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Commit Graph

953 Commits

Author SHA1 Message Date
Stacey Sheldon
e77795dc28 rcvr: add generic driver API for receivers
Will be used to collapse PWM, PPM, Spektrum and SBUS so we
can choose between them at boot time instead of at compile time.
2011-07-05 22:02:47 -04:00
James Cotton
010f0255a4 OP-543: When the magic header on file system is bad at init, read multiple
times.  It's not written as cleanly as I'd like but works for wiping when magic
value changes.  Testing will reveal if this stops the lost settings.
2011-07-04 21:44:41 -05:00
Mathieu Rondonneau
f864d723dd OP-423: Cleanup and remove recently added *_BL.S startup file. 2011-07-03 18:45:02 -07:00
Mathieu Rondonneau
2daa36aad9 OP-423: Remove *_BL.S 2011-07-03 13:14:42 -07:00
Mathieu Rondonneau
b3740ec025 OP-423: Clean startup and add weak function call for stack swap. 2011-07-03 12:43:38 -07:00
Mathieu Rondonneau
fbf0b021c7 OP-423: Replace hardcoded value and get value from memory section (change from code review) 2011-06-25 20:06:33 -07:00
Mathieu Rondonneau
6683ce8570 OP-423: Make it more obvious that MODULE_TASKCREATE_ALL and MODULE_INITIALIZE_ALL are macro (for now):
- remove the ;
  - also encapsulate the macro by {} in his own scope.
2011-06-25 11:40:01 -07:00
Mathieu Rondonneau
de55c56427 OP-423: Change capital on macro to be uppercase for consistency. 2011-06-24 22:03:03 -07:00
Mathieu Rondonneau
0ff5e9a46f Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint 2011-06-21 22:02:13 -07:00
James Cotton
8976d22fad Merge remote-tracking branch 'origin/OP-159_os_sbus' 2011-06-21 17:51:22 -05:00
Mathieu Rondonneau
fc1e3f574c OP-423: Split task create and module init in order to postpone task creation once the full heap is available.
Also implement some ordering (quite ugly still) in the module init and task creation order so we can decide which module to start/init first
and which module to start/init last.
This will be replaced/adapter with the uavobject list later (once it's implemented).
reserving some space for module init and task create parameters to customize module/task creation (this will be usefull once we get the list and customization from customer).

Changes have been made for OP and CC. Tested comped with CC,OP, sim_posix.
Only ran on bench with CC for couple of minutes (code increase expected but no dropping of stack which is good).

This gives task creation at the time wherethe all heap is available.
2011-06-19 22:35:40 -07:00
Oleg Semyonov
6272210df7 sbus: some code cleanup (no functional changes) 2011-06-19 14:30:13 +03:00
Oleg Semyonov
311902f1f2 sbus: implemented S.Bus stream decoding 2011-06-18 23:19:57 +03:00
Mathieu Rondonneau
b67a38661e OP-423: merge master into that branch, resolve conflicts and test with CC and bl_CC
heap reamining is low (about 500) but stacks can be ajusted (specially the 200 bytes from system) to give the level close to 1Ko if needed.

Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint

Conflicts:
	flight/CopterControl/System/inc/FreeRTOSConfig.h
	flight/CopterControl/System/inc/pios_config.h
2011-06-17 19:04:09 -07:00
Mathieu Rondonneau
693c6bc5b0 OP-423: fix bl and bu, also fix compiler problems encountered with make all 2011-06-17 18:54:25 -07:00
Mathieu Rondonneau
65cf467ca4 OP-423: move the module initialize funtion into a specific section for OP and CC.
- create linker section for those <module>Initialize()
- later this list will incorporate parameters as well. (this probably will be more a OP feature to swap/remove/delete module on the fly.
- this is not done at compile time anymore by Makefile.
- this will allow us to have control on the module start at run-time (not implemented but build the ground for it).
- this simplify the startup (Part of code re-org).
- this change does not affect sim_posix and win32 (since they don't need that)
- ensure it's compiling for PiOS.posix
- port to PiOS.win32 but not tested (not compiled)
- tested on CC
- compile on OP.
- this free ~200 bytes.
- current avalable bytes (is we keep the same remaining bytes on the stack than before) is easily passed the 1.2Ko mark on CC with new gcc (4.5.2)
- this does not include init-reorg for each module (I still think more can be freed)
2011-06-16 22:13:19 -07:00
Oleg Semyonov
aeda61d252 usart: serial telemetry can be disabled to free USART
It was tested being merged with OP-472_CorvusCorax_CopterControl-Guidance_v3
branch, Spektrum on USART3 and GPS on USART1 and seems to work.

Currently defaults mimic original behavior, that is, if USE_SPEKTRUM
is not defined - define USE_PWM and USE_GPS. Thsi should be refactored
later to make it configurable from the Makefile.

Also it was not ported to the OP MB: it currently does not support the
S.Bus hardware and still has original behavior with the patch. But this
is one more step to dynamic configuration of ports.
2011-06-16 15:06:01 +03:00
Mathieu Rondonneau
e8cdf22427 OP-423 Port to OP: Claim (at run-time) the remaining un-used bytes (between heap and end of RAM) that are for data growth (needed at compile time).
CAREFULL: the heap section need to be the last section in RAM to avoid overwritting data...

also move address into linker (CC and OP)
2011-06-15 18:54:35 -07:00
Oleg Semyonov
d8201ec45b sbus: provide a stub based on Spektrum driver (for CC only) 2011-06-15 22:35:21 +03:00
Mathieu Rondonneau
ab4e15e9aa OP-423 also claim (at run-time) the remaining un-used bytes (between heap and end of RAM) that are for data growth (needed at compile time).
CAREFULL: the heap section need to be the last section in RAM to avoid overwritting data...

