This separates the RTC device and interrupt handling
from the devices that rely on the tick notifications.
Drivers can now register tick notification functions
that will be called on each RTC tick event.
All receivers now fall under the same driver API provided
by pios_rcvr.c.
This is part of a larger sequence of commits that will
switch the receiver selection over to boot time dynamic
configuration via UAVObjects.
Also implement some ordering (quite ugly still) in the module init and task creation order so we can decide which module to start/init first
and which module to start/init last.
This will be replaced/adapter with the uavobject list later (once it's implemented).
reserving some space for module init and task create parameters to customize module/task creation (this will be usefull once we get the list and customization from customer).
Changes have been made for OP and CC. Tested comped with CC,OP, sim_posix.
Only ran on bench with CC for couple of minutes (code increase expected but no dropping of stack which is good).
This gives task creation at the time wherethe all heap is available.
heap reamining is low (about 500) but stacks can be ajusted (specially the 200 bytes from system) to give the level close to 1Ko if needed.
Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint
Conflicts:
flight/CopterControl/System/inc/FreeRTOSConfig.h
flight/CopterControl/System/inc/pios_config.h
- create linker section for those <module>Initialize()
- later this list will incorporate parameters as well. (this probably will be more a OP feature to swap/remove/delete module on the fly.
- this is not done at compile time anymore by Makefile.
- this will allow us to have control on the module start at run-time (not implemented but build the ground for it).
- this simplify the startup (Part of code re-org).
- this change does not affect sim_posix and win32 (since they don't need that)
- ensure it's compiling for PiOS.posix
- port to PiOS.win32 but not tested (not compiled)
- tested on CC
- compile on OP.
- this free ~200 bytes.
- current avalable bytes (is we keep the same remaining bytes on the stack than before) is easily passed the 1.2Ko mark on CC with new gcc (4.5.2)
- this does not include init-reorg for each module (I still think more can be freed)
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.
CAREFULL: the heap section need to be the last section in RAM to avoid overwritting data...
Tested with GCC 4.5.2 this gives 1K of free bytes usable in heap right away (including the 200 bytes saved just by using the new gcc).
This does not include any code re-org yet!
I managed to test CC with heap2 changes and the init stack claimed back to heap once scheduler starts.
the changes of this commit are OP related (just cleanup on CC side):
Arch specific stuff (in reset vector) to hide this from portable code:
- switch back to MSP stack before starting the scheduler so that the sheduler can use the IRQ stack (when/if needed).
- call the C portable function in heap2 to claim some stack back (the number to claim is taken from linker file).
- start the scheduler from reset vector (I move this here from main because it make sense to not go back to C (so that I don't need to copy the rolled stack in case the sheduler returns). This make it more clean.
- Also I have added the call to the mem manager if sheduler return. that way, we don't reset indefinitely if memory runs out. We will go to this handler and figure things out (right now, it's just looping but at least not rebooting. Probably trap NMI would be better (later improvement).
- switch back to MSP stack before starting the scheduler so that the sheduler can use the IRQ stack (when/if needed).
- call the C portable function in heap1 to claim some stack back (the number to claim is taken from linker file).
- start the scheduler from reset vector (I move this here from main because it make sense to not go back to C (so that I don't need to copy the rolled stack in case the sheduler returns). This make it more clean.
- Also I have added the call to the mem manager if sheduler return. that way, we don't reset indefinitely if memory runs out. We will go to this handler and figure things out (right now, it's just looping but at least not rebooting. Probably trap NMI would be better (later improvement).
The part missing for this part is the weak attribute for the function in heap1.c so that we don't have to update everything with empty stub.
I think the weak atrribute for C function called in assembly is arch dependent so I am not sure if this is possible (will look into it, maybe somebody outthere nows).
Right now, it's heap1 dependent and won't work with heap2. I will clean that up the next couple of days.
I did some test and it looks good.
this is without init code re-organization so we don't free as much as we will be it's good starts.
This compile with sim_posix (since it does not affect portable code) so this is really clean.
