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2696 Commits

Author SHA1 Message Date
Brian Webb
1048eb7e2c Added pios_eeprom for saving settings. 2012-04-28 19:29:25 -07:00
Brian Webb
aab47d6ed4 Final updates to throttled mode and further memeory reduction in the object manager and event dispatcher to reflect smaller data sizes in metadata. 2012-04-22 14:56:26 -07:00
Brian Webb
ed1937958e Changed PipX UAVTalkProcessInputStream calls to UAVTalkProcessInputStreamQuiet. 2012-04-22 08:45:01 -07:00
Brian Webb
fb6dedad2b Added UAVTalkProcessInputStreamQuiet function, which is a version of UAVTalkProcessInputStream that only processes (does not sens or receive). 2012-04-22 08:43:51 -07:00
Brian Webb
f726cc6a9d Added a RTC supervisor timer to RFM22B driver. 2012-04-21 18:31:49 -07:00
Brian Webb
5a2a3ad49b Fixed changes to UAVTalkProcessInputStream. 2012-04-21 16:54:35 -07:00
Brian Webb
eb6f175af4 Fixed metadata settings in object browswer, and removed update mode never from all uavobjects that used it (changed to manual). 2012-04-21 11:59:14 -07:00
Laura Sebesta
6feb198437 Improved comment message, aimed at beginners. 2012-04-20 17:10:16 -04:00
Stacey Sheldon
b255e7caaa hid+vcp: Add Windows INF file for CDC on OpenPilot boards 2012-04-20 09:02:40 -04:00
Stacey Sheldon
41d4ba4b1a hid+vcp: change default USB descriptor to HID+VCP 
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.
 2012-04-20 08:39:04 -04:00
zedamota
4968df183a Working compliant VCP+HID descriptors for Windows. 2012-04-20 08:38:24 -04:00
Brian Webb
19166cc830 Added UPDATEMODE_THROTTLED to UAVObjects update modes. 2012-04-18 18:47:13 -07:00
Brian Webb
62c5036220 Added PipXStatus and PipXSetting UAVobjects and some initial support for them. 2012-04-17 17:36:05 -07:00
Brian Webb
78c7416bda Added returning of UAVTalk state from UAVTalkProcessInputStream 2012-04-16 20:21:00 -07:00
Stacey Sheldon
7f03a77492 bu: remove LED support from bootloader updaters 
Bootloader updaters were all broken due to recent
changes in LED configuration handling.  Removing
LED support from the BU loads allows them to build
again, but they provide no feedback about when they're
finished writing flash.
 2012-04-16 15:09:10 -04:00
Stacey Sheldon
62fb009acd gpio: stop enabling pull-ups on all GPIOs in bootloader 
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.
 2012-04-16 14:41:25 -04:00
Stacey Sheldon
5ca4ec7934 ppm: adjust min frame pulse width for 8ch x 18ms frames 
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.
 2012-04-16 14:33:28 -04:00
James Cotton
b0ef456ccb Kickstart MPU6000 if there is no data 2012-04-13 20:29:41 -05:00
James Cotton
a0d1b00ade Cover an edge condition for the MPU6000 IRQ not firing 2012-04-13 19:37:30 -05:00
Brian Webb
4936cd8fd2 Added PipXStatus and PipXSettings UAVObjects and added support the sending/receiving UAVTalk objects on the PipX. 2012-04-10 20:22:53 -07:00
Brian Webb
3914d22b09 Turned off watchdog timer, which was crashing on real PipX. 2012-04-07 19:56:12 -07:00
Brian Webb
e639d173a0 Create ID from a hashed CPU serial number. 2012-04-07 19:41:23 -07:00
Brian Webb
7b49a6b820 Added watchdog to radio com bridge in PipXtreme. 2012-04-07 19:12:49 -07:00
Brian Webb
f4d886de75 Added support for determining when the radio->com link is between UAVTalk packets. This is required to inject UAVTalk messages into the message stream. 2012-04-07 18:17:57 -07:00
Brian Webb
0f9f897870 Added PPM packet to packet handler, created replacement system module for PipXtreme (PipXtreme module), removed all UAVObjects from PipXtreme, and added parsing of incoming (over USB/COM) UAVTalk stream. 2012-04-07 18:17:32 -07:00
Brian Webb
56a2006fd8 Reconfigured to run on the real PipX board. 2012-04-06 18:44:31 -07:00
Brian Webb
eeb96955f9 Fixed ADC configuration 2012-04-06 17:43:43 -07:00
Brian Webb
253de47967 Merge remote-tracking branch 'raid/Brian-PipXtreme-V2' into Brian-PipXtreme-V2 2012-04-06 17:37:31 -07:00
Brian Webb
bc1adb2519 Some cleanup of rfm22 driver. 2012-04-06 17:36:35 -07:00
Brian Webb
fff93910e2 RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module. 2012-04-05 20:24:50 -07:00
James Cotton
e82323af32 Make revolution work with the FreeRTOS queue based MPU6000 driver 2012-04-03 03:41:52 -05:00
James Cotton
bb41bc1472 Add no for DIAG_TASKS to make file to make it easier not to miss. 2012-04-03 02:07:04 -05:00
James Cotton
d7cb232315 Add MPU6000 accel range to config structure. Also put in correct values. 2012-04-03 02:07:04 -05:00
James Cotton
3346e848e0 Attitude error timeout was 2 ms when sensors at 500 Hz. Caused lots of errors 
and overwhelmed event system.
