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552 Commits

Author SHA1 Message Date
vassilis
a075eafb98 FlightArchitecture: Updated description of Stabilization module (air/ground speed handled by guidance module) 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1285 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-14 14:19:33 +00:00
vassilis
9cd76fbe46 FlightArchitecture: Added Climbrate and Airspeed fields in Position objects 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1284 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-14 14:04:28 +00:00
vassilis
697b3510fb Flight: First release of module architecture and dataflow diagram (still work in progress) 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1283 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-14 03:02:21 +00:00
peabody124
a084d21804 Merge branch 'watchdog' 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1281 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-13 05:18:17 +00:00
cwabbott
c1cf1ec71b PiOS/Win32: Most stable version of port.c so far. Changed Makefile.win32 to use mingw32-gcc to avoid conflicts. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1278 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-12 14:32:52 +00:00
dschin
487b61473e git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1268 ebee16cc-31ac-478f-84a7-5cbb03baadba 2010-08-11 16:18:24 +00:00
cwabbott
1125311083 Fix Eclipse project files. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1252 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-09 18:24:26 +00:00
cwabbott
f041569bfe fixed a small problem in port.c, also added some debug statements. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1246 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-08 18:38:03 +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
stac
b6c1f43145 i2c: Change API to allow passing const config data 
Mark the I2C_InitStruct parameter as const so that we can pass
const data as the initializer.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1240 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-08 04:14:58 +00:00
stac
f66e2cbd86 battery: fix doxygen header info 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1239 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-08 04:14:56 +00:00
stac
9050b9d26a ahrs_fsm: minor style fixups 
No functional changes.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1238 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-08 04:14:55 +00:00
stac
a320a3e4d4 build: Turn modules back on 
The modules were disabled for some reason in r1172.
This just turns them back on for the real targets.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1237 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-08 04:14:53 +00:00
stac
d7856b3d0a gdb: Do not automatically reset target in gdb init file 
The gdb init files would previously reset the target immediately
when gdb started up.  This is sometimes an unpleasant side-effect
of running gdb.

In order to connect to the target, use the new "connect" function.
To reset the target use "mon reset".

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1236 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-08 04:14:52 +00:00
zedamota
a688b95eb6 Flight firmware-Start of the new bootloader 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1235 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-08 00:14:22 +00:00
dankers
297985c2a0 Move old bootloader to bootloader.old 
This should be removed at some point but can wait till we have a working bootloader.


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1234 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-07 23:55:28 +00:00
cwabbott
6f553efe45 debug_printf() for PiOS.win32. There are still many issues :(. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1226 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-07 02:30:35 +00:00
peabody124
0fdfbb2ffb Deleting old USB code that I meant to delete a while ago. Also changed names of some functions to OP. Finally fixed the USB taking over PIOS telemetry. Detects the USB cable and that the configuration has been taken by the USB bus. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1217 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-05 23:43:52 +00:00
peabody124
0eac218572 Small update to make ManualControl get the command after setting it. That way if the flight system isn't meant to overwrite it (i.e. flying via GCS) it uses the right value. I think this should actually be the default behavior of UAVObject set... awaiting feedback from Vassilis. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1214 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-05 19:56:36 +00:00
pip
611aee73ad Removed I2C support from PipBee as it's not used. Added 4 LED definitions. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1208 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-04 17:35:48 +00:00
pip
0331f05e9a Added extra LED's .. now up to 4 LED's .. (PipBee has 4 controllable LED's) 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1207 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-04 17:32:42 +00:00
cwabbott
d910b8f756 slight changes to get PiOS.win32 to compile 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1205 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-04 14:21:58 +00:00
dankers
1a0f2e81e8 Foundations for PipBee modem code. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1203 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-04 09:37:09 +00:00
cwabbott
c2508bbb9e PiOS for win32 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1200 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-03 19:29:14 +00:00
dankers
a3c1bbfc95 Remove no longer needed SDCard Files 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1190 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-01 14:00:09 +00:00
sambas
7f6336d324 OP-22 Flight/PiOS: Spektrum reworked, input is mapped to old aux in receiver connector, works nicely with calibration plugin. Also bind works, just needs config flag to bind on powerup 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1189 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-01 10:34:07 +00:00
peabody124
47da7326e7 Damn thought I'd commited this 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1176 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-29 13:50:24 +00:00
peabody124
23ed7c8435 Removing the device_desc line since it seems to advertise differenetly across platforms and openocd doesn't require it. Please revert this change if it starts block other OS but I don't think it will 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1175 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-28 21:29:27 +00:00
peabody124
7e6afe5a75 Updated HID code to do packet processing in OS indepdent layer. Should now work on all platforms. Please test and get back to me. Maximum object size of 62 bytes currently. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1174 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-28 18:55:04 +00:00
corvus
02a78f0470 moved Vassilis stabilization module as of r1153 into Stabilization/simple 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1173 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-28 15:03:55 +00:00
corvus
9ad9ffd466 moved new stabilization code into experimental subdirectory 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1172 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-28 15:00:51 +00:00
corvus
c8486d08e4 Fixed some bugs in OpenPilot Core. 
- syntax error in pios_board_posix.c introduced with Doxygen comment blocks
- platform dependant code had been added to openpilot.c instead of pios_board.c
- redundant header inclusion (stm32... already included by PiOS)