I only tested this with CC. I will port it for OP when I will work on heap2.
- use IRQStack for ISRs (at begening of SRAM) (let's call it the irq stack)
- use end of heap for stack needed during initialization (let's call it the init stack).
- the systemStats in GCS indicate the remaining bytes in the IRQ stack (this is realy usefull to monitor our (nested) IRQs.
This is the base ground to provide as much memory as possible available at task creation time.
Next step is to re-organize the initialization in order to move all the init out of the thread's stacks onto the init stack.
This will provide as much memory as possible available at task creation time.
Basically the stack during initialization will be destroyed once the scheduler starts and dynamic alloc are made (since the init stack is at the end of the heap). We will need to make sure we don't clobber the heap during initialization otherwise this will lead to stack corruption.
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.
- only affect flight/PiOS (no change for posix and win32)
- tested on recent master (some runtime on CC with GCS)
- the new timer feature is not compiled-in since we don't use it yet.
- NO TEST FLIGHT
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 USE_BOOTLOADER compile flag was only being used
to determine where the ISR vector table was located.
Provide this explicitly from the linker since it knows
exactly where it is putting the ISR vector table.
- New macros for fw, bl and bu rules in top-level make
- Per-board info factored into make/board/*/board-info.mk
- Per-board info now shared btw. fw, bl and blupd for each board
- BOARD_TYPE, BOARD_REVISION, BOOTLOADER_VERSION, HW_TYPE
- MCU, CHIP, BOARD, MODEL, MODEL_SUFFIX
- START_OF_BL_CODE, START_OF_FW_CODE
- blupd_* goals renamed to bu_*
- all_blupd goal renamed to all_bu
- firmware goals renamed to fw_*, board name goals are preserved
- bu_*_program now writes updater to correct address for all boards
- BL updater firmware builds now produce .opf format including
version info blob.
- BL updater firmware name now includes board name.
- INS makefile brought up to date w.r.t. linker scripts
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.
This change is made up of a number of tightly coupled
changes:
- Deprecate the use of the USE_BOOTLOADER command-line
option. It is now hard-coded in each Makefile.
Overriding it on the command line is not allowed.
- Split apart the memory declaration and the section
declaration in all linker files (*_memory.ld and
*_sections.ld).
- Describe the split between bootloader and app sections
of flash in each board's _memory.ld file.
- Change program target to selectively erase flash so
that the installed bootloader is preserved across even
JTAG programming operations.
- All elf files are built with debug symbols and are not
stripped. This should help debugging with gdb. The
images programmed on the boards are all .bin files now
which do not include symbols.
New targets:
- make blupd_all_clean
- make blupd_all
- make blupd_openpilot
- make blupd_ahrs
- make blupd_coptercontrol
- make blupd_pipxtreme
These targets are also included in the 'all_flight' target.
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
We where hammered on the head with interrupts that the driver does not need, not allowing the ISRs of other drivers to run
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3018 ebee16cc-31ac-478f-84a7-5cbb03baadba
Needed to clear the NACK flag in the ISR, or the next transfers seem to get a nack too because the IRQ comes back
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3017 ebee16cc-31ac-478f-84a7-5cbb03baadba
will need to be forward ported (and ideally pushed up stream) for FreeRTOS
updates
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2939 ebee16cc-31ac-478f-84a7-5cbb03baadba
- 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
order to free a timer. Mode PIOS_DELAY (not working cleanly) to TIM3 because
Spektrum resets TIM2 count.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2758 ebee16cc-31ac-478f-84a7-5cbb03baadba
because this is what is determines when the Stabilization code executes.
Because we aren't oversampling gyros relative to the PID in CC we should set
the attitude first (computational time to do so is negligible).
Also change update rate to 500 Hz.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2750 ebee16cc-31ac-478f-84a7-5cbb03baadba
also increase the telem queue to decrease event errors (can be reverted later if
we need the memory back)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2730 ebee16cc-31ac-478f-84a7-5cbb03baadba