 2012-04-03 02:07:04 -05:00
James Cotton
3f22ef8c66 Slow MPU6000 on CC3D to 500 Hz 2012-04-03 02:07:04 -05:00
James Cotton
35854b35f6 MPU6000 accel value coming out twice as high as it should. Need to store scale 
in cfg structure to fix this properly.
 2012-04-03 02:07:04 -05:00
James Cotton
8032130769 Slow down gyro a bit on CC to give the CPU some breathing room. Might need to 
come down more.
 2012-04-03 02:07:03 -05:00
James Cotton
a960f3d07e Switch the MPU6000 driver to using a FreeRTOS queue. Need to update Revo code 
to take advantage of this.
 2012-04-03 02:07:03 -05:00
James Cotton
1415728762 Get the MPU6000 CC3D working. Right now the ADC system is commented out, which 
will break regular CC.
 2012-04-03 02:07:03 -05:00
James Cotton
a0b7453580 Make the firmwareIAP variable not a global 2012-04-03 02:07:03 -05:00
Stacey Sheldon
9b33be5d65 ef: pad any gaps between the BL bank and the FW bank 
The Entire Flash (EF) image for revo has a gap between
the end of the BL bank and the start of the FW bank.
This fills the gap with 0xFF and properly aligns the
FW image in flash.
 2012-04-01 22:39:27 -04:00
Brian Webb
df0a1c2ac1 Upgraded Brian-Metadata-Mods to current next. 2012-04-01 12:25:13 -07:00
Brian Webb
496a323b7f Fixed indentaion. 2012-03-31 07:59:44 -07:00
Stacey Sheldon
eab923fee0 revo: move fw image into 128KB sectors 
This saves the more versatile 16KB and 64KB sectors
for other purposes.
 2012-03-28 21:52:43 -04:00
Stacey Sheldon
f971fc14d5 openocd: update to latest git snapshot (f1c01333) 2012-03-27 00:53:27 -04:00
Stacey Sheldon
91cffb1809 f4 usb: don't skip yield from ISR 
Function was returning prior to the code that might
need to yield from within the ISR.
 2012-03-27 00:18:44 -04:00
Corvus Corax
0742c88a98 enabled optional rtation of Revolution board 2012-03-26 05:25:52 +02:00
Corvus Corax
d32dd0ccd4 Fixed fmod() versus fmodf() usage in flight/... 2012-03-26 04:16:54 +02:00
Brian Webb
1669f00456 Merge remote-tracking branch 'origin/next' into Brian-PipXtreme-V2 2012-03-24 15:21:16 -07:00
Brian Webb
23f6c8af73 Merge remote-tracking branch 'origin/next' into Brian-PipXtreme-V2 2012-03-23 20:49:12 -07:00
Stacey Sheldon
730defb698 f4 flash: fix flash voltage range setting in bl_helper 
F4 boards are powered by 3.3V which corresponds to
VoltageRange_3.  Fix this to match actual VDD so we
get faster erase/write times.
 2012-03-22 22:37:31 -04:00
James Cotton
8059004755 Make sure if an event has a null handle and the queue is full we don't try and 
query UAVObjID
 2012-03-22 10:46:30 -05:00
James Cotton
c7ff2a46c7 Merge remote-tracking branch 'origin/laurent/modelview' into revolution 
Conflicts:
	flight/CopterControl/Makefile
	ground/openpilotgcs/src/plugins/config/config.pro
	ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
 2012-03-22 02:58:24 -05:00
James Cotton
2f8049e20a Update the bootloader hw version for the mpu6000 board and make the sensor code 
and initialization respond appropriately.  Enable hte L3GD20 and BMA180.
Let the board type determine which is used.
 2012-03-22 00:41:37 -05:00
James Cotton
6350ec575e Merge remote-tracking branch 'origin/os/features/stick-deadband-next' into next 
Conflicts:
	ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
 2012-03-21 16:03:40 -05:00
James Cotton
e7ca02c038 Initialize mag before mpu6000. Seems more reliable but I don't know why. 2012-03-21 03:42:15 -05:00
James Cotton
e4290d678b Reenable the pressure sensor and other modules 2012-03-21 00:49:29 -05:00
James Cotton
720684c248 Flag to enable pressure/mag 2012-03-21 00:49:04 -05:00
James Cotton
a77a859e5c Using some config switches to get this board up and running 2012-03-21 00:48:31 -05:00
James Cotton
6b88a278b3 Disable overosync by default. It was triggering event system warnings due to 
the extra updates from altholdsmoothed.  Increase queue size when reenabled.
Also AltHold is is trigger warnings because other tasks starve it during
startup.
 2012-03-21 00:29:09 -05:00
James Cotton
f4663b98e4 When the event system or object manager has an error store the object ID in the 
SystemStats.
