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Commit Graph

120 Commits

Author SHA1 Message Date
stac
c3e509c2cb attituderaw: Replace HeadingActual with AttitudeRaw
AttitudeRaw now includes:
 - magnetometers XYZ (in mG)
 - gyros XYZ (raw ADC samples)
 - accelerometers XYZ (raw ADC samples)
 - placeholder for gyro temp sensors (read as zero for now)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1289 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-14 23:42:14 +00:00
stac
f74c6ffdd5 i2c: rewrite i2c layer
The STM32 I2C block has a number of errata associated with it.
These errata are primarily related to timing sensitivities between
the peripheral and the interrupt handler.  In particular, the
correct generation of the stop bit relies on the I2C IRQ running
immediately and not being held off for any reason.

NOTE: The I2C interrupts must be the highest priority IRQs in the
      system to ensure correct operation.

I2C protocol is now implemented as a formal state machine.
See: stm32_i2c_fsm.{dot,jpg} for FSM description.

I2C init is now expressed by const initializers in pios_board.c
for both OP and AHRS boards.

I2C device drivers (ie. bmp085/hmc5843) now pass in const arrays
of an unlimited number of bus transfers to be done atomically.
The I2C adapter driver now handles all bus-level locking across the
list of transactions.  Generation of start/restart/stop conditions
are handled automatically over the list of transactions.

Timeouts have been removed from the API for now.  May be added
back later.

This driver has run error free on both the OP and AHRS boards for
up to 48hrs but it still sometimes fails earlier than that on the OP
board.  There is another possible set of improvements to the driver
that could employ the DMA engine for transfers of >= 2bytes.  This
change would reduce the timing sensitivities between the peripheral
and the driver but unfortunately, both the SPI and I2C interfaces
share the DMA1 engine.  That means only one of these two peripherals
can use the DMA engine and right now, SPI between OP and AHRS is
already using it.

Failures are currently fatal and will lock up the CPU.  This allows
useful information to be obtained in the failure cases.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1241 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-08 04:15:08 +00:00
FredericG
66e22b56ce Fix in bmp085 driver. Was not checking correctly if lock on I2C succeeded => caused an assert when used in combination with other I2C devices
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1163 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-27 09:52:45 +00:00
peabody124
d928676f5e More documentation updates, standardizing format to include addtogroup at the beginning of headers so files are associated with modules
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1121 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-16 19:53:35 +00:00
peabody124
99e94228a9 More doxygen updates
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1106 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-16 05:31:11 +00:00
stac
17bea4cb91 ahrscomms: connect the OP board to the AHRS board
The AHRS comms module now sync's with the AHRS and
exchanges interesting data periodically.  Whenever
the link to the AHRS is down, the AHRSComms alarm is
raised.

This is fairly basic for now but provides the last
piece of the infrastructure to move data back/forth
between the OP and the AHRS.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1014 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-04 02:21:49 +00:00
stac
29a8f05ac9 mag sensor: put some bounds on the parameters
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1012 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-04 02:21:45 +00:00
stac
89a6d6d912 ahrs spi: Add definition of OP<->AHRS SPI protocol
This defines the SPI message format as well as a few
initial messages for moving data across the link.

The v0 messages are place holders for firmware download
in the bootloader.

The v1 messages are to be used by the main application.

Note: This is not the final protocol definition.
      Subject to change without notice.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1004 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-04 02:21:15 +00:00
stac
71e491e3c1 com: mark tx buffer as const throughout API
The com layer transmit functions should provide guarantees
that they will not modify the buffer that you're transmitting.
Declaring the parameter as a pointer to const keeps the underlying
implementations honest.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1001 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-04 02:21:08 +00:00
stac
1169514bf9 sd card: fix SD R1 detection
SD R1 response format is defined as any byte with the MSb
cleared.  The code was testing for any byte that was not 0xFF
which can lead to misinterpreting a byte as the response.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@998 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-04 02:20:57 +00:00
stac
771a56ca9d com/usart: generalize com driver API
- Created a pluggable COM layer
- Converted COM + USART init into static initializers
  rather than typedefs
- Generalized the USB HID COM API to match the USART
  API.
- Changed USART and COM layers to be data driven rather
  than #ifdef'ing/switching on the specifics of each port

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@760 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-06-13 04:24:26 +00:00
stac
8d015a57d0 pios spi: support both master and slave configs
Added support for SPI slave configurations to the pios SPI layer.

Converted the board specific configuration for the PIOS SPI layer to
use const static initializers rather than #defines (see pios_board.c).

