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Commit Graph

148 Commits

Author SHA1 Message Date
Stacey Sheldon
a51bf72bc7 usb: allow runtime selection of USB descriptors via hwsettings 2012-01-14 14:28:15 -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
075eb65603 bootfault: fail initialization if no telemetry link is configured
This detects a locked out state and fails the init.  The new
bootfault detection code will automatically drop to default
hwsettings after 3 consecutive boot failures.  That will put
the board back into an unlocked state where the user can now
enable a telemetry link using the GCS and everything will be
OK.

NOTE: Any configured telemetry link will be considered enough
      to boot up.  If you only configure a serial telemetry
      link but don't know how to hook anything up to it, this
      will not save you.

As the ultimate recovery, you can always load firmware on the
board that wipes the settings entirely and start over.
2011-12-31 13:08:30 -05:00
Stacey Sheldon
f886af186d bootfault: add support for recovery from init failures
After 3 failed warm start attempts, the init sequence
will force the RAM version of the HWSettings object
to its defaults.  This should allow a user to regain
connectivity to a board that is continually faulting
during init.

This is accomplished by:
 - Incrementing a boot counter that is stored in the
   STM32 BKP registers.  These registers survive a
   warm start but are cleared on a cold start (ie. powerup).
 - On multiple failures, force hwsettings to defaults
   and raise the (new) BootFault alarm to prevent arming.
 - Resetting the boot counter whenever the system manages
   to successfully run the System Module task.

NOTE: This does not actually change the hwsettings object in
      flash.  That's up to the user.

This is intended to catch ONLY faults during early initialization.
It should not be used to recover from faults after the application
is up and running.
2011-12-30 23:05:38 -05:00
Stacey Sheldon
1543a6dbd3 hwsettings: allow disabling of USB telemetry entirely
The GCS hwsettings config widget now disallows any
configuration that disables both HID and VCP telemetry
over the USB port.

The firmware will allow it if the UAVObj is set manually.

This allows a mechanism to reduce RAM usage by another
500 more bytes if USB telemetry can be sacrificed in
certain configurations.
2011-12-30 23:05:38 -05:00
Stacey Sheldon
45615b5812 com: reduce buffer sizes on com interfaces on CC
Now that the COM layer fragments to the underlying
buffer sizes, the COM layer buffers can shrink below
single message sizes.
2011-12-30 23:05:38 -05:00
Stacey Sheldon
56c4ff8f40 com-bridge: add support for bridging to flexiport 2011-12-30 23:05:37 -05:00
Stacey Sheldon
60969b57d8 usb-hid: split apart hwsettings for HID and VCP ports
This allows the HID and VCP functions to be configured
separately so that additional functions can be more easily
bound to the VCP port.

This change also provides a safety net that forces either
the HID or VCP to be configured for USB Telemetry.  This
safety net may vanish in the future once the GCS can check
it.  Disabling USB Telemetry entirely would save more than
400 bytes of RAM.
2011-12-30 23:05:37 -05:00
Stacey Sheldon
5b3227d1ff com: reduce buffer sizes for com layer
This saves a few hundred bytes of RAM in a typical
configuration.
2011-12-30 23:05:36 -05:00
Stacey Sheldon
64f498e48a com-bridge: add usart to usb vcp bridge 2011-12-30 23:05:34 -05:00
Stacey Sheldon
504cf3417f init: collapse usart definitions for generic usage
Telemetry and GPS usarts are generic users of the uart
devices.  This collapses the duplicated usart configuration
structs into a single generic one.
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
c0259dc616 usb cdc: USB composite device with HID + VCP 2011-12-30 23:05:33 -05:00
Oleg Semyonov
10287e3e29 CC: rename ReceiverPort PPM+Servo (Servo) options to PPM+Outputs (Outputs) 2011-12-11 22:52:51 +02:00
Oleg Semyonov
1f60f80053 Bring back the ERASE_FLASH option support for SettingsEraseFirmware 2011-11-26 22:57:33 +02:00
Corvus Corax
aa69027cb2 Merge branch 'next' into CC_GPS 2011-11-11 11:44:11 +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
Oleg Semyonov
481bff2578 spektrum: code style fixes accoring to OPReview-122 2011-11-01 18:48:07 +02:00
Oleg Semyonov
0116e6a007 spektrum: rework DSM2/DSMJ/DSMX driver for explicit DSMX resolution support
- both CC serial ports are now disabled by default (no telemetry);
- serial ports now have DSM2, DSMX (10bit) and DSMX (11bit) options;
- ReceiverGroups now have DSM (MainPort) and DSM (FlexiPort) options.