 2012-03-20 23:18:07 -05:00
Brian Webb
fc2d81cd8c Added optional ADC initialization to PipXtreme (turned off). 2012-03-19 17:59:05 -07:00
Brian Webb
fdf853a2fe Cleaned up the PipXtreme makefile. 2012-03-18 19:26:18 -07:00
Brian Webb
823b111d60 Added Reed-Solomon error correction to PipXtreme. The code is a slight modification of rsscode (http://rscode.sourceforge.net). Packet acking has also been turned on as the default, so each packet is error corrected, and if errors remain, the packet is NACKed, otherwise it is ACKed. Also temporarily turned off UAVTalk parsing. This was causing the CC to be identified as a PipX due to the PipX sending UAVObjects (I believe) from the system module. The system module is going to have to be modified/replaced for the PipX. 2012-03-18 17:43:29 -07:00
Brian Webb
aba3789d87 Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into Brian-Metadata-Mods 2012-03-18 13:28:11 -07:00
Brian Webb
346ae1bc6e Removed crc from PipXtreme build. 2012-03-18 10:29:28 -07:00
Brian Webb
620e862022 Moved unused crc.c/h back to PipXtreme directory. 2012-03-18 10:26:47 -07:00
Brian Webb
ecdf150946 Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data. 2012-03-18 10:22:05 -07:00
Brian Webb
41c68a6f6b Updates to PipX configration. 2012-03-15 19:51:46 -07:00
Brian Webb
78b622a8d8 Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into PipXtreme 2012-03-15 19:31:18 -07:00
Brian Webb
b34b849453 Added start at a modified PipX packet handler. 2012-03-15 19:29:54 -07:00
James Cotton
a319a6b14c Flags to disable mag/baro init 2012-03-14 22:35:09 -05:00
James Cotton
0d42303d37 Fix some compilation errors/warnings in attitude.c 2012-03-11 16:30:18 -05:00
James Cotton
c8d1534b87 Convert inline functions to static, let the compiler figure it out. Also some 
formatting since code was probably written with tabstop = 2 :)
 2012-03-11 13:18:08 -05:00
James Cotton
bbbca319d8 Merge commit 'c4df0c0ceff8ba985bb20d815f27910b9e59d992' into revolution 2012-03-11 13:14:06 -05:00
Alessio Morale
c4df0c0cef Support for port remapping on serial ports 
Support for receiver configuration (PPM, PWM and DSM)
There are still problems with Flexi port (not sure if related to a problem with my board) and Uart/SBUS that has the input always inverted.
 2012-03-11 18:38:49 +01:00
Stacey Sheldon
3782cdc58e bu: drop CC and PipX from BU targets since they don't build 
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.
 2012-03-10 20:41:15 -05:00
Stacey Sheldon
6038bfcb40 revo servo: swap servo pins 3 and 4 definitions to match schematic 
Note non-standard pin numbering on JP3 on the schematic.
 2012-03-10 15:06:21 -05:00
James Cotton
820ca6a970 Initialize loop variable OUTSIDE loop so that baro is used still for altitude 
hold.
 2012-03-10 11:28:51 -06:00
James Cotton
f4705551b6 Update task info to cover the AltitudeHold module 2012-03-10 11:14:30 -06:00
Dmitry Zaitsev
d45e88515b firmware: disable Attitude module in simulation 
this part should be rewritten to completely disable the polling of sensors.
i just do not know how to do it correctly.
 2012-03-10 06:02:23 +04:00
James Cotton
690f1b5f29 Enable camera stabilization 2012-03-08 01:37:34 -06:00
Stacey Sheldon
3210bd3f9c f4 usb_dcd: disable FIFO empty IRQ while waiting for tx completion 
CPU was being hammered with FIFO empty IRQs if we queued data but
the host wasn't actively draining the FIFO.

This was entirely unexpected so this hack should probably be
removed once we can figure out why this was happening.

This is almost certainly hiding some other issue.
 2012-03-07 20:36:37 -05:00
Stacey Sheldon
c4bd286739 f4 usb_hid: track whether we have buffers queued on endpoints 
Make sure we don't clobber our endpoint configuration by
double configuring an Rx or Tx buffer against it.  Wait for
the completion of the previous operation before allowing
endpoint configuration again.
 2012-03-07 20:36:36 -05:00
Brian Webb
d73895de7d Working PipX com relay. 2012-03-07 18:05:42 -07:00
Stacey Sheldon
65fc6104e6 f4 usb_hid: ignore upper layers if USB IF not yet enabled 
Upper (COM) layer was calling down into the HID layer before
the HID interface had been enabled.  This was leading to
interacting with the endpoint Rx and Tx FIFOs prior to init.
The FIFO config was then being clobbered when we the USB IF
was eventually enabled.
 2012-03-07 20:01:35 -05:00
Stacey Sheldon
1f37806eab f4 usb_hid: fix typo in EP IN registration call 
Code was using the size of the Rx buffer instead of the Tx
buffer when registering.  Buffers are currently the same
size so wasn't causing any issues.
 2012-03-07 20:01:35 -05:00
Stacey Sheldon
bc3ee6209c f4 usbhook: drop in/out bit from EP numbers before using as index 
USBHOOK endpoint callback arrays should not be indexed with the
0x80 (in/out) bit set.  Oops.
 2012-03-07 20:01:35 -05:00
Stacey Sheldon
6832a62872 f4 bl_helper: clear all flash errors as we unlock the flash 
Error flags being set were causing flash erase operations to
fail.  Not sure why these flags were set though so this might
be hiding some other problem.
 2012-03-07 19:53:18 -05:00
Stacey Sheldon
4ea1156e7b f4 bl_helper: teach bl_helper about f4 flash sector map 2012-03-07 19:53:17 -05:00
Stacey Sheldon
d1d123e4f6 revo bl: turn on USB and add support for OP DFU protocol 2012-03-07 19:53:17 -05:00
Stacey Sheldon
b8fcbad297 revo bl: remove unneeded code from revo BL 
Clean up BL source tree and makefile.
 2012-03-07 19:53:17 -05:00
Stacey Sheldon
c854c3f4a4 usbhook: add support in API for deactivating USB 2012-03-07 19:53:17 -05:00
Stacey Sheldon
cb9c3a9b7e usbhook: delete dead code 
Remove old code left-over from porting from F1 to F4.
