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2,198 Commits 5 Branches 8 Tags 266 MiB
c034a35d2c
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300 Commits

Author SHA1 Message Date
zedamota
c034a35d2c OP-21/Bootloader - Changes to the IAPObject. Implements MB and AHRS user mode IAPObject. Added user mode reset command to the CLI. To many changes to bootloading system to write here, a Wiki page will have to be writen. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2238 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-15 19:06:28 +00:00
peabody124
36ea75bc0d Flight/HID: Change how the HID code handles the transmit buffer getting empty 
and starting transmission again.  This should address the bootloader locking up
on verify.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2235 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-14 01:43:16 +00:00
peabody124
1086a6b567 Flight: Changes to STM library to work with our code. Basically all the 
configuration structures are const which keeps them in flash instead of ram.
However the library needs to declare them const for the compiler to work.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2231 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-13 07:03:28 +00:00
peabody124
18858571ce Flight: Updated to the latest StdPeriph libraries 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2230 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-13 07:03:24 +00:00
peabody124
e6a21977f1 OP-156 AHRS: Make the account for the fact the analog data is downsampled two 
times for each EKF update

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2193 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-04 18:13:08 +00:00
peabody124
45e3ed27a7 OP-156 AHRS_ADC: Make the ADC system use a callback to better separate ADC code 
from the AHRS code (which will facilitate code integration with new INS) and
also will help set up a fifo queue for the downsampled data to allow gyro data
output from AHRS faster than EKF output.  Also decreased ADC interrupt priority
so the SPI comms don't drop out.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2190 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-04 17:34:27 +00:00
pip
0cae6df8b0 Aligned fifo buffers to 32-bit for possible speed improvement. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2173 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-11-28 11:06:45 +00:00
pip
d4c24de556 Updated to use the new fifo_init function 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2172 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-11-28 11:00:20 +00:00
peabody124
cfbdad5e0d Flight/USB_HID: Change to deal with buffer filling up when GCS not ACK'ing the 
usb transmissions.  Clear TX buffer after any NAK.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2147 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-11-23 19:29:10 +00:00
peabody124
e89911bb8a OP-203 PIOS_USART: Don't disable interrupts for receive buffer since 
only one receive task.  This is less generally safe but decreases the
frequency of resets in our current configuration

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2144 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-11-23 17:13:49 +00:00
peabody124
a454f06bf8 OP-203 PIOS_UART: Tweaked the way the interrupts are reenabled to get comms 
stable again

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2143 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-11-23 17:13:48 +00:00
peabody124
300a3bc8ad OP-203 PIOS_USART: Get TX buffer using fifo_buffer 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2142 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-11-23 17:13:46 +00:00
peabody124
e3dd542609 OP-203 PIOS_USART: Make USART Rx code use fifo_buffer 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2141 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-11-23 17:13:44 +00:00
zedamota
d57441e8f4 OP-21/Bootloader - forgot to commit this too..sorry (check last commit) 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2137 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-11-21 22:58:14 +00:00
zedamota
98b0f406dc OP-21/Bootloader - fixes GPS connected issues, enhances timings problems, further work on serial support 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2136 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-11-21 19:37:40 +00:00
osnwt
ed49f7fc40 Prevent some compiler warnings treated as errors during RELEASE build (possible use of uninitialized variables - CodeSourcery under Windows build system). It may be done with some #pragma as well, but this way is more portable. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2132 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-11-21 13:09:05 +00:00
sambas
c74c9cc08e OP-73 Flight/PiOS: deinits started, still just for review 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2107 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-11-11 20:38:44 +00:00
sambas
f94dc41712 OP-73 Flight/PiOS: runtime RC input change, initial files just for review, not integrated to build yet 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2106 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-11-11 19:09:39 +00:00
peabody124
42a02e5662 Flight/HID: USB priority to 8 instead of 1. Probably Need to make the HID layer use a 
similar driver format to the PIOS_USART system.  (p.s. are you happy now, PT?)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2029 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-28 15:07:07 +00:00
peabody124
b9f74a86c3 OP-198 Flight/Libraries: Swap to using circular buffer code from Pip because it 
supports thread safe write/read simultaneously

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2027 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-28 14:30:03 +00:00
peabody124
0bdaf4d0df OP-197 Flight/USB: Make non-blocking send return -2 instead of -1 for not enough space 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2026 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-28 14:30:00 +00:00
peabody124
acc6df4c2d Flight/USB_HID: Make the userspace command wait until not in interrupt before 
running and block the interrupts while modifying the buffers

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2003 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-24 01:35:30 +00:00
peabody124
cd04845c3d Flight/HID: NAK instead of stall USB bus (former was mistake) and change 
polling time to 4 ms

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1996 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-20 05:21:25 +00:00
dankers
4ed3359f6f Comment was misleading. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1992 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-19 17:25:07 +00:00
kokomojoe
2fe266650f OP-185 Flight - support files for Firmware IAP object 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1891 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-06 02:06:13 +00:00
kokomojoe
20c6e2292a OP-185 Flight helper functions for the firmware IAP object. Allows setting/clearing of back-up registers 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1890 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-06 02:02:37 +00:00
peabody124
ea3fb03c7f Flight/AHRS Communications: Switch to Les' very nice UAVObject communication 
scheme