SPI interface between the OP board and the AHRS is now operational at
a basic level, capable of moving simple single byte messages between
boards.  Multi-byte, CRC protected messages will be added on top of this.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@759 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-06-13 04:23:44 +00:00
stac
69de42db49 Add AHRS attitude module and driver skeletons
- New Attitude module for AHRS (skeleton)
 - New AttitudeSettings UAVobject
 - New AttitudeActual UAVobject
 - Regenerated UAVobjects
 - Added new UAVobjects to OpenPilot and GCS builds
 - New PiOS driver for OpenPilot AHRS (stubs only)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@655 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-24 16:33:36 +00:00
stac
e892dcb033 bmp085: create semaphore prior to configuring irq
Since the EXTI and NVIC init routines automatically enable the IRQ when it
is configured, it is possible for the EOC interrupt to fire immediately
upon configuring the IRQ.

Since the handler for the EOC interrupt (EXTI15_10_IRQHandler) does a
xSemaphoreGiveFromISR, it is important to have the semaphore initialized
prior to enabling the interrupt.

Also, added missing include for altitude module.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@654 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-24 16:33:30 +00:00
gussy
73b5e29e02 Finalised and verified PIOS_HMC5843 library.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@624 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-15 12:50:05 +00:00
gussy
ff73ab5a80 More updates to cross-target compatibility.
Added PIOS_I2C into AHRS code.
Added PIOS_HMC5843 Module.




git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@617 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-12 08:18:49 +00:00
gussy
8f3c2dbafb Changes to PiOS to be compatible with the AHRS.
Updates to AHRS code.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@615 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-11 13:36:13 +00:00
vassilis
a31215293d Flight\Telemetry Implement telemetry settings object, added functions for changing the baud rate in PiOS
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@607 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-08 02:44:26 +00:00
gussy
0aba12fe1f Loopback test of HID working. Still a WIP but committing what I have to show progress.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@582 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-04 18:54:43 +00:00
fredericg
3281b1a128 OP-27 Use RTOS in LockDevice() and UnlockDevice()
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@564 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-01 14:49:51 +00:00
vassilis
8c11a03129 Flight/Alarms Implemented Alarms library, now checking for stack overflow, out of memory, event and other errors (see the SystemAlarms object). All modules will be reporting their alarms using this library.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@554 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-04-27 01:55:28 +00:00
vassilis
f4c4b1371a Flight/Settings: Remove old settings implementation (replaced with binary settings as UAVObjects)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@465 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-04-10 01:35:13 +00:00
gussy
41fd921b14 Updated BMP085 test code.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@375 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-23 04:01:11 +00:00
gussy
362163d48b Added dependency checking, just in case.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@371 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-22 02:09:56 +00:00
gussy
6826706cb7 Moved external interrupts into it's own API.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@370 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-22 02:07:06 +00:00
gussy
a03952fb5d Small updates and clean up.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@355 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-21 00:49:48 +00:00
gussy
8ba2d76cd6 OP-21: Cleaning up a few things.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@302 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-13 20:46:46 +00:00
gussy
7863954f1a Added debugging port buffer handling.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@297 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-13 15:37:00 +00:00
FredericG
50215e75c6 OP-28 Some changes in the I2C API
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@296 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-13 12:23:55 +00:00
gussy
978e07419d Small FreeRTOS fixes.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@294 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-13 06:44:15 +00:00
gussy
6764a34285 Updated some FreeRTOS specific issues and fixed a few typos.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@292 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-12 16:22:56 +00:00
fredericg
47038af0c0 PIOS_DONT_USE_XXX => PIOS_INCLUDE_XXX
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@283 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-11 12:38:51 +00:00
dankers
e66c491942 Update to headers in the flight portion of the code. Just formatting.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@276 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-10 09:12:31 +00:00
gussy
c409a62978 PIOS_BMP085 module finished.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@262 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-06 16:04:31 +00:00
gussy
cafed0a148 BMP085 Sensor now working completely.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@261 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-06 14:20:42 +00:00
gussy
fd889b918b Updates to BMP085 readings.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@260 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-06 10:28:08 +00:00
gussy
5e70edb021 OP-1: Small fixes to reading/writing from sensor.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@256 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-06 06:09:18 +00:00
gussy
d406232eb1 Improvement OP-3; Implemented buffer based receiving functions, untested.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@254 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-06 03:13:14 +00:00
gussy
7de6be3f59 Reading and writing to BMP085 sensor now working.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@249 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-05 10:44:11 +00:00
gussy
792406510c Small fixes. BMP085 drivers still not working.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@246 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-04 15:41:21 +00:00
gussy
09645920ee PIOS_COM and PIOS_USART now non-application specific.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@243 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-04 07:07:27 +00:00
fredericg
ad816dc070 Renamed PIOS_I2C_TransferBegin => PIOS_I2C_LockDevice because it better describes what it does
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@231 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-03 11:46:24 +00:00
gussy
fcf47bf1f6 PIOS_USART now non-application specific.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@206 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-28 08:29:14 +00:00
gussy
95d068884a PIOS_BMP085 now non-application specific.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@205 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-28 07:01:18 +00:00
gussy
adcd47a31b Added ability to enable and disable PiOS modules.
Added PIOS_USB_COM.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@202 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-28 06:47:49 +00:00
gussy
9bce59ef1a Small cleanup changes.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@200 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-28 04:47:51 +00:00
gussy
4eedbd854d A few updates for including PIOS_USB_HID into PIOS_COM.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@187 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-12 10:11:17 +00:00
gussy
0a9be2dedd USB HID now working and integrated into PIOS_COM.
You can now send and receive packets (up to 63 bytes) just like using the USART port with PIOS_COM.
HID packet length will soon be increased to support maximum UAVTalk message length.