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

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

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

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

The DSMX throttle channel misbehavior (zero value) is not treated
specially yet. It should trigger the failsafe being out of bounds.
More info and data dumps are required to handle this properly.
2011-10-30 19:29:03 +02:00
Oleg Semyonov
a19bbba858 Merge branch 'next' into os/alternative_spektrum_driver 2011-10-25 11:55:05 +03:00
James Cotton
27bf2b383e Merge remote-tracking branch 'origin/james/remap_outputs' into next 2011-10-23 18:35:25 -05:00
Oleg Semyonov
4ed23dd891 Output Remapping: renamed PPM_SERVO option to PPM+Servo 2011-10-24 00:34:01 +03:00
James Cotton
24d6ae731b Output Remapping: Added option to just use servo outputs on input lines but not
PPM.  This saves resources.  Good suggestion Os.  In this configuration we
could allow 12 channels of output but for now I'll leave it capped at 10 to
lessen resources on the mixer table.

With spektrum and camera stab enabled there was
1632 bytes heap remaining
180 bytes irq stack remaining
2011-10-23 15:21:40 -05:00
Oleg Semyonov
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
James Cotton
e0cc289de0 Remapping inputs to outputs: Drop S2 so there are ten outputs
Output 7 = S3 input
Output 8 = S4 input
Output 9 = S5 input
Output 10 = S6 input

Also fix bug that prevented them outputting signal
2011-10-20 06:28:07 -05:00
James Cotton
ce7f424131 CC: When receiver port is set to PPM_SERVO use the spare pins as outputs 2011-10-15 16:59:42 -05:00
James Cotton
19c9528d80 CopterControl: Create structures to supply more output channels 2011-10-15 16:59:42 -05:00
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
6457276438 Merge branch 'input_configuration' into next 2011-09-11 18:52:35 -05:00
Oleg Semyonov
7b3056d10f Input Configuration: fix S.Bus receiver in multi-receiver code 2011-09-12 02:06:48 +03:00
James Cotton
01cd2ded57 Mainboard config: The rcvr port is used for PPM/PWM/Spektrum so make these one
setting that is mutually exclusive.
2011-09-10 14:20:51 -05:00
James Cotton
eb191d869a Mainboard: Get spektrum working again. 2011-09-10 14:19:54 -05:00
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
James Cotton
c5746335c6 Initialize GCSReceiver object if it is being used 2011-08-27 15:57:09 -05:00
James Cotton
dc340596f5 Merge branch 'next' into GCS_ChangesToUI-RuntimeCFG
Conflicts:
	flight/CopterControl/Makefile
	flight/OpenPilot/System/pios_board.c
	flight/OpenPilot/UAVObjects.inc
	flight/PiOS/STM32F10x/pios_spektrum.c
	ground/openpilotgcs/src/plugins/config/config.pro
	ground/openpilotgcs/src/plugins/config/configgadget.qrc
	ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
	shared/uavobjectdefinition/hwsettings.xml
2011-08-27 15:26:05 -05:00
Corvus Corax
c63a10d05e CopterControl: Fix GPS buffer sizes 2011-08-25 15:37:38 +02:00
Corvus Corax
4bd72923e5 Merge branch 'CorvusCorax_unidirectional-GPS-com' into CC_GPS
Conflicts:
	flight/Modules/GPS/GPS.c
	flight/Modules/GPS/GTOP_BIN.c
	flight/Modules/GPS/NMEA.c
	shared/uavobjectdefinition/hwsettings.xml
2011-08-25 15:33:23 +02:00
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
Corvus Corax
53d0732fc6 Enable GPS module as "optional module" in CooterControl 2011-08-20 01:25:49 +02:00
sambas
1e67b5e3b5 DSMx_binder, hw setting 0 disabled, 1-10 bind pulses. Manual disable after successful bind. Only for flexiport. 2011-08-06 22:16:47 +03:00
James Cotton
a592e7d398 ManualControlSettings must be also initialized in pios_board.c 2011-08-04 07:47:50 -05:00
Stacey Sheldon
06cdeb7b61 rcvr: support multiple simultaneous receivers
Now also supports multiple instances of the Spektrum driver.
These are configured as Spektrum1 and Spektrum2.
2011-08-02 01:22:04 -04:00
Stacey Sheldon
829b8b83f6 rcvr: Add GCS receiver driver for rcvr via telemetry
This allows the GCS to emulate a receiver device via the
telemetry link.