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1835 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-02 02:17:18 +00:00
les
498f3d0fa6 PIOS SPI: Added a function to detect if the channel is busy 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1829 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 16:52:20 +00:00
sambas
2d90a80e22 Flight/PiOS: this patch makes dosfs work with both MBR and VBR formats. Backup your SD files in case this messes something!! Testing needed. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1798 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-29 16:29:38 +00:00
kokomojoe
6f1f990d85 OP-21 AHRS/Bootloader - Moved start of user code to 0x08002000. Must be used with latest AHRS Bootloader compiled with DEBUG=OFF. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1788 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-28 02:21:48 +00:00
peabody124
3c021c09d9 Flight/PiOS: Whitespace changes 
find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f    | xargs -I{}
bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1
-il0 -hnl -l150 {};'

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-27 07:28:45 +00:00
peabody124
77b68e5169 Flight/Guidance: Initial template for guidance module 
Flight: Create PositionDesired (the active waypoint) UAVObject and make the FlightSituationActual no update since it not used.
Flight: New velocity desired object that passes information between the look computing the desired velocity and the PID loop to get it (updated at different rates)
UAVObjects/PositionActual: Remove unused GPS fields
UAVObjects/PositionActual VelocityActual: Split the velocity into a separate object.  ALso make sure all the information telemetered around is in cm to avoid using floats.
UAVObject/GuidanceSettings: New guidance settings object for the guidance module
Flight/Posix: Add the new objects to the Posix sim
Flight/Guidance: Computes a desired velocity based on position error than runs a PID loop to control roll and pitch to achieve that velocity.  All distances are in cm, and updated the PositionActual fields to reflect this and use int32.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1760 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-26 03:06:27 +00:00
peabody124
a01783b2a8 OP-140 AHRS: Explicilty deal with if it is initialized or not, use that to 
determine retransmitting calibration, home location and such.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1755 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-25 21:05:38 +00:00
peabody124
9b28f2d72c OP-167 OP-157 AHRS/Calibration: Added mag scale and really cleaned up calibration. 
Calibration should take less time now too (using second moments to estimate
variance in one pass).  Now need to change to multiple messages to get the
calibration in to keep the request message size minimal.  Also currently
running sensor calibrate doesn't store the gyro bias so if you want to use this
you'll have to tweak it manually.  I'll fix that step tomorrow.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1741 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-25 09:20:38 +00:00
sambas
24840b461d OP-22 Flight/PiOS: added failsafe and recovery "watchdog" timer 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1697 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-20 18:00:31 +00:00
zedamota
87dc0908ce OP-21/Flight Bootloader - Bug fix 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1695 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-20 16:29:34 +00:00
zedamota
3ba6372dc4 OP-21/Flight Bootloader - Clean up and linker files for the AHRS 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1691 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-19 18:27:53 +00:00
zedamota
c9752a6a3a OP-21/Flight Bootloader - some changes for the bootloader to work 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1682 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-18 23:11:42 +00:00
peabody124
8e0c5136c0 AHRS/Comms: Make the polling delay 1ms instead of 20ms to make sure if a message isn't ready we don't pause for a long time. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1673 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-17 18:12:25 +00:00
peabody124
a6ca5b82e7 OP-155 Flight/HID: Make the HID stall when buffer full. Not sure the consequences on ground (i.e. if it handles the stall correctly) 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1665 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-16 20:23:02 +00:00
zedamota
e8d6e7c557 Flight - Centralized board specific files, BL and User FW uses the same board definitions, no need to have 2. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1663 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-16 19:19:38 +00:00
peabody124
110c46216e OP-155 Flight: Increase the pios_com buffer size to support these larger objects. If this gets worse and we don't want to use as much OP memory we can make it stall the USB bus when the buffer is full. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1657 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-16 05:57:03 +00:00
peabody124
885c966e53 AHRS: Added a tracker for number of ADC updates the EKF misses. Also updated the Telemetry autogenerated files to accomodate the 11500 baud rate. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1652 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-16 02:59:00 +00:00
peabody124
19e80da928 AHRS: Update UAVObject with information about AHRS rate 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1650 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-16 01:54:21 +00:00
zedamota
3e89e388fa OP-21/Flight Bootloader 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1643 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-15 17:09:27 +00:00
zedamota
c72a5b1cfe OP-21/Flight Bootloader 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1642 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-15 17:08:24 +00:00
zedamota
f972b78bfb OP-21/Flight Bootloader 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1641 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-15 17:07:43 +00:00
pip
89fb0b8582 Made pios_hmc5843_data_ready volatile (accessed by both interrupts and main exec loop). 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1638 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-15 17:00:36 +00:00
stac
55d90970ed hmc5843: hide internal #defines and functions 
Way too much was being exposed in the API for the
HMC5843.  This commit properly hides internal
details of the driver.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1629 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-15 14:21:04 +00:00
stac
0e7a801e9e hmc5843: Add support for DRDY signal from magnetometer 
The DRDY signal from the magnetometer is connected to PB8
on the STM32.  This pin is now configured as an external
interrupt and is now used to signal when new data is
available from the magnetometer.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1628 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-15 14:21:02 +00:00