 2012-03-07 19:53:17 -05:00
Stacey Sheldon
e2ab662b5d sysclk: pass in correct definition for HSE_VALUE 
The code in RCC_GetClocksFreq() uses HSE_VALUE to determine
the tick rate of the SYSCLK.  This in turn is used by the
code in PIOS_DELAY_* to compute delays.

ST Library defaults this to 25MHz for the F4.  Our board
actually has an 8MHz oscillator so delays were way off.

Mostly affects the bootloaders since most FW code uses RTOS
delays rather than busy-waiting using PIOS_DELAY_*.
 2012-03-07 19:52:54 -05:00
Stacey Sheldon
fdf54ab86c hid: fix response to HID descriptor 
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.
 2012-03-07 19:52:54 -05:00
Brian Webb
444150269a Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into PipXtreme 2012-03-05 18:22:08 -07:00
James Cotton
61d59828dc Disable the new features if not revolution and set an error flag. Fixes 
compilation errors.
 2012-03-05 00:24:11 -06:00
Alessio Morale
637af911ef Merge remote-tracking branch 'origin/james/revolution' into amorale/revolution 2012-03-04 12:31:13 +01:00
James Cotton
7961aba83c Clean up a few more compiler warnings 
Conflicts:

	flight/PiOS/Common/pios_ms5611.c
 2012-03-03 13:32:56 -06:00
James Cotton
91a226fc12 Sometimes the mag stops updating so kickstart it 2012-03-03 13:31:46 -06:00
James Cotton
bc8b72623e Get rid of some unused variables 2012-03-03 11:54:09 -06:00
James Cotton
b3f620af7c Merge remote-tracking branch 'revo/stac/openocd' into revolution 2012-03-03 11:52:09 -06:00
James Cotton
f20e5da9ed Merge branch 'next' into revolution 
Conflicts:
	ground/openpilotgcs/src/plugins/config/config.pro
	ground/openpilotgcs/src/plugins/config/configrevowidget.h
	ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp
 2012-03-03 11:41:41 -06:00
Stacey Sheldon
0684a42fac build: use board-specific JTAG interface for openocd 
Removes hard-coding of JTAG interface config in the
<board>_program make macros.

This allows the use of STLINKv2 for F4 boards while
continuing to use the FOSS JTAG revB on F1 boards.
 2012-03-03 08:43:01 -05:00
Stacey Sheldon
d78c5d2a9a openocd: reenable flash commands on f4 boards 2012-03-03 08:43:01 -05:00
Stacey Sheldon
c0c38609ec openocd: move to newer openocd (dec6b913) 
This update fixes flash writing on F4 chips
 2012-03-03 08:43:01 -05:00
Alessio Morale
226cd09a13 Merge branch 'james/revolution' into amorale/revolution 2012-03-02 21:24:56 +01:00
James Cotton
e3df261213 Merge branch 'stac/revo-usb' into revolution 
Conflicts:
	flight/Revolution/System/pios_board.c
 2012-03-02 13:00:13 -06:00
James Cotton
72a93dbae5 Fix from PT for OSX/Windows F4 USB HID to send the full report size even if not 
all used.
 2012-03-02 11:11:36 -06:00
Alessio Morale
e8880d7271 Removed duplicate InitClock for tim_4 2012-03-02 00:55:50 +01:00
Alessio Morale
691e8760bc Updated OpenPilotOSX.xcodeproj to include Flight as a reference to the actual folder 2012-02-29 23:13:02 +01:00
Brian Webb
a0bdc58e5b Added framework for rfm22b com device. 2012-02-28 21:30:06 -07:00
Brian Webb
992aa3bec6 Updated PipX branch to use CDC device with a VCP (not working yet). 2012-02-25 09:07:37 -07:00
Brian Webb
e2cb750dc6 First cut on RadioComBridge module, which is intended to pass data from either a USART or a USB port to the PipX radio link. 2012-02-25 07:37:05 -07:00
Brian Webb
01f314724b Updates to USB configuration on the PipXtreme. 2012-02-24 15:54:26 -07:00
Brian Webb
483a96c31d Some more cleanup to PipXtreme codebase. 2012-02-24 07:49:41 -07:00
Brian Webb
b69b285f58 Fixed PipXtreme bootloader. 2012-02-23 20:40:24 -07:00
Brian Webb
182f285e60 Added missing startup file for PipXtreme. 2012-02-23 20:06:34 -07:00
Brian Webb
cf34baec69 Some cleanup on PipXtreme codebase. 2012-02-23 19:58:23 -07:00
Oleg Semyonov
2271b95816 Merge remote branch 'origin/next' into os/features/stick-deadband-next 
Conflicts:
	ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
	ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
	ground/openpilotgcs/src/plugins/config/configtaskwidget.h
 2012-02-23 08:32:27 +02:00
Oleg Semyonov
e62cc8914c Merge remote branch 'origin/next' into os/features/pid-tuning-from-transmitter-next 
Conflicts:
	flight/CopterControl/Makefile
	ground/openpilotgcs/src/plugins/config/config.pro
	ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
	ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
	shared/uavobjectdefinition/hwsettings.xml
 2012-02-22 23:03:17 +02:00
Brian Webb
f0dfba6fc0 Re-baslined the PipX codebase using the experimental Transmitter codebase. 2012-02-21 20:29:06 -07:00
Oleg Semyonov
403e9cd220 TxPID module: add ILimit values to the list of settings 2012-02-21 19:57:10 +02:00
James Cotton
7b548eaa54 Fix bug in the integral for altitude hold where it was accumulating wrong variable. 2012-02-21 00:40:55 -06:00
Brian Webb
43f6458f86 Reduced the sizeof the UAVObject metadata by: 
1) Combining all binary or mode values into a single byte
  2) Adding accessor functions to read/write the flag bits
  3) Reduced the size of the time values from 32 bits to 16 bits
 2012-02-20 18:45:18 -07:00
James Cotton
900780e10c Add bias estimation to the altitude fusion algorithm. Necessary to increase 
the gains on acceleration and velocity feedback terms (they are a problem when
biased).
