projects which messed up a timer on OP and serial on PipX. Now this is only
changed for AHRS. Ideally wouldn't even change for that but then ADC runs too
fast and we get a lot more CRC errors for dealing with all that data.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2459 ebee16cc-31ac-478f-84a7-5cbb03baadba
size (may eventually need to be per revision if we get bigger ram). Typo in a
the ifdefs to get allow disabling SDCARD
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2423 ebee16cc-31ac-478f-84a7-5cbb03baadba
ActuatorSettings although for PWM aircrafts it should be done exactly as before
Actuator: Store the update times and maximum update time
OP-14 I2C: Start tracking short history of events and states in driver for
logging
OP-237 Flight/Actuator: Support for I2C based ESCs
OP-237 MK_ESC: Send all four motors as one atomic transfer
OP-237 Flight/Actuator: Allow channels to be mapped to MK I2C interface. Currently
mixer channels are either PWM or MK but in the future this will change to
support more than 8 channels.
OP-16 PiOS/I2C: Further work to try and make I2C more stable, mstly special case
handline in IRQ
OP-237 I2C ESC: Support for Astect 4 channel ESCs
OP-237: When the I2C Actuator write update fails track this
OP-237 Actuator Settings: Change the way motor types are selected to keep that
information more appropriately within ActuatorSettings instead of MixerSettings
Also make motors stay at or above neutral when armed and throttle > 0
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2366 ebee16cc-31ac-478f-84a7-5cbb03baadba
tasks directly update a flag for each module (which they register) and when all
flags set clear the watchdog then.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2365 ebee16cc-31ac-478f-84a7-5cbb03baadba
priority preempts) and adjusting the priorities around to be more sensible.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2355 ebee16cc-31ac-478f-84a7-5cbb03baadba
to only transmitting one object per transmission too to keep size down.
Also move to using the driver structure so the paramter is in a clear place.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2333 ebee16cc-31ac-478f-84a7-5cbb03baadba
This allows the UAVObjectGenerator generated code to set the default values.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2301 ebee16cc-31ac-478f-84a7-5cbb03baadba
This means that any defined alarms that don't have their flight module compiled in will show uninitialised rather than OK
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2295 ebee16cc-31ac-478f-84a7-5cbb03baadba
what they would be on a real board. Also fixed a typo in stabilization.c which made me lose time when trying to understand the code...
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2260 ebee16cc-31ac-478f-84a7-5cbb03baadba
The EOC EXTI interrupt configuration was incorrectly
pointing at GPIOG pin 8 rather than GPIOC pin 15.
This was preventing the EOC interrupt from working
properly.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1626 ebee16cc-31ac-478f-84a7-5cbb03baadba
No functional changes.
The closing comment on some of the USB_HID related
ifdefs was outdated. Fixed.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1541 ebee16cc-31ac-478f-84a7-5cbb03baadba
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
- 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
PIOS SPI devices may now make use of automatic CRC generation
and checking on block transfers. Only supports CRC8 for now.
Since the SPI interface CRC calculation continues across message
boundaries (ie. not reset on every transfer), we must manually reset
the CRC registers for every transfer to allow the two sides of the
link to resynchronize.
Unfortunately, resetting the CRC registers requires disabling the
SPI peripheral which must now be done on every block transfer.
Note: The last byte of the tx buffer is never sent and is assumed to
be a place holder for the tx CRC8.
Note: The last byte of the rx buffer is expected to hold the rx CRC8.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1011 ebee16cc-31ac-478f-84a7-5cbb03baadba
The input data lines between the OP and AHRS boards had internal
pull-ups enabled. This seemed to be causing issues early on
during development of the inter-board comms. Not sure if this
is still necessary but this is how the current code was tested.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1006 ebee16cc-31ac-478f-84a7-5cbb03baadba
Mark the device specific DMA IRQ handlers as strongly linked
aliases for the genericly named interrupt vector symbol.
Here's how this works...
* The address of the symbol DMA1_Channel2_IRQHandler is written
into the DMA1/Channel2 interrupt vector by the linker script.