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1171 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-28 14:34:48 +00:00
dankers
32e6d53b23 Small comment issue that was causing build to fail 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1170 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-28 11:28:18 +00:00
edouard
9145a4b1a6 Doxygen work: created "OpenPilot System" group for system libraries and core files. Changed a typo on the Osd Doxygen. Let me know if you're OK with this approach. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1169 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-28 07:28:21 +00:00
peabody124
6f63c10dca Removing more debugging comments 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1168 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-27 23:48:12 +00:00
peabody124
3144e3157c Added back checks on USB cable so falls back to serial telemetry if not plugged in 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1167 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-27 23:11:28 +00:00
peabody124
27bcd20882 HID working on Mac for telemetry. Need to tweak GCS code for Win/Linux 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1166 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-27 20:50:20 +00:00
peabody124
dac82b3c17 Getting closer for HID. Now a well behaved HID device. Just need to update GCS plugin for new data format and make PJRC wrappre work properly on Mac 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1165 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-27 19:09:55 +00:00
peabody124
27d429fe18 Got better HID report design with valid data length embedded in report 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1164 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-27 17:41:56 +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
FredericG
efaa6c910b MKSerial: also report ground-speed 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1162 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-27 09:49:47 +00:00
peabody124
eb41a84acf And this 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1161 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-27 08:09:43 +00:00
peabody124
7d7802593e Oops, sorry missed these files 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1160 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-27 08:08:50 +00:00
peabody124
fe616df48d Further tweaks. Will start trying to get reliable communication with larger report size tomorrow 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1159 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-27 07:56:50 +00:00
peabody124
840f7ff456 A version of the firmware that successfully Acks back and forth over HID. Still need to refine the PIOS interface and make GCS strip out the report ID data (if necessary). Also note: currently if you run too many modules the watchdog timer kicks in. I haven't determined if this is due to an interrupt binding up or what (and why it doesn't happen more often since I can't find any code that explicitly resets the WWDG). 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1157 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-27 06:22:34 +00:00
peabody124
d89cd43cd1 Further tweaks to the HID update 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1156 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-27 05:28:04 +00:00
peabody124
c46dcea73a Pretty major update of the USB HID core. Removed a lot of old code related to custom drivers and BSL (which will be brought back under HID). Device enumerates but still not communicating. Hopefully nothing broken, lots changed. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1155 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-27 03:19:07 +00:00
corvus
2621d07574 Added UAVObjects: FlightSituationActual NavigationSettings NavigationDesired 
- Added FlighSituation Module (development module for sensor fusion, mostly stub, possibly renamed later)
- Added Navigation Module (development module for navigating towards a point in space - DEVELOPMENT CODE, NOT STABLE YET (I am testing around with this)) 
- Changed Stabilization Module (uses local reference frame now. Stable except for code cleanup/review. Tested in simulator and outperforms old code.)



git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1154 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-26 21:26:28 +00:00
dankers
dab978cf98 DOh! should have been part of last commit. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1151 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-23 04:35:10 +00:00
dankers
1fb8fc797c Floss-JTAG file for new Revision B of Floss-JTAG (Rowan JTAG). 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1150 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-07-23 04:34:32 +00:00