Tested with GCC 4.5.2 this gives 1K of free bytes usable in heap right away (including the 200 bytes saved just by using the new gcc).
This does not include any code re-org yet!
2011-06-14 22:13:30 -07:00
Mathieu Rondonneau
3780de8d3e OP-423 port to OP (heap2) the previous changes done in CC (heap1) (see c95b199166)
I managed to test CC with heap2 changes and the init stack claimed back to heap once scheduler starts.

the changes of this commit are OP related (just cleanup on CC side):
Arch specific stuff (in reset vector) to hide this from portable code:
     - switch back to MSP stack before starting the scheduler so that the sheduler can use the IRQ stack (when/if needed).
     - call the C portable function in heap2 to claim some stack back (the number to claim is taken from linker file).
     - start the scheduler from reset vector (I move this here from main because it make sense to not go back to C (so that I don't need to copy the rolled stack in case the sheduler returns). This make it more clean.
     - Also I have added the call to the mem manager if sheduler return. that way, we don't reset indefinitely if memory runs out. We will go to this handler and figure things out (right now, it's just looping but at least not rebooting. Probably trap NMI would be better (later improvement).
2011-06-14 20:10:53 -07:00
Mathieu Rondonneau
c95b199166 OP-423 do the arch specific stuff (in reset vector) to hide this from portable code:
- switch back to MSP stack before starting the scheduler so that the sheduler can use the IRQ stack (when/if needed).
 - call the C portable function in heap1 to claim some stack back (the number to claim is taken from linker file).
 - start the scheduler from reset vector (I move this here from main because it make sense to not go back to C (so that I don't need to copy the rolled stack in case the sheduler returns). This make it more clean.
 - Also I have added the call to the mem manager if sheduler return. that way, we don't reset indefinitely if memory runs out. We will go to this handler and figure things out (right now, it's just looping but at least not rebooting. Probably trap NMI would be better (later improvement).

The part missing for this part is the weak attribute for the function in heap1.c so that we don't have to update everything with empty stub.
I think the weak atrribute for C function called in assembly is arch dependent so I am not sure if this is possible (will look into it, maybe somebody outthere nows).
Right now, it's heap1 dependent and won't work with heap2. I will clean that up the next couple of days.

I did some test and it looks good.
this is without init code re-organization so we don't free as much as we will be it's good starts.

This compile with sim_posix (since it does not affect portable code) so this is really clean.
I only tested this with CC. I will port it for OP when I will work on heap2.
2011-06-13 21:49:17 -07:00
Mathieu Rondonneau
1f54e32ea9 OP-423 also add changes to OP. (I can not test it because I don't have a board so only compile test) 2011-06-13 17:10:14 -07:00
James Cotton
404c026188 Patch from Zippe to use cycle timer for CPU monitoring. 2011-06-13 00:24:30 -05:00
Mathieu Rondonneau
7598e898fa OP-423 Step-1: split system stack and implement water mark for IRQstack:
- use IRQStack for ISRs (at begening of SRAM) (let's call it the irq stack)
- use end of heap for stack needed during initialization (let's call it the init stack).
- the systemStats in GCS indicate the remaining bytes in the IRQ stack (this is realy usefull to monitor our (nested) IRQs.

This is the base ground to provide as much memory as possible available at task creation time.

Next step is to re-organize the initialization in order to move all the init out of the thread's stacks onto the init stack.
This will provide as much memory as possible available at task creation time.
Basically the stack during initialization will be destroyed once the scheduler starts and dynamic alloc are made (since the init stack is at the end of the heap). We will need to make sure we don't clobber the heap during initialization otherwise this will lead to stack corruption.
2011-06-12 20:23:00 -07:00
James Cotton
0f5fe54329 FlashFS: Should clear the 0 sector when wiping flash chip, not 10 bytes in. 2011-06-11 22:31:51 -05:00
James Cotton
4f47c06547 Merge branch 'saving_crc' into bugfix-flight 2011-06-05 15:37:44 -05:00
James Cotton
0a56129b35 OP-452: Made the CRC calculation run in chunks to balance efficiency and ram
usage, because Stac caught me being lazy :)
2011-06-05 09:05:59 -05:00
James Cotton
599483d5ac OP-152: Save CRC for object and header into flash and only load object if CRC
matches.  Read the flash first bytewise to compute CRC instead of buffering
which is more RAM efficient but very inefficient as it sets up many one byte
SPI transfers.