 2012-02-19 11:38:09 -06:00
James Cotton
47fac7e31c Move the throttle setting code for alt hold into the fast accel loop. 2012-02-18 18:16:15 -06:00
Oleg Semyonov
c721d001c0 Subtract deadband offset from then input to still have fine control 2012-02-18 10:21:51 +02:00
James Cotton
7d4582e5f0 Update the altitude KF to use the updated measurements appropriately and check 
in the relevant matlab code to check it and genererate it.  Produces quite
smooth traces.
 2012-02-16 05:33:47 -06:00
James Cotton
c957172f8f In the case of swapping in userspace due to the buffer being blocked during 
ISR, make sure the latency is less than 50 us to avoid framesync errors.  Still
seeing a few nonsense packets on Overo side but fairly few.  Probably need to
add CRC to whole packet now and call it done.
 2012-02-14 11:06:16 -06:00
James Cotton
1930d092eb In the case where the overo scheduler cannot swap buffers (userspace loading 
it) then set a flag so as soon as the buffer is loaded then we schedule it.
 2012-02-14 11:00:29 -06:00
James Cotton
f04c58b0f4 Make the overo transaction occur based on the rising edge of the NSS line. 
This fixes most of the frame sync problems.  However, it's a bit hacky as
there is currently hardware information inside a module.
 2012-02-14 10:37:30 -06:00
James Cotton
d018d93e88 Clean up previous commit a bit and make the sampling rate a variable (and adapt 
the sampling time accordingly).
 2012-02-13 01:49:54 -06:00
James Cotton
3acbfbe96c Convert the pressure sensor code to most of the calculations as int64 to retain 
precision.
 2012-02-13 01:22:48 -06:00
James Cotton
4717af1afd Swap telemetry port and gps ports back 2012-02-12 13:55:52 -06:00
James Cotton
f23f53dc4e Add settings for the altitude kalman filter settings and init the state when 
first measurement arrives
 2012-02-12 09:07:27 -06:00
James Cotton
34ca5777dd Kalman filter for altitude 2012-02-11 21:08:19 -06:00
James Cotton
d8f0494e57 Merge branch 'revolution' into revolution_overo 2012-02-11 20:02:20 -06:00
Alessio Morale
22b211167c Ported pios_iap.c to F4 
restored failed boot count check on pios_board.c for revo
 2012-02-11 13:49:32 +01:00
James Cotton
3026527801 Now the desired altitude is relative to when the switch was flipped so that the 
baro altitude module can use a smoothed altitude estimate for the starting
point.
 2012-02-08 23:02:29 -06:00
James Cotton
80d602ef7b Switch order of some commands to make sure it loads the correct hover throttle 2012-02-08 20:47:10 -06:00
James Cotton
ab41bae071 Separately smooth the error estimate from the derivative 2012-02-08 11:15:33 -06:00
James Cotton
60c951843d Use backtracking to limit integral in altitude hold and smooth the velocity 
error.  Initialize the throttle integral better.
 2012-02-08 10:39:31 -06:00
James Cotton
c6b1d6b8df Rework the altitude hold code a bit 2012-02-08 09:42:10 -06:00
James Cotton
49a03a868b Merge branch 'altitudehold' into revolution_overo 
Conflicts:
	flight/OpenPilot/UAVObjects.inc
	flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
	flight/Revolution/Makefile
	flight/Revolution/ins.c
 2012-02-07 23:00:29 -06:00
James Cotton
6ec0f06c80 Back to 1024 byte packets 2012-02-07 13:02:11 -06:00
James Cotton
2c60447200 Switch back to 512 byte packets and fix bug when writing the header size that 
was smashing the crc
 2012-02-07 11:32:04 -06:00
James Cotton
221a0c5e53 Add the number of dropped updates to the overosync stats 2012-02-07 09:13:26 -06:00
James Cotton
a89d425b23 Reset the received rate for overo sync object 2012-02-07 09:01:58 -06:00
James Cotton
02bec750bd In the attitude loop need to check all the queues even if unused or the event 
system will have warnings
 2012-02-07 08:46:34 -06:00
Stacey Sheldon
e2939dae2a revo usb: Add support for USB to Revo 2012-02-07 02:25:31 -05:00
Stacey Sheldon
8b73ae7d16 remove trailing whitespace 2012-02-07 02:25:31 -05:00
Stacey Sheldon
b8c16fe7a5 hw defs: move misc defines and non-const data out of board_hw_defs.c 
The board_hw_defs.c file should only contain static
const declarations that only describe the hardware.

All other non-const variables should be put into one
of the pios_board.c files.
 2012-02-07 02:25:31 -05:00
Stacey Sheldon
3c1b1001f9 f4 usb: Allow USB descriptors to be const through ST APIs 2012-02-07 02:25:31 -05:00
Stacey Sheldon
56102013aa f4 usb: correct function prototypes in bsp template 
This file is not actually used but it should still be accurate.