Select "GCS" as your input type in the manualcontrol config
screen and calibrate it as normal.

Note: The expected values for the channels are in microseconds
      just like a PWM or PPM input device.  The channel values
      are validated against minimum/maximum pulse lengths just
      like normal receivers.
2011-08-02 01:22:04 -04:00
James Cotton
035b4103c4 Need to initialize the HwSettings before using them. 2011-07-31 09:42:15 +09:00
James Cotton
3df730c64f Merge branch 'stac/refactor-usart-com' into camera_stabilization 2011-07-30 13:38:43 +09:00
Stacey Sheldon
8c0b60099f rcvr: don't init spektrum and sbus rcvrs twice 2011-07-29 22:59:50 -04:00
James Cotton
2e5a36a4db Merge branch 'stac/refactor-usart-com' into camera_stabilization 2011-07-30 10:55:16 +09:00
James Cotton
96c2d24253 Merge branch 'next' into camera_stabilization
Conflicts:
	flight/CopterControl/Makefile
	flight/CopterControl/System/coptercontrol.c
	flight/Modules/Actuator/actuator.c
	flight/Modules/GPS/GPS.c
	flight/Modules/ManualControl/manualcontrol.c
	flight/Modules/Stabilization/stabilization.c
	flight/Modules/System/systemmod.c
	shared/uavobjectdefinition/manualcontrolsettings.xml
	shared/uavobjectdefinition/stabilizationdesired.xml
2011-07-30 10:06:10 +09:00
Stacey Sheldon
c2fb0d8b43 com: allow run-time allocation of buffers 2011-07-29 15:33:14 -04:00
Stacey Sheldon
5f8760a55c com: Move buffering out of USART/HID layer and into COM layer
This allows the spektrum and sbus receiver drivers to bind
directly to the usart layer using a properly exported API
rather than overriding the interrupt handler.

Bytes are now pushed directly from the usart layer into the
com layer without any buffering.  The com layer performs all
of the buffering.

A further benefit from this approach is that we can put all
blocking/non-blocking behaviour into the COM layer and not
in the underlying drivers.

Misc related changes:
 - Remove obsolete .handler field from irq configs
 - Adapt all users of PIOS_COM_* functions to new API
 - Fixup callers of PIOS_USB_HID_Init()
2011-07-27 19:45:38 -04:00
Stacey Sheldon
8dbace5ee2 Merge branch 'rcvr_mem_reduction'
Conflicts:
	flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld
2011-07-17 17:14:40 -04:00
Stacey Sheldon
6580462916 rcvr: specify drivers for groups of channels
Each channel was previously tracking a separate driver.
Now, channels are grouped within a channel group to save
RAM used for tracking and to better reflect how channels
are actually mapped.
2011-07-14 23:22:42 -04:00
sambas
18a5465246 Bugfix: CC flexiport spektrum config
Working spektrum bind routine, depending your TX try BIND_PULSES 3,5,7,9 (5 works with DX7)
Boot process takes too long on MB so bind command misses the window (20-140ms).
2011-07-14 14:43:26 +03:00
Stacey Sheldon
b86ef4de82 bootcfg: fix incorrect bounds checking on rcvr registration
This was preventing any receivers from registering their
channels.
2011-07-07 23:59:12 -04:00
Stacey Sheldon
1f004ee896 ppm: port PPM driver onto new CC driver layers
This is a port of a work-in-progress by Sambas onto
the new driver infrastructure needed for boot-time
configuration.

PPM and PWM still don't coexist in a build but this
is closer.
2011-07-07 22:27:57 -04:00
Stacey Sheldon
226f095a2e bootcfg: remove baudrate #defines for USARTs
The initial baud rates of each interface are now forced in the
board init code.

Any modules using USARTs should have fields added to
their settings object to allow the user to change the
baud rate from the default by using the COM layer APIs.

Developers requiring custom baud rates before the settings
objects are in place should locally edit the cfg structs
to specify the desired baud rates.
2011-07-06 23:03:54 -04:00
Stacey Sheldon
a8787ee015 bootcfg: Add support for selecting S.Bus receivers in inputtype 2011-07-06 22:38:23 -04:00
Stacey Sheldon
e82539c654 bootcfg: additional validation during board init 2011-07-06 22:34:59 -04:00
Stacey Sheldon
dbf7574946 bootcfg: use UAVobj to control boot-time HW config
This should mark an end to the compile-time selection of HW
configurations.