Also incremented the filesystem magic flag to trigger an automatic flash wipe
on this upgrade.
2011-06-04 18:36:38 -05:00
James Cotton
3e5d02cbaf OP-152: Abstract the CRC code out of uavtalk to allow it to be reused (PT -
feel free to test moving this to the hardware CRC unit)
2011-06-04 18:36:26 -05:00
dankers
3013a092d9 Merge branch 'OP-519_Mathieu_Upgrade_FreeRTOS' into bugfix-flight 2011-06-04 16:42:15 +10:00
Mathieu Rondonneau
6e64a546df Remove un-used code 2011-06-02 20:21:26 -07:00
Mathieu Rondonneau
071a684248 OP-519 upgrade to FreeRTOS-7.0.1
- only affect flight/PiOS (no change for posix and win32)
- tested on recent master (some runtime on CC with GCS)
- the new timer feature is not compiled-in since we don't use it yet.
- NO TEST FLIGHT
2011-06-01 21:46:28 -07:00
Oleg Semyonov
f770870af7 Merge branch 'bugfix-flight' 2011-06-01 14:53:31 +03:00
Oleg Semyonov
6e418735cf OP-509: fix for ld symbol reference (also fixes build with 4.5.2 gcc) 2011-06-01 00:31:27 +03:00
James Cotton
524cdf7743 OP-378: Start of IMU3000 fifo reading code 2011-05-31 01:51:05 -05:00
James Cotton
b6a8293f69 OP-378: Get BMA180 interrupt working. Data gets pushed onto a fifo that is
pulled from in the INS code.
2011-05-30 03:40:51 -05:00
sambas
17fb31a7fa Spektrum rtc supervisor working, tested on CC and all outputs are activated. Needs review and testing before merge. 2011-05-29 14:52:22 +03:00
sambas
86d02e2d34 Merge branch 'master' of ssh://git.openpilot.org/OpenPilot into spektrum_rtc_supervisor 2011-05-29 10:40:17 +03:00
Stacey Sheldon
ac0eb3a5c7 Merge remote branch 'origin/stac_build-opf-image' 2011-05-26 21:29:53 -04:00
James Cotton
66b85acebd Merge branch 'bugfix-flight' 2011-05-26 20:07:58 -05:00
James Cotton
ca2205d35f OP-378: Tweak INS stack definition to avoid faults 2011-05-26 16:02:15 -05:00
James Cotton
9ede84680e OP-378: Start working on IRQ driven BMA180 reading and also fixed the mag order 2011-05-26 13:57:41 -05:00
James Cotton
6e186bab35 Merge branch 'bugfix-flight' into OP-378_James_INS 2011-05-26 12:19:35 -05:00
James Cotton
0a60c5b57c Merge branch 'master' into OP-378_James_INS 2011-05-26 12:19:30 -05:00
James Cotton
4bc763dafc Extend PiOS DELAY to allow querying the time value in uS 2011-05-26 12:19:04 -05:00
James Cotton
74b9c58f39 Make sensors return data as int16 array instead of struct 2011-05-26 02:49:25 -05:00
James Cotton
20775e806c Merge branch 'OP-378_James_INS' of ssh://git.openpilot.org/OpenPilot into OP-378_James_INS 2011-05-25 22:19:31 -05:00
Stacey Sheldon
8bd08e381a build: add support for EE bank on pipx boards
The pipxtreme boards use a sector of the on-board flash
for configuration storage.  Adjust the memory maps to
reflect this.

The board_info_blob is also extended to include the EE
bank definitions.  This should be used by the pipxtreme
firmware rather than determining it based on chip size.
2011-05-24 01:10:40 -04:00
Stacey Sheldon
9973fda23b build: define bootloader and firmware bank spans
The board-info.mk files now define the start and size
of the bootloader and the firmware banks.
2011-05-24 01:03:01 -04:00
Stacey Sheldon
504fe7a664 dfu: fix typo WRITABLA -> WRITABLE 2011-05-24 00:58:10 -04:00
Stacey Sheldon
96827eecff build: Make all flight sw use pios_board_info_blob
Now that every bootloader build has a board info blob,
make all fw and bl images use it.

The following MACROS are removed:
  BOARD_TYPE, BOARD_REVISION, BOOTLOADER_VERSION,
  START_OF_USER_CODE, HW_TYPE

These values are now ONLY available from the bootloader
flash via the pios_board_info_blob symbol.  These values
must not be #defined or otherwise hard-coded into the
firmware in any way.  The bootloader flash is the only
valid source for this information.

NOTE: To ensure that we have an upgrade path from an
      old bootloader (without board_info_blob) to a
      new bootloader (with board_info_blob), it is
      essential that the bu_* targets do not depend
      on (or validate) the board_info_blob being present
      in the bootloader flash.
2011-05-24 00:58:10 -04:00
David Carlson
38d416cf92 Fix Y/Z axis mixup in self-test procedure (currently not used) 2011-05-23 20:53:15 -07:00
Stacey Sheldon
2d47427b05 link: Use alternate declaration of pios_board_info_blob
Make use of a shorter notation to allow the linker to provide
the correct address for pios_board_info_blob.
2011-05-23 18:21:42 -04:00
Stacey Sheldon
6e406c0232 build: remove all remaining use of -DUSE_BOOTLOADER
The USE_BOOTLOADER compile flag was only being used
to determine where the ISR vector table was located.