 2012-02-07 02:25:31 -05:00
Stacey Sheldon
57f9f6e3d1 f4 usb: configure and build ST USB OTG and USB DEV libraries 2012-02-07 02:25:31 -05:00
Stacey Sheldon
1e79ed6d54 f4 usb: fix invalid reference to stm32f4_discovery.h 2012-02-07 02:25:31 -05:00
Stacey Sheldon
04b81f13a7 f4 usb: fix invalid references to stm32f2xx.h 2012-02-07 02:25:31 -05:00
Stacey Sheldon
266b95561f f4 usb: rename device template to real config file 2012-02-07 02:25:30 -05:00
Stacey Sheldon
a4ae844f2b f4 usb: rename otg template to real config file 2012-02-07 02:25:30 -05:00
Stacey Sheldon
58bbe0870d f4 usb: allow device->host data to be const 
This allows the application code to pass const
descriptors to the Tx APIs in the STM32 USB
library.
 2012-02-07 02:25:30 -05:00
Stacey Sheldon
4b911bb3be f4 usb: remove unused device class examples 2012-02-07 02:25:30 -05:00
Stacey Sheldon
efbe8bbfdd f4 usb: convert all line endings to LF-only 
Line ending changes only.  No functional changes.
 2012-02-07 02:25:30 -05:00
Stacey Sheldon
6a43d1c7ed f4 usb: Import pristine STM32F4 USB Library v1.1.0 
Taken from version STM32F4-Discovery_FW_V1.1.0 of the
library from ST.
 2012-02-07 02:25:30 -05:00
Stacey Sheldon
240425ff22 gdb: add config file for revo bl 2012-02-07 02:25:30 -05:00
Stacey Sheldon
1532338847 ef: fix dependencies in entire flash image build 
ef_$(BOARD_NAME).bin files were not properly depending
on their fw and bl files resulting in the ef files not
being regenerated.
 2012-02-07 02:25:30 -05:00
James Cotton
ae01936808 Add the portTickTime into the OveroSync stream 2012-02-06 10:00:02 -06:00
James Cotton
dbcb499d7f Add object to monitor the overo link status. Current just records the bytes/s 
being sent and the connected status (based on sending more than 500 bytes per
second)
 2012-02-06 09:37:31 -06:00
James Cotton
5b2376dbee Remove the semaphore for buffer swapping and make this occur during the receive 
ISR.  This leads to a possible condition where a copy is taking place in
userspace and then a buffer swap interrupts it.  However, the copy should
always finish before the SPI DMA slave catches up to that place in memory at 10
MHz.

This fixes a common condition where the userspace task (low priority) was not
swapping buffers in time from user space and logs were corrupted.
 2012-02-06 08:21:24 -06:00
James Cotton
179e66b754 Refactor how new packets are scheduled to avoid trying to start a transaction 
from an ISR.  This was causing lock ups.  It's a bit higher latency probably
(trivially slow) but if we aren't keeping up with the Overo transactions then
using a proper DMA double buffer will be required.
 2012-02-04 20:11:31 -06:00
James Cotton
665801662d In cc3d update sensors add accelbias before scaling to allow more precision in 
levelinIn cc3d update sensors add accelbias before scaling to allow more
precision in levelingg
 2012-02-04 12:12:41 -06:00
James Cotton
4e190f99e2 Improved the revo overosync code to put multiple uavobjects into a packet 2012-02-04 12:06:03 -06:00
Stacey Sheldon
60a2af2e58 ef+dfu: Move EF image generation into separate makefile 
A separate makefile for EF (Entire Flash) targets allows
the removal of board-specific hard-coded addresses.  These
values can now be included from the board-info.mk files
for each board.
 2012-02-04 12:03:42 -05:00
Brian Webb
3f66afd74a Removed emacs mode header from pios_gcsrcvr.c 2012-02-04 08:42:16 -07:00
Stacey Sheldon
4fafbb13ed makefile: Add EF (Entire Flash) targets for all boards 
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.
 2012-02-03 00:59:36 -05:00
Stacey Sheldon
ce544cf4ab gdb: remove cortex_m3 remnants from revo gdb init file 2012-02-03 00:59:31 -05:00
Stacey Sheldon
99f5f20cb2 openocd: add support for stlink on stm32f4 targets 2012-02-03 00:51:31 -05:00
Brian Webb
a314604f9b Added failsafe to GCS Receiver device. 2012-02-02 19:59:42 -07:00
James Cotton
18a64e261f Going a bit overkill with this - deinit who SPI block between transactions. 2012-02-02 12:32:57 -06:00
James Cotton
c26154f303 Switch back to 256 byte packets and 0xFF pad the end 2012-02-02 11:40:49 -06:00
James Cotton
03cfb1453a DeInit SPI DMA between transactions. Somehow if this doesn't happen the next 
transaction doesn't start at the beginning again.  Something is still not quite
right because first few bytes aren't getting across.  Need logic analyzer.
 2012-02-02 11:37:35 -06:00
James Cotton
77a6abb341 For PIOS_SPI F4 do not enable the TX irq. Also do not wait for the 
transmission to finish either.
 2012-02-02 11:24:14 -06:00
James Cotton
8b1137c6a0 Align the tx and rx SPI buffers from Overosync 2012-02-02 11:23:40 -06:00
James Cotton
0a71a48c57 Sending all FF finally again 2012-02-02 10:36:09 -06:00
James Cotton
80b839d145 The SPI3 TX DMA channel was wrong 2012-02-02 10:13:09 -06:00
James Cotton
29237f97ae For SPI slave devices we need to handle the interrupt differently since 
transactions should already be completed.  Also reset the callback so in the
case of noise on the IRQ line it will not keep firing interrupts.