Minor changes in board initialization for all platforms:
 - Most config structs are marked static to prevent badly written
   drivers from directly referring to config data.
 - Adapt to changes in .irq fields in config data.
 - Adapt to changes in USART IRQ handling.

Major changes in board initialization for CC:
 - Use HwSettings UAVObj to decide which drivers to attach to
   the "main" port and the flexi port, and select the appropriate
   device configuration data.
 - HwSettings allows choosing between Disabled, Telemetry, SBUS,
   Spektrum,GPS, and I2C for each of the two ports.
 - Use ManualControlSettings.InputMode to init/configure the
   appropriate receiver module, and register its available rx channels
   with the PIOS_RCVR layer.  Can choose between PWM, Spektrum and PPM
   at board init time.  PPM driver is broken, and SBUS will work once
   it is added to this UAVObj as an option.
 - CC build now includes code for SBUS, Spektrum and PWM receivers in
   every firmware image.

PIOS_USART driver:
 - Now handles its own low-level IRQs internally
 - If NULL upper-level IRQ handler is bound in at board init time
   then rx/tx is satisfied by internal PIOS_USART buffered IO routines
   which are (typically) attached to the COM layer.
 - If an alternate upper-level IRQ handler is bound in at board init
   then that handler is called and expected to clear down the USART
   IRQ sources.  This is used by Spektrum and SBUS drivers.

PIOS_SBUS and PIOS_SPEKTRUM drivers:
 - Improved data/API hiding
 - No longer assume they know where their config data is stored which
   allows for boot-time alternate configurations for the driver.
 - Now registers an upper-level IRQ handlerwith the USART layer to
   decouple the driver from which USART it is actually attached to.
2011-07-05 22:03:25 -04:00
Stacey Sheldon
6415fc84a5 rtc: allow registration of callbacks on RTC tick
This separates the RTC device and interrupt handling
from the devices that rely on the tick notifications.

Drivers can now register tick notification functions
that will be called on each RTC tick event.
2011-07-05 22:03:25 -04:00
Stacey Sheldon
740b5f1584 rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR
All receivers now fall under the same driver API provided
by pios_rcvr.c.

This is part of a larger sequence of commits that will
switch the receiver selection over to boot time dynamic
configuration via UAVObjects.
2011-07-05 22:03:25 -04:00
Oleg Semyonov
fba201c8b3 usart: move default port numbers from pios_config.h to pios_board.c 2011-06-22 01:32:18 +03:00
Oleg Semyonov
6272210df7 sbus: some code cleanup (no functional changes) 2011-06-19 14:30:13 +03:00
Oleg Semyonov
311902f1f2 sbus: implemented S.Bus stream decoding 2011-06-18 23:19:57 +03:00
James Cotton
5044ea36de Start initializing objects in the modules that consume them. Shouldn't affect
OP yet but not tested.
2011-06-18 14:20:51 -05:00
Oleg Semyonov
aeda61d252 usart: serial telemetry can be disabled to free USART
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.
2011-06-16 15:06:01 +03:00
Oleg Semyonov
50e819192b usart: make CC USART ports compile-time configurable
TODO: This should be dynamic in the future.
But for now define any compatile combination of:
   USE_I2C (shared with USART3)
   USE_TELEMETRY
   USE_GPS
   USE_SPEKTRUM
   USE_SBUS (USART1 only, it needs an invertor)
and optionally define PIOS_PORT_* to USART port numbers

Defaults are:

#define PIOS_PORT_TELEMETRY 1
#define PIOS_PORT_GPS       3
#define PIOS_PORT_SPEKTRUM  3
#define PIOS_PORT_SBUS      1

#define USE_TELEMETRY
#define USE_GPS

Telemetry, GPS and PWM input are enabled by default.
2011-06-15 22:37:44 +03:00
Oleg Semyonov
d8201ec45b sbus: provide a stub based on Spektrum driver (for CC only) 2011-06-15 22:35:21 +03:00
sambas
17fb31a7fa Spektrum rtc supervisor working, tested on CC and all outputs are activated. Needs review and testing before merge. 2011-05-29 14:52:22 +03:00
James Cotton
2087441006 OP-216: Make the object manager use new flash fs for objects 2011-05-14 14:23:02 -05:00
sambas
dabc33c71c OP-22 Flight/PiOS: fix for 11ms framerate, Spektrum supervisor timer must have atleast one interrupt between frames
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3134 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-09 14:51:39 +00:00
sambas
f3bce1705b OP-22 Flight/PiOS: Spektrum fix, OP tested on ground not flown yet, CC not tested.
pios_rcinput.[ch] outdated