Provide this explicitly from the linker since it knows
exactly where it is putting the ISR vector table.
2011-05-23 18:21:42 -04:00
Stacey Sheldon
0a67730d0f build: refactor fw, bl and bu rules
- New macros for fw, bl and bu rules in top-level make
- Per-board info factored into make/board/*/board-info.mk
- Per-board info now shared btw. fw, bl and blupd for each board
   - BOARD_TYPE, BOARD_REVISION, BOOTLOADER_VERSION, HW_TYPE
   - MCU, CHIP, BOARD, MODEL, MODEL_SUFFIX
   - START_OF_BL_CODE, START_OF_FW_CODE
- blupd_* goals renamed to bu_*
- all_blupd goal renamed to all_bu
- firmware goals renamed to fw_*, board name goals are preserved
- bu_*_program now writes updater to correct address for all boards
- BL updater firmware builds now produce .opf format including
  version info blob.
- BL updater firmware name now includes board name.
- INS makefile brought up to date w.r.t. linker scripts
2011-05-23 18:21:42 -04:00
James Cotton
50161b4ad8 OP-378: Continue updating BMA180 sensor driver. 2011-05-20 16:38:53 -05:00
James Cotton
5d78a68bee OP-378: Got BMA180 working. 2011-05-19 11:36:43 -05:00
James Cotton
3093d26cf4 OP-378: Update BMP085 driver for convention that 0 is success, < 0 is failure 2011-05-19 11:36:32 -05:00
James Cotton
750097ea73 OP-378: Small changes to get drivers working again. Fix I2C port for IMU3000
and change convention so that 0 is success, < 0 is error.
2011-05-18 23:35:45 -05:00
James Cotton
ab3127a0ea OP-378 Update the INS Makefile for the new file formats 2011-05-18 14:39:38 -05:00
James Cotton
b7f25ea5d8 OP-378: Get startup script for HD parts working for INS 2011-05-18 13:41:31 -05:00
James Cotton
81b7fb6185 Merge branch 'master' into OP-378_James_INS 2011-05-18 12:50:29 -05:00
James Cotton
dd1e10a15d PiOS/Spektrum: Start swapping to using RTC and calls to PIOS_Spektrum_Get() to
monitor when call Spektrum watchdog
2011-05-18 01:46:00 -05:00
James Cotton
bdf862a712 PIOS/RTC: Add functions to get the rate. Also changed Start to Init to be more
consistent with pios.
2011-05-18 01:45:21 -05:00
Stacey Sheldon
575010169a build: add pios_board_info_blob struct to bootloader flash image
The board info blob is stored in the last 128 bytes of the
bootloader's flash bank.  You can access this data from the
application firmware like this:
  #include <pios_board_info.h>

  if (pios_board_info_blob.magic == PIOS_BOARD_INFO_BLOB_MAGIC) {
    /* Check some other fields */
  }

DO NOT link pios_board_info.c into your application firmware.
Only bootloaders should provide the content for the board info
structure.  The application firmware is only a user of the data.
2011-05-16 08:30:30 -04:00
James Cotton
feb9c02780 OP-216: Small typo in flashfs code (thanks Zippe) 2011-05-15 00:18:15 -05:00
James Cotton
d312e876c4 OP-216: Some small bugs where things were stored 2011-05-14 16:11:30 -05:00
James Cotton
c689d97961 OP-216: Improved error handling 2011-05-14 14:28:11 -05:00
James Cotton
0438f5cf66 OP-216: Check for existence of file table in flash and wipe sector and create
it if missing.
2011-05-14 14:23:23 -05:00
James Cotton
2087441006 OP-216: Make the object manager use new flash fs for objects 2011-05-14 14:23:02 -05:00
James Cotton
7e6e7bb391 OP-499 OP-216: Simple list of objects saved in flash to prevent objId
collision.  Note, this will wipe ALL your settings.
2011-05-14 14:05:02 -05:00
Stacey Sheldon
29ec2f198b build: convert all app loads to require bootloaders
This change is made up of a number of tightly coupled
changes:
 - Deprecate the use of the USE_BOOTLOADER command-line
   option.  It is now hard-coded in each Makefile.
   Overriding it on the command line is not allowed.
 - Split apart the memory declaration and the section
   declaration in all linker files (*_memory.ld and
   *_sections.ld).
 - Describe the split between bootloader and app sections
   of flash in each board's _memory.ld file.
 - Change program target to selectively erase flash so
   that the installed bootloader is preserved across even
   JTAG programming operations.
 - All elf files are built with debug symbols and are not
   stripped.  This should help debugging with gdb.  The
   images programmed on the boards are all .bin files now
   which do not include symbols.
2011-05-08 12:40:29 -04:00
Stacey Sheldon
18ea93119f build: Add support for BL_Updaters to top-level makefile
New targets:
 - make blupd_all_clean
 - make blupd_all
 - make blupd_openpilot
 - make blupd_ahrs
 - make blupd_coptercontrol
 - make blupd_pipxtreme

These targets are also included in the 'all_flight' target.
2011-05-08 12:40:28 -04:00
Stacey Sheldon
2301600f11 Make missing definitions for essential macros more obvious 2011-05-07 18:05:50 -04:00
sambas
d61f3d4d94 Merge branch 'OP-378_CheBuzz_INS' of ssh://git.openpilot.org/OpenPilot into OP-378_CheBuzz_INS 2011-05-07 18:26:12 +03:00
Corvus Corax
5d952f81e3 PIOS: BL_HELPER: refactored function names 2011-04-23 21:11:17 +02:00
Corvus Corax
150464344d BL_HELPER: call CRC_Ini() from within CRC check function 2011-04-23 20:55:21 +02:00
Corvus Corax
357bc369db PIOS: Bootloader Helper functions should sit in HAL, not duplicated in every single architecture. 2011-04-23 19:40:41 +02:00
Corvus Corax
192e31986d PIOS, Modules/FirmwareIAP: Use correct HAL for CPU serial 2011-04-23 18:30:32 +02:00
David Buzz Carlson
876ca3044c Added EKF code. Most of this was bulk copy and paste from the AHRS, so a lot of verification needs to take place. Grabbing sensor data remains untested. 2011-04-20 03:37:50 -07:00
chebuzz
06443b4281 OP-378 - OP/INS - Add initial support for INS. HMC5883, BMP085, BMA180, IMU300 all added. Throrough verification has not been done on any of them. main() simply calls self-test functions on all of the hardware.
AHRS_comms still needs to be implemented.  INS/GPS functionality still needs to be implemented.  Double-check of the new drivers still needs to be done.