I suspect we should probably disable interrupts in this handler to prevent
refiring.
 2012-02-02 10:13:09 -06:00
James Cotton
88b9f20cda Fix nasty bug in the DMA stream configuration 2012-02-02 10:13:09 -06:00
James Cotton
95abb56d5e Added module to send updates out the SPI port 2012-02-02 09:19:25 -06:00
James Cotton
e434ab94a9 Enable SPI port for revolution to overo communications 2012-02-02 01:42:38 -06:00
Alessio Morale
5449408763 Merge branch 'amorale/timerprescaler' into inoutch8 2012-02-01 00:23:53 +01:00
Alessio Morale
cb2dadd0ea fix Motor 8 out not working 2012-02-01 00:20:50 +01:00
Alessio Morale
322ced44a1 Solve PWM Input 8 not working 2012-02-01 00:16:48 +01:00
Alessio Morale
820e8ac062 Handle different prescaler values for timers on APB1 and APB2. 
The PIOS_MASTER_CLOCK has been removed in favor of
PIOS_SYSCLK (the master clock value,168000000 for revolution)
PIOS_PERIPHERAL_APB1_CLOCK and
PIOS_PERIPHERAL_APB2_CLOCK
Look at STM32F4xx_Revolution.h for the list of timer/peripheral and APB them belongs.
 2012-01-28 20:04:55 +01:00
James Cotton
a778c45d6f For L3GD20 sensor task run at the sensor speed 2012-01-28 10:11:30 -06:00
James Cotton
13447ac907 Fix the MPU6000 implementation 2012-01-28 00:21:58 -06:00
James Cotton
e07fca0465 Commit the revolution board_hw_defs.c file 2012-01-26 23:32:36 -06:00
James Cotton
b4435d0b35 For L3GD20 sensor task on revo update gyro once per physical sample 2012-01-26 23:29:12 -06:00
James Cotton
f311700804 Flashfs: Whenever failing out of a transaction unlock the semaphore 2012-01-26 14:14:50 -06:00
James Cotton
85bfa7dcf9 Flashfs: Missed calculation of the header crc for monolitihic write 2012-01-26 13:32:53 -06:00
James Cotton
84dd1dbc40 A bit more lenient settings for CC sensor timings 2012-01-26 13:00:06 -06:00
James Cotton
ad3d470f40 Flashfs and Flash: Add new function to write a series of blocks in one flash 
write transaction to improve efficieny.
 2012-01-26 12:39:35 -06:00
James Cotton
80705cdba1 Flash: Because on CC/CC3D the flash is initialized before FreeRTOS is started 
we cannot use the transaction lock or the delay while saving.
 2012-01-26 11:50:05 -06:00
James Cotton
4fc907ad0d Add a transaction semaphore to flash and flashfs to make sure multiple saves 
or loads can't be attempted between threads
 2012-01-26 11:36:07 -06:00
James Cotton
8b15fdd88b Flash: Add a vTaskDelay when waiting for flash operations to complete to 
prevent blocking the bus from accels
 2012-01-26 11:26:19 -06:00
James Cotton
7f38d113eb Delete more old target stuff 2012-01-26 11:21:34 -06:00
James Cotton
e69a0937bc Flash: Wrote status instead of read it 2012-01-26 11:17:00 -06:00
James Cotton
69dc5abf0c Flash: Get rid of some defines and directly reference the cfg structure 2012-01-26 10:56:26 -06:00
James Cotton
6d572986e5 Flashfs: Clean up some of the JEDEC commands and also format whole chip when FS 
is wrong.
 2012-01-26 10:04:49 -06:00
James Cotton
fe7b9a909a LED: Update the LEDs on revo 2012-01-26 09:11:27 -06:00
James Cotton
7eab883d5c Fix some small revolution typos 2012-01-25 22:50:19 -06:00
James Cotton
20670d049b Update pios_led for F4 targets to match the new F1 implementation. Also fix 
type for F1 in GPIO labels.
 2012-01-25 22:50:19 -06:00
James Cotton
727f0befc5 Make the gyro go a bit more regularly to stabilization but needs updating 
regular CC
 2012-01-25 22:50:19 -06:00
James Cotton
e4df3202e0 L3GD20: Update sensor task for revo to use the new queue 2012-01-25 22:50:19 -06:00
James Cotton
205aabe895 L3GD20: Make this sensor push data onto a FreeRTOS queue so that the sensor 
reading task can block according.  Also now the gyro data is sent to
stabilization multiple times per update of the attitude loop.
 2012-01-25 01:20:07 -06:00
James Cotton
0da20bb846 Flash: Because most of the commands are a JEDEC standard rename this file 
pios_flash_jedec and abstract out the methods that can vary between chips.
 2012-01-25 00:23:24 -06:00
James Cotton
a02cad6f52 Flashfs: Separate out the sector sizes and magic values into a runtime 
configurable structure.  This makes it easier to deal with different chip
layouts.
 2012-01-24 23:56:59 -06:00
James Cotton
1971ba30dc No longer hardcode baudrate 2012-01-24 23:42:43 -06:00
James Cotton
5ad37e691c USB: Update the USB configuration structure to include the GPIO that is used 
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.