* The startup_*.S file specifies Default_Handler() as a weakly
linked alias for DMA1_Channel2_IRQHandler.
* We now override the weakly linked alias with the strongly linked
PIOS_SPI_sdcard_irq_handler().
* This results in the address of PIOS_SPI_sdcard_irq_handler() being
written to the vector table for the DMA1/Channel2 interrupt.
* The PIOS_SPI_sdcard_irq_handler() function is now called whenever
the DMA1/Channel2 interrupt fires.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1003 ebee16cc-31ac-478f-84a7-5cbb03baadba
- 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
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
Both EVents and ERrors were mistakenly being mapped to the
EVent IRQ channel.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@659 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit fixes all existing warnings.
All basic compiler warnings will now be treated as errors.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@658 ebee16cc-31ac-478f-84a7-5cbb03baadba
This fixes the COM interface over USB HID to the point where
it can establish and maintain solid communications with the UAVObject
Browser in the GCS.
Tested only on Linux. The USB HID interface is still disabled for now
until it is tested successfully by a wider group.
Edit telemetry.c and set ALLOW_HID_TELEMETRY to 1 to enable telemetry
over the USB HID interface and report your results in the forum.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@656 ebee16cc-31ac-478f-84a7-5cbb03baadba
- 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
This module reads from the BMP085 pressure sensor. It periodically
updates the pressure (kPa) and temperature (C) as well as the
calculated altitude (m).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@640 ebee16cc-31ac-478f-84a7-5cbb03baadba
FreeRTOS has a strict requirement that even interrupt-safe API calls (ie.
those ending in "FromISR") can only be called from ISRs that are at lesser
or equal priorities to configMAX_SYSCALL_INTERRUPT_PRIORITY. See the
"configKERNEL_INTERRUPT_PRIORITY and configMAX_SYSCALL_INTERRUPT_PRIORITY"
section at:
http://www.freertos.org/a00110.html
The interrupt numbers used on the Cortex-M3 CPU has a somewhat backward
representation of the interrupt numbers so 255 = lowest priority and
0 = highest priority.
The calculation is further complicated by the STM32 implementation only using
the upper 4 bits of the priority value. Only 0x00, 0x10, 0x20, ..., 0xE0, 0xF0
represent useful interrupt priorities.
FreeRTOS requires that MAX_SYSCALL and KERNEL interrupt priorities are expressed
as raw unshifted 8-bit values to be programmed directly into the BASEPRI register.
The priority values passed to the NVIC initialization, however, are expected
to be 4-bit values and are shifted up by 4 within NVIC_Init() for you.
The end result is that we need this arrangement:
[highest priority]
NVIC_0 (Non-maskable-interrupt)
NVIC_1
NVIC_2
[Must NOT call FreeRTOS APIs above here]
configMAX_SYSCALL_INTERRUPT_PRIORITY (now at 48 = 0x30 = NVIC_3)
PIOS_IRQ_PRIO_HIGHEST (cur. NVIC_4)
PIOS_IRQ_PRIO_HIGH (cur. NVIC_5)
PIOS_IRQ_PRIO_MID (cur. NVIC_8)
PIOS_IRQ_PRIO_LOW (cur. NVIC_12)
configKERNEL_INTERRUPT_PRIORITY (240 = 0xF0 = NVIC_15)
[lowest priority]
The previous config had configMAX_SYSCALL_INTERRUPT_PRIORITY set at
191 (0xBF) which is effectively NVIC_11. This was allowing all of
the MID, HIGH and HIGHEST interrupt handlers to preempt the OS in
its critical sections. Since some of these ISRs were calling
FreeRTOS APIs, this would result in corrupting internal data structures
within the OS.
It should be ok to move the configKERNEL_INTERRUPT_PRIORITY to a higher
priority as long as it is less than configMAX_SYSCALL_INTERRUPT_PRIORITY.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@637 ebee16cc-31ac-478f-84a7-5cbb03baadba