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3162 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-14 12:46:39 +00:00
chebuzz
7fcde2f248 OP-377 PiOS/BMP085 Update BMP085 driver to be FreeRTOS agnostic
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3161 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-14 09:53:04 +00:00
chebuzz
195e93c0d6 OP-377 PiOS/BMP085 - Update BMP085 driver to be FreeRTOS agnostic. This is required since new INS does not run FreeRTOS.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3160 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-14 09:46:23 +00:00
sambas
3b9e762b69 OP-22 Flight/PiOS: Spektrum bugfix, for other than DX7
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3154 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-11 13:42:32 +00:00
sambas
dabc33c71c OP-22 Flight/PiOS: fix for 11ms framerate, Spektrum supervisor timer must have atleast one interrupt between frames
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3134 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-09 14:51:39 +00:00
sambas
cdfbf8614c OP-22 Flight/PiOS: Spektrum parser handles all known TXs, or atleast should. Test it well before sending aircraft to the sky.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3133 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-09 14:17:23 +00:00
pip
4fab429f50 Corrected the #ifdef line (line 26/27), it was "#ifndef STM32103CB_AHRS_H_", it's now "#ifndef STM32103CB_CC_H_"
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3022 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-10 20:22:20 +00:00
FredericG
fc18f1cb36 OP-326 Long I2C messages starve the other drivers
We where hammered on the head with interrupts that the driver does not need, not allowing the ISRs of other drivers to run 

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3018 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-09 17:12:18 +00:00
FredericG
4c51e80b5b OP-340 I2C NACK causes next transfers to fail.
Needed to clear the NACK flag in the ISR, or the next transfers seem to get a nack too because the IRQ comes back

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3017 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-09 16:58:37 +00:00
FredericG
f6a2584f12 No code change; commented debug-code
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3016 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-09 16:52:09 +00:00
edouard
aa097ec400 OP-339 Update USB descriptors on CopterControl and OpenPilot to reflect the new convention.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3015 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-09 07:21:01 +00:00
sambas
b240915d05 PPM driver cleanup
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3010 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-08 18:52:50 +00:00
pip
0d389c4d34 Forgot to comment out serial port debugging option .. sorry - again
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3009 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-08 18:32:16 +00:00
pip
48cecfaacd Forgot to commit this file - sorry
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3008 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-08 18:29:48 +00:00
sambas
0eeacb44bd PPM driver for OP, first test
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3007 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-08 18:08:13 +00:00
FredericG
6d0679b9e9 Small fix to PIOS_DEBUG_PinValue8Bit(), was also influencing other IO pins
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2975 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-05 12:53:52 +00:00
FredericG
35475820ad 2 new PIOS_DEBUG functions to output a value on the debug-pins. In its current implementation it will probably not work on CC....
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2971 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-05 09:23:57 +00:00
peabody124
ec29920a8d OP-315: Clean up RTC calls into a separate function. Unfortunately still need
to add function headers into portmacro.h

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2942 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-03 04:28:38 +00:00
peabody124
3e2c542eef OP-315 Use RTC at 65 khz as time base for task switching
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2941 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-03 04:28:34 +00:00
peabody124
267efe0b88 OP-315: Patch to FreeRTOS port to allow querying the run time for tasks. This
will need to be forward ported (and ideally pushed up stream) for FreeRTOS
updates

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2939 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-03 04:28:22 +00:00
sambas
d9ad0e9a8f OP-22 Flight/PiOS: Spektrum hacks, doubled supervisor timer and ?loss? counter to the channel8 value
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2907 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-27 19:03:58 +00:00
pip
62e510a696 Set unused/unconnected pins as outputs.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2875 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-24 17:31:24 +00:00
pip
578b779a76 Fixed PPM compile errors - you can now compile for PPM input if desired.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2818 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-20 13:41:19 +00:00
sambas
8d6f320fca Handle I2C defines better, needed in CC for now
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2815 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-20 07:14:02 +00:00
stac
bbb3882826 bl_openpilot: bind to new COM, USART and SPI drivers
- Removed all unnecessary device instances and their cfg's.
  - SPI to SD card
  - I2C
  - Aux USART
- Moved SPI baudrate setting into cfg rather than init func.
- Abstracted forcing slave select under OPAHRS API.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2786 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-14 01:17:32 +00:00
sambas
f3bce1705b OP-22 Flight/PiOS: Spektrum fix, OP tested on ground not flown yet, CC not tested.
pios_rcinput.[ch] outdated