 2012-01-24 22:15:43 -06:00
James Cotton
bc3703ce33 Need more irq stack for CC3D 2012-01-24 19:48:52 -06:00
James Cotton
104c091590 Correct the range constants for the L3GD20 driver 2012-01-24 19:48:14 -06:00
James Cotton
a25d52785b Change the bus speed for the L3GD20 to 10MHz and some small cleanups 2012-01-24 19:17:49 -06:00
James Cotton
3880b0ddc3 CC3D and CC use different CS lines for the flash chip. Add a second cfg 
structure for each SPI interface.
 2012-01-24 16:21:48 -06:00
James Cotton
587ec5a615 Revert earlier patch on filesystem for Revolution. Need to make erase command 
and positioning of filesystem dependent on board type.

Reverted 99123372d0
 2012-01-24 16:14:41 -06:00
James Cotton
b6c056fef2 Use the updated L3GD20 format and make attitude.c use the gyro data from the 
fifo
 2012-01-24 15:52:17 -06:00
James Cotton
c9263cb8c0 L3GD20: Dynamically allocate buffer structure when used 2012-01-24 15:51:38 -06:00
James Cotton
5efbfb02fa Make the BMA180 sensor system acquire from the queue. Correct the orientation 
and speed it up to 10 MHz communications.
 2012-01-24 15:09:20 -06:00
James Cotton
8c208412c9 Give the BMA180 a dynamically allocated device structure and also make it 
properly bind to a SPI and slave number.  Temporarily reducing spi bus to
slowest possible speed.
 2012-01-24 14:38:00 -06:00
James Cotton
aec7dd0b00 Initialize the LEDs early in the bootup process 2012-01-24 14:37:04 -06:00
James Cotton
8e79bc2ee2 Temporarily refactor attitude to directly read the sensors instead of pull from 
their queues until the interrupts are working properly
 2012-01-24 11:54:23 -06:00
James Cotton
e9552065a9 Reenable the CC3D sensors 2012-01-24 11:03:33 -06:00
James Cotton
466992a907 Migrate some of the CC board settings to the new board_hw_defs 2012-01-24 10:58:40 -06:00
James Cotton
c242ab8b86 Merge branch 'next' into revolution3 
Conflicts:
	flight/AHRS/ahrs.c
	flight/AHRS/pios_board.c
	flight/Bootloaders/Revolution/Makefile
	flight/CopterControl/System/pios_board.c
	flight/INS/pios_board.c
	flight/OpenPilot/Makefile
	flight/OpenPilot/System/openpilot.c
	flight/OpenPilot/System/pios_board.c
	flight/PiOS/Boards/STM32103CB_CC_Rev1.h
	flight/PiOS/Boards/STM32F4xx_Revolution.h
	flight/Revolution/Makefile
	flight/Revolution/System/inc/pios_config.h
	flight/Revolution/test.c
 2012-01-24 10:46:35 -06:00
James Cotton
f029567e66 Remove meaningless settings from CC config file 2012-01-24 10:39:35 -06:00
James Cotton
66293a9788 Merge remote-tracking branch 'origin/stac/led-boottime-config' into next 2012-01-24 10:38:33 -06:00
James Cotton
7c22215e0b Patch from Sambas to fix F4 on windows 2012-01-24 10:33:07 -06:00
James Cotton
486cdb5dbb Got CC running again although with altitude and bmp085 disabled as well as the 
CC3D drivers.
 2012-01-24 10:32:42 -06:00
James Cotton
be50c00b7c Make sure BMA180/L3GD20 can be disabled 2012-01-24 09:23:13 -06:00
James Cotton
4d3af7afbf Add ID test to ADXL345 2012-01-24 09:23:12 -06:00
James Cotton
946c6a7f1d Fix small bugs in pios_board.c relating to adxl345 spi configuration 2012-01-24 09:23:12 -06:00
James Cotton
728c05f973 Crude implementation of sensor reading for CC3D 2012-01-24 09:23:12 -06:00
James Cotton
0cb6b13d33 Add BMA180 to CopterControl 3D. Had to reduce the stack space by 256 bytes. 
Some can be reclaimed by making the BMA180 allocate its fifo dynamically but
I'll do that later when it uses FreeRTOS queues for the FIFO.
 2012-01-24 09:23:12 -06:00
James Cotton
11471ff68b Update drivers for CC to the new EXTI system and SPI calls 2012-01-24 09:23:12 -06:00
James Cotton
a20d654744 Update the attitude algorithm for CC to use the Gyros and Accels UAVObjects 
instead of AttitudeRaw
 2012-01-24 09:23:12 -06:00
James Cotton
4cf82815ce Get the right pios_iap.c from next 2012-01-24 09:23:07 -06:00
James Cotton
aaf1c5dfdd Update the F1 SPI library to support multiple NSS lines 2012-01-23 23:27:02 -06:00
James Cotton
5fd458426a Merge branch 'cc3d' into revolution3 
Conflicts:
	flight/PiOS/inc/pios_l3gd20.h
	flight/PiOS/pios.h
	flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
 2012-01-23 22:09:45 -06:00
Stacey Sheldon
5907022b6d Merge remote-tracking branch 'origin/stac/ld-2.22-fix' into next 2012-01-23 23:05:52 -05:00
James Cotton
bcb49cbd33 Merge branch 'next' into cc3d 
Conflicts:
	flight/PiOS/STM32F10x/pios_exti.c
 2012-01-23 17:09:47 -06:00
James Cotton
2524662475 Copy the BMP085 back from next 2012-01-23 16:58:07 -06:00