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2775 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-13 13:10:02 +00:00
stac
66a9d53d0a hwinit: Convert I2C driver to dynamic init
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2773 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 22:19:54 +00:00
stac
3fda65c5d3 hwinit: Convert SPI drivers to dynamic init
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2772 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 22:19:50 +00:00
stac
841b0d3d6d hwinit: Convert COM and USART to dynamic init
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 22:19:43 +00:00
peabody124
a3ba9c3781 CC-21 Make it possible to enable Spektrum on CC, although it eats up S6 in
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
2011-02-08 16:34:45 +00:00
peabody124
682b49df44 CC: Increase the SPI clock rate to minimize time spent in that routine
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2751 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-08 16:34:21 +00:00
peabody124
3f088bed8d CC-9 1. Improve the timings of the attitude estimation
2. Disable FirmareIAP module in CC (somehow causes lockups when also using vTaskDelayUntil in Attitude WTF)
3. Make the SPI bus run a little faster so we can handle the 3200 Hz from accel
while running the filter at 333 Hz

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2664 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-01 02:18:19 +00:00
peabody124
97acaa2402 CC-15 Gets settings saved to flash chip on CC using crude sector based storage.
Sector based on Object ID so could overlap :-(.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2662 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-01 02:18:12 +00:00
peabody124
063c58e7c0 CC-12 Enable Watchdog on CC
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2653 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-01 02:17:32 +00:00
sambas
195b63b6bb OP-22 PIOS/Spektrum: Made spektrum input driver, NOT YET TESTED!!!, also preliminary support for CC, sync/supv timer not yet fixed.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2602 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-28 09:25:30 +00:00
peabody124
92dd78db51 OP-256 PIOS/PWM: Disable from the pios_board.c file when not using PWM
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2589 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 23:17:39 +00:00
peabody124
d4b4a6ca37 CC-3 Modules/CCAttitude: Add oversamplign to the accel data
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2576 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:52:08 +00:00
peabody124
2881370eab OP-291 PIOS/Servo: Refer to channels by TIM_Channel_x to be consistent with PWM
system

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2571 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:51:54 +00:00
peabody124
99fcd089d4 OP-291 PIOS/Servo: Make the remapping of timers a part of the driver structure
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2569 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:51:48 +00:00
peabody124
da96ce15b9 OP-256 PIOS/PWM: Converting PWM input to use standard driver structure.
Beginning of unifying the input types into PIOS_RECEIVER.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2568 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:51:45 +00:00
peabody124
99f2f3c68b OP-291 CC Servo configuration: Gets S5 and S6 working
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2566 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:51:38 +00:00
peabody124
2d9f7f32d1 OP-291 PiOS/Servo: Converting output to use driver system
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2499 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-21 03:40:21 +00:00
peabody124
18deba48c1 CC-6 PIOS/ADXL345: Helper functions for the ADXL345 chip. Need to add
semaphores for sharing the bus between the flash chip and this though.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2473 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-17 08:45:37 +00:00
peabody124
211585c7d7 CC-1 Modules/CCAttitude: Initial reads from accelerometer
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2472 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-17 08:45:34 +00:00
peabody124
0259b6d1f1 OP-269 PIOS/ADC: First part of conversion to driver structures
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2444 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-16 02:45:39 +00:00
peabody124
ab75e8117f OP-265 CC: Getting GPIO lines working
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2443 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-16 02:45:34 +00:00
peabody124
81b0c3fdb6 OP-269 PiOS/ADC: Moved AHRS ADC code to PiOS and made all the projects use it
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2440 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-16 02:45:22 +00:00
peabody124
94ff276522 OP-265 CC: Tweaking objects included and the memory requirements
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2426 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:38:49 +00:00
peabody124
ea851803af OP-266 CopterControl: Continue trying to strip out as much as possible to get
it to fit

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2422 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:38:39 +00:00
peabody124
940792db5c OP-265 CopterControl: Fork main OpenPilot directory
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2416 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:38:24 +00:00
peabody124
fc54159369 OP-265 Flight reorganization of UAVObjects and Modules up a directory
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2415 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:38:19 +00:00