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2775 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-13 13:10:02 +00:00
stac
66a9d53d0a hwinit: Convert I2C driver to dynamic init
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2773 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 22:19:54 +00:00
stac
3fda65c5d3 hwinit: Convert SPI drivers to dynamic init
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2772 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 22:19:50 +00:00
stac
841b0d3d6d hwinit: Convert COM and USART to dynamic init
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 22:19:43 +00:00
peabody124
9ed0882df9 PiOS/USART: Apply same fix as Spektrum to force read of DR whenever there is an
error flag set

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2760 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-08 16:34:52 +00:00
peabody124
7e78e8af04 CC-21 PiOS/Spektrum: Prevent condition that can tie up USART interrupt and locks up
CC.  Must always read the DR to clear the error flags.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2759 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-08 16:34:49 +00:00
peabody124
a3ba9c3781 CC-21 Make it possible to enable Spektrum on CC, although it eats up S6 in
order to free a timer.  Mode PIOS_DELAY (not working cleanly) to TIM3 because
Spektrum resets TIM2 count.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2758 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-08 16:34:45 +00:00
peabody124
03fb82ad0a CC Attitude: Change when AttitudeRaw is set to end of attitude estimation,
because this is what is determines when the Stabilization code executes.
Because we aren't oversampling gyros relative to the PID in CC we should set
the attitude first (computational time to do so is negligible).

Also change update rate to 500 Hz.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2750 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-08 16:34:18 +00:00
pip
6559615ef8 Made quite a few constants/#defines capitals (previously lower case)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2743 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-06 10:55:08 +00:00
peabody124
56d4d54a97 CC: Increase the memory for the modules after removing PriTxTask from CC and
also increase the telem queue to decrease event errors (can be reverted later if
we need the memory back)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2730 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-05 10:52:59 +00:00
peabody124
f97d853c80 Make the PriTx queue optional which saves 700 bytes
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2729 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-05 10:52:52 +00:00
peabody124
fedadb1275 CC-8: Move the queue registration into the ADC PIOS driver to allow other
functions to use it easily

Conflicts:

	flight/Modules/Attitude/attitude.c

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2707 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-03 02:42:43 +00:00
peabody124
cf2e9fb349 Memory: Also allow overriding Stabilization stack size
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2690 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-02 08:57:34 +00:00
peabody124
b1e4b65f3d CC-1 Bigger oversampling window for CC sensor data
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2667 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-01 02:18:31 +00:00
peabody124
97acaa2402 CC-15 Gets settings saved to flash chip on CC using crude sector based storage.
Sector based on Object ID so could overlap :-(.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2662 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-01 02:18:12 +00:00
peabody124
ea91042f38 CC-6 Fixed bug in flash read write addresses
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2661 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-01 02:18:08 +00:00
peabody124
e27c9c0b7a CC-6 Rename Flash function to not be all upper case consistent with other PIOS
functions

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2660 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-01 02:18:04 +00:00
peabody124
1d2ad6e9cb Telemetry: Move the telem stack size to the board definition file since CC
needs less

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2659 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-01 02:17:59 +00:00
peabody124
c9207b3754 CC-14 PIOS/Servo: Set more than two bank speeds
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2658 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-01 02:17:55 +00:00
peabody124
063c58e7c0 CC-12 Enable Watchdog on CC
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2653 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-01 02:17:32 +00:00
peabody124
037a63ee1d CC-1 CC-8 Cache the oversampled gyro value and use that to get rid of glitches.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2652 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-01 02:17:27 +00:00
stac
880a68a788 uavobj: Convert bootloader-compatible builds to autogen init
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2633 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-31 00:57:24 +00:00
stac
b5426e09d0 uavobj: Convert CC over to use autogenerated uavobjinit
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2631 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-30 22:46:51 +00:00
stac
083e2b01a9 uavobject: Use linker to produce uavobj initcalls
The UAVObject initcall list is now automatically
generated at link time based on the exact set of
UAVObjects linked into the firmware image.

This will allow any subset of UAVObjects to be
used in any firmware image.

The uavobj_initcall() macro automatically adds the
marked function's address into the .initcalluavobj.init
ELF section.

The UAVObjectsInitializeAll() function now simply
iterates over the functions listed in the
.initcalluavobj.init section and calls them.

You can see the contents of this section in the ELF file
like this:
  ./tools/arm-2009q3/bin/arm-none-eabi-objdump \
      --syms -j .initcalluavobj.init \
      ./build/openpilot/OpenPilot.elf

This is fundamentally the same mechanism that the Linux
kernel uses to initialize the specific set of components
that the user has selected in their kernel configuration.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2630 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-30 22:46:48 +00:00
pip
5daf6fd1c0 Added PIP_DUMP_RAW option in ahrs.c and brought back public acces to function PIOS_ADC_GetOverSampling(void).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2623 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-29 15:59:35 +00:00
sambas
ba5ebb6b13 OP-303 PIOS/Sonar: preliminary support for HCSR04 ultrasound altimeter module, tested and working :)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2610 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-28 19:21:22 +00:00
sambas
195b63b6bb OP-22 PIOS/Spektrum: Made spektrum input driver, NOT YET TESTED!!!, also preliminary support for CC, sync/supv timer not yet fixed.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2602 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-28 09:25:30 +00:00
edouard
df0b5f9b6c CC-13 CopterControl bootloader first pass. Does not talk on USB for some reason, but starts.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2601 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-27 22:33:13 +00:00
peabody124
99eb1a89f9 CC-5 PIOS/Servo: CC default servo position was 2000 from testing. HUGE SAFETY
ERROR

