The bootloader needs to understand whether the USB cable
is connected. The HID and CDC drivers need to know if
the cable is connected _and_ the device has been enumerated
already. Separate these two concepts in the API.
Combining these was resulting in the BL not properly
detecting that the cable was plugged in, and trying to boot
the firmware image immediately. This effectively bricked
the board if you ever had an invalid firmware image.
It also happens to be the case that the BU images automatically
invalidate themselves after updating the BL so they don't run
again. The cable detect bug + this intended behaviour of the
BU image resulted in a bricked board after upgrading the BL.
USB device was being accessed prior to being initialized.
This resulted in a hard-fault or NMI when using any endpoint
beyond 0 or 1 which are init'ed by the BL. This broke VCP which
is on endpoint 2 (control) and 3 (data).
This bug was introduced in 5ad37e69 which stopped checking the
transfer_possible variable.
BL images now always use hid-only.
FW images can use hid-only or hid+vcp but this is selected
ONLY at compile time based on whether PIOS_INCLUDE_USB_CDC
is defined.
CC uses HID+VCP by default now.
Now that we have a USB descriptor for HID+VCP that works
on Ubuntu 11.10, MacOS 10.7.3, Win7-SP1-32bit,
WinXP-SP3-32bit, Win7-SP1-64bit.
VCP is known to not work on WinXP without service pack 3.
Now that we have a USB descriptor for HID+VCP that works
on Ubuntu 11.10, MacOS 10.7.3, Win7-SP1-32bit,
WinXP-SP3-32bit, Win7-SP1-64bit.
VCP will is known to not work on WinXP without service pack 3.
The bootloader has been enabling pull-ups on all GPIO
pins during early init. These pull-ups are disabled
immediately before jumping to the firmware. This transition
results in all servos seeing a wide pulse as the board
resets making them jerk sideways aggresively and then snap
back to neutral.
All channels at max when using the FrSKY 4ch D4FR in PPM
mode results in the frame pulse shrinking well below our
threshold of 3800us and we lose frame.
With all 8 channels at max, the frame pulse becomes
indistinguishable from the other channels. Using all 8
channels with the FrSKY in PPM mode is NOT recommended
even after this change.
Recommend using at most 7 active channels in this mode so
we can still find the frame pulse.
The CC and PipX bootloader updater (BU) builds don't currently
work due to some recent changes in how LEDs are handled.
Remove them from the default BU targets so that the all_flight
target can build clean again.
Also fix a linker warning in OP build.
HID driver was incorrectly giving back the HID interface
descriptor when asked for the HID descriptor. This should
let OP boards interact better with generic HID layer drivers
and also gives us nicer output in lsusb once the HID descriptor
is read.
These new build targets will construct a flash image that
includes both a bootloader as well as a firmware image all
in one. Examples:
make ef_coptercontrol
make ef_revolution
This also adds support for a new target for writing this EF
image to boards that support a DFU interface (only F4-based
boards). This can be done by running:
make dfuutil_install
# Boot board with SBL asserted to activate STM32 DFU ROM
# Attach USB cable
make ef_revolution_dfu
Bootloader images are also now padded out to occupy the full
BL flash region.
for sensing and then load different config for CC and CC3D. Updated the
bootloader as well. Also changed the PIOS_USB_CheckAvailability function to
only return the sense signal and not the transfer_possible flag as this is not
set in time for the bootloader on CC3D for some reason.
The exti layer now allows drivers to register interrupt callbacks
during board initialization. All details of the driver using a
particular EXTI pin have been removed from the EXTI layer so it
can now be used on any board without board-specific modification.
This includes some nice refinements provided by Mike Smith during
initial review. His original commits have been squashed into this
one.
The main purpose of this new COM implementation is that it is
much simpler, and requires less code space. This takes a bit
of the pressure off of the CC bootloader which was right at
the limit of available code space in the bootloader partition.
This is not intended to ever be used by the application.
This driver also formalizes the assumptions in the bootloader's
usage of the COM layer. All messages are assumed to arrive
in atomic chunks from the HID layer.
These files do not contain content from the ID in the header.
This name seems to have been cut/pasted all over throughout
the openpilot source tree and should be removed from any files
that should not rightfully be attributed to this person.
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.
Reduced scope of many variables since they were being
exposed unnecessarily.
Renamed pios_usb_hid_prop code to pios_usbhook to reflect
the fact that it implements all of the callout functions
that are hooked into the stm32 usb library.
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.
- 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.
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.
- 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).
TIM5-8. Also TIM1 was not handled probably (for CC either) as the name of the
IRQ is TIM1_CC and TIM1_UP for the capture compare versus update. I haven't
checked the downstream code that the registers it uses to map from a context to
event is invariant under timer channel.
TIM5-8. Also TIM1 was not handled probably (for CC either) as the name of the
IRQ is TIM1_CC and TIM1_UP for the capture compare versus update. I haven't
checked the downstream code that the registers it uses to map from a context to
event is invariant under timer channel.
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.
Move the configuration files for INS from AHRS* to INS*. Strip out unused
fields in settings and merge calibration and settings since settings has
basically no information.
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.
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.
