb03baadba
ActuatorSettings although for PWM aircrafts it should be done exactly as before
Actuator: Store the update times and maximum update time
OP-14 I2C: Start tracking short history of events and states in driver for
logging
OP-237 Flight/Actuator: Support for I2C based ESCs
OP-237 MK_ESC: Send all four motors as one atomic transfer
OP-237 Flight/Actuator: Allow channels to be mapped to MK I2C interface. Currently
mixer channels are either PWM or MK but in the future this will change to
support more than 8 channels.
OP-16 PiOS/I2C: Further work to try and make I2C more stable, mstly special case
handline in IRQ
OP-237 I2C ESC: Support for Astect 4 channel ESCs
OP-237: When the I2C Actuator write update fails track this
OP-237 Actuator Settings: Change the way motor types are selected to keep that
information more appropriately within ActuatorSettings instead of MixerSettings
Also make motors stay at or above neutral when armed and throttle > 0
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2366 ebee16cc-31ac-478f-84a7-5cbb03baadba
determine retransmitting calibration, home location and such.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1755 ebee16cc-31ac-478f-84a7-5cbb03baadba