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2593 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-26 01:25:29 +00:00
peabody124
c759253b77 CC-6 Flash chip working to read ID. Also tweaked how the semaphore for the SPI
bus is used to be a bit safer.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2591 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-25 17:46:27 +00:00
peabody124
00a3e82c70 CC-6 PIOS/SPI: Add semaphore to SPI device structure that can be used to ensure
only one CS line is asserted.  No checks are enforced on this by the SPI code
as I cant see a clean way of it being aware of the CS lines.  We could add
another CS mode those which is driver managed per transfer and has a GPIO i
line for each device.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2579 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:52:17 +00:00
peabody124
d2f3e0d379 CC-6 Initial code for the flash chip on CC
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2578 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:52:14 +00:00
peabody124
d4b4a6ca37 CC-3 Modules/CCAttitude: Add oversamplign to the accel data
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2576 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:52:08 +00:00
peabody124
21e3441f00 CC-3 Set gyro to downsample 10x to 250 Hz
Conflicts:

	flight/CopterControl/System/inc/FreeRTOSConfig.h

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2575 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:52:05 +00:00
peabody124
23599ee59f CC: Set the buffer size of USART smaller and register teh AHRSSettings
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2573 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:51:59 +00:00
peabody124
2881370eab OP-291 PIOS/Servo: Refer to channels by TIM_Channel_x to be consistent with PWM
system

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2571 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:51:54 +00:00
peabody124
99fcd089d4 OP-291 PIOS/Servo: Make the remapping of timers a part of the driver structure
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2569 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:51:48 +00:00
peabody124
da96ce15b9 OP-256 PIOS/PWM: Converting PWM input to use standard driver structure.
Beginning of unifying the input types into PIOS_RECEIVER.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2568 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:51:45 +00:00
peabody124
01b09668aa OP-291 PIOS/Servo: Dont need to power up GPIOA/GPIOB in servo since done in sys
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2567 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:51:41 +00:00
peabody124
99f2f3c68b OP-291 CC Servo configuration: Gets S5 and S6 working
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2566 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:51:38 +00:00
peabody124
108ea8c959 OP-295 Get CC pin mappings consistent for using the temperature sensor
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2565 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:51:34 +00:00
peabody124
607cdcac21 Upgrade FreeRTOS to the latest version (6.1.1) which allows compiling with -Os
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2562 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-24 07:51:26 +00:00
FredericG
70f11543e0 Fixed debugging via Servo PWM pins
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2544 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-23 18:11:47 +00:00
peabody124
65e02eeb25 OP-293 PIOS/ADC: Fixed issue with DMA engine and odd numbers of channels not
accounting for the fact they are transferred in pairs when using ADC2

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2510 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-21 17:18:20 +00:00
peabody124
2d9f7f32d1 OP-291 PiOS/Servo: Converting output to use driver system
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2499 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-21 03:40:21 +00:00
peabody124
cf17569de7 CC-1 Modules/CCAtttitude: Calling the ADXL345 library and getting the accel and
gyro data into attitude raw.  Hardcoded calibration for now.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2474 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-17 08:45:40 +00:00
peabody124
18deba48c1 CC-6 PIOS/ADXL345: Helper functions for the ADXL345 chip. Need to add
semaphores for sharing the bus between the flash chip and this though.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2473 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-17 08:45:37 +00:00
peabody124
21b4e55029 OP-14 OP-16: I2C Improvements
1) Added nack counter monitoring
2) Made timeout for getting semaphore in I2C user space code use the one from
driver and record timeouts.  This does not influence timeouts in the non
FreeRTOS case
3) Remove case block from the error handler so that all bus errors reset the
i2c interface

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2469 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-17 02:11:12 +00:00
peabody124
0e441a20f3 OP-14 OP-16 I2C: When sending STOP signal after NAK, mask interrupts first
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2468 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-17 02:11:08 +00:00
peabody124
0d567f4e4b OP-14 I2C: Don't log a NAK as an error and also after NAKs seem to get an event
from the stop bit

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2466 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-17 02:11:02 +00:00
peabody124
31919241b8 OP-14 I2C: Adding new event to the ignore list
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2465 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-17 02:10:59 +00:00
peabody124
68536d2fd1 OP-14 I2C: Throw away 0 event in error handler
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2464 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-17 02:10:56 +00:00
peabody124
c2bdf624e8 OP-269 PIOS/ADC: Previous ADC driver update changed the PCLK2 divider for all
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
2011-01-16 23:00:48 +00:00
edouard
b3ca037308 OP-277 Update all files to use a BOARD_TYPE and BOARD_REVISION scheme through the whole codebase.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2458 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-16 20:41:55 +00:00
peabody124
04a00c7327 OP-269 PIOS/ADC: Change the initialization code to work well when changing
oversampling

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2452 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-16 16:02:53 +00:00
peabody124
ad7a6e6071 OP-269 PIOS/ADC: Only enable the half and full conversion flag for the double
buffering