git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@182 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-10 03:31:51 +00:00
gussy
3b32b89839 Updated copyright headers.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@146 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-01-31 17:56:54 +00:00
gussy
efdb5c5f2b Added MSD library.
Added PIOS_USB.
Global improvements, see specific files for changes.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@144 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-01-31 16:48:23 +00:00
gussy
53ea65bb2f Updated PIOS_Settings_CheckForFiles routine to work with DFS.
Startup procedure now waits for SD Card with the correct settings files on it.
Refactored a few global PIOS_SDCARD names.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@140 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-01-25 16:30:31 +00:00
gussy
b2c23c5473 Added beginnings to POIS_PWM for RC Input.
Enabled ADC, needs reworking still.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@139 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-01-25 15:23:55 +00:00
gussy
c1ab22f595 Added variety of helper functions to PIOS_SDCARD.
Made minGlue even more robust and simpler.
Fixed a small bug with the servo output code, which is now working 100%.
Enabled USART, which can now be used for debugging.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@138 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-01-24 13:03:13 +00:00
gussy
39403ee20d Now using global filesystem mounting on bootup.
Changed bootup procedure for how the SD Card is handled.
Completed, optimised and added error handling to minGlue.c

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@137 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-01-24 08:13:48 +00:00
gussy
26410ad8de Back to where we were with r133, but now with proper SD Card code.
Additions to note; PIOS_SPI, DosFS and PIOS_SDCARD.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@136 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-01-23 17:31:14 +00:00
gussy
a4853aee53 Changed to sdcard startup procedure. Now puts diagnostic information on the SD card.
This revision is a good fall-back point as a basic test that the hardware and your development environment is working.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@133 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-01-21 02:04:15 +00:00
gussy
998ab12de4 Delays fixed.
SD Card fixed and working, tested with 2Gb and 8Gb (SDHC) cards.
Changed startup_stm32f10x_HD.S to work with SysTick_Handler, needs to be changed back for FreeRTOS to work.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@132 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-01-20 23:48:04 +00:00
dankers
3e76e78f47 stdint compliance
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@123 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-24 03:03:24 +00:00
dankers
5b31cc8813 Move SDCard functions.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@107 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-23 07:39:34 +00:00
dankers
f457599d9c Comment about where defaults live.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@86 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-21 04:10:50 +00:00
gussy
8eaaf20a21 Optimised startup procedure for speed.
Fixed bmp085 i2c write procedure.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@64 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-11 00:24:03 +00:00
gussy
d306ade1a7 Conversions now use the BMP085 EOC (End Of Conversion) pin with an external interrupt, which is a much nicer way of doing things.
One major timing caveat still exists, still deciding the best way to cross that bridge.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@63 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-10 06:08:28 +00:00
gussy
b6cc2df29d Finished off initial revision of BMP085 drivers.
Added math.h to pios.h includes.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@62 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-10 04:28:21 +00:00
gussy
9eeaf09b80 Fixed a few typos in PIOS_I2C.
Started work on BMP085 driver. Need more information from Bosch to continue.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@61 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-10 01:59:46 +00:00
gussy
f52a719c1d Updated all PIOS function names to new standard.
New standard to be used is PIOS_Module_Function().
Likewise with OpenPilot, OP_Module_Function() is to be used.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@59 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-08 02:13:21 +00:00
gussy
e174898bf2 Added pios_servo. Straight from ST examples.
Updated printf-stdarg to use debug port.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@53 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-03 21:30:53 +00:00
gussy
42591b0edf Moved pios_settings.c to /PiOS/Common since it is not platform specific.
Started to add some FreeRTOS stuff into pios.c

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@47 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-02 06:44:53 +00:00
gussy
58b09ed761 Changed all mention and use of "UART" to "USART".
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@41 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-01 17:15:33 +00:00
gussy
f1bfb2a238 More moving.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@35 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-01 14:29:55 +00:00
gussy
d7cd647e7e Directory re-structuring. Doesn't compile yet, need to commit first.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@33 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-01 14:04:30 +00:00