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2451 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-16 16:02:50 +00:00
peabody124
0259b6d1f1 OP-269 PIOS/ADC: First part of conversion to driver structures
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2444 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-16 02:45:39 +00:00
peabody124
ab75e8117f OP-265 CC: Getting GPIO lines working
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2443 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-16 02:45:34 +00:00
peabody124
81b0c3fdb6 OP-269 PiOS/ADC: Moved AHRS ADC code to PiOS and made all the projects use it
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2440 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-16 02:45:22 +00:00
zedamota
ad0b3e911d OP-268/PipX Bootloader - Changed Timers for MD device, auto memory space fetching (as per people request ;)). Stripped unused functions to reduce size.
TESTED WORKS.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2431 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 15:33:24 +00:00
peabody124
ad7a4cded0 OP-265 PIOS/USB: Put USB buffer size in the board file
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2428 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 02:15:19 +00:00
peabody124
94ff276522 OP-265 CC: Tweaking objects included and the memory requirements
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2426 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:38:49 +00:00
peabody124
8a32d88b10 OP-265 CC: More work to get it running
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2425 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:38:47 +00:00
peabody124
c59a1ff018 OP-265 OP-266: FreeRTOS configuration per project because of available heap
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
2011-01-14 01:38:42 +00:00
peabody124
ea851803af OP-266 CopterControl: Continue trying to strip out as much as possible to get
it to fit

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2422 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:38:39 +00:00
peabody124
f0c36b13a4 PiOS/USART: Use the buffer size defined in the board file
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2421 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:38:37 +00:00
peabody124
7c9b3b3d69 OP-265 AHRS: New file locations
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2420 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:38:34 +00:00
peabody124
79caad654b CopterControl: Don't need altitude sensor support
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2418 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:38:30 +00:00
peabody124
940792db5c OP-265 CopterControl: Fork main OpenPilot directory
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2416 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:38:24 +00:00
peabody124
fc54159369 OP-265 Flight reorganization of UAVObjects and Modules up a directory
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2415 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-14 01:38:19 +00:00
pip
c7ecfd2f60 Fixed pios_board.h to include the pipx .h file
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2407 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-13 19:37:01 +00:00
pip
b647d93add Added pipx board file.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2406 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-13 19:34:59 +00:00
peabody124
07798bb2db PIOS/WDG: Add back the returned delay for code that wants to clear WDG more
rarely

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2403 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-13 19:01:33 +00:00
zedamota
691c58a583 OP-268/PipX Bootloader - Changed the size of BL def.
New naming convention for the linker files:
link_(board_name)_(density)_(bl usage).ld

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2401 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-13 17:34:22 +00:00
zedamota
1f89ee1865 OP-21/Bootloader - Change HW ID to 16bits. Should still be compatible with the old version.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2398 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-13 14:36:32 +00:00
peabody124
d846288cec OP-14 I2C: Remove delay in I2C IRQ handlers
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2378 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-11 03:50:23 +00:00
peabody124
bbbd9a10e3 OP-14 I2C Diagnostics: Improve the logging so that the events going into FSM
are logged, and separately the erirq and evirq logs are exported

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2368 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-10 05:42:53 +00:00
peabody124
b173d74821 OP-237 I2C ESC support. This _will_ require you to reconfigure your
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
2011-01-10 01:11:44 +00:00
peabody124
ed11e64bb2 OP-251 Watchdog: Get rid of the old extra watchdog module and instead have
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
2011-01-10 00:16:30 +00:00
vassilis
1e78cc7a30 Flight/FlightPlan: First release of flight plan scripting. The scripting engine is based on the PyMite Python VM. The released code is able to execute a simple python script on the target. However it is currently disabled from the makefile due to a few issues with more complex scripts. When the library is enabled in the makefile a python interpreter will be needed to compile the firmware since some intermediate code is generated by PyMite.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2364 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-09 22:36:15 +00:00
peabody124
5734e1f437 OP-176 PIOS/ADC: Decrease the priority of the ADC DMA/IRQ
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2360 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-09 20:49:43 +00:00
peabody124
0175e25ddf Flight/ADC: If there is a DMA error for the ADC transfer dont copy those values
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2359 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-09 20:49:39 +00:00
peabody124
148ea6fdc1 Flight: Make PWM outputs default to 0 us to avoid either pushing servos to
exteremes or running up motors

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2358 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-09 20:49:35 +00:00
peabody124
0f07d7f671 OP-240 OP-176 Flight: Setting the priority group back to 4 (anything higher
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
2011-01-09 20:49:26 +00:00
vassilis
407e660c97 Flight/TaskMonitor: Create TaskMonitor library, used to monitor the remaining task size of all running tasks.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2349 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-08 23:43:34 +00:00
peabody124
d8022a320d OP-238 PiOS/USB: Fix for problem Ed's being see where being plugged into usb
but not having telemetry causes a reset.  If the buffer got full enough it
would never start to transmit again.

Note: also making Telemetry non-blocking

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2346 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-08 08:05:02 +00:00
pip
cb8e9ef07b Added a moving-average-filter to the pressure reading, and increased BMP085 oversampling from 2 to 3
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2336 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-05 11:26:47 +00:00
edouard
3bad347386 Reverted a change which caused resets on the MB under certain conditions. Should be back to normal now.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2311 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-30 19:24:57 +00:00
sambas
0b2a0884ae OP-22 Flight/PiOS: Spektrum improvements, removed my zero throttle glitch
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2306 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-28 18:37:36 +00:00
peabody124
7ab6dfeeba PiOS/USB_HID: Lower priority of USB interrupt
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2280 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-24 17:16:07 +00:00
peabody124
1142b1fb1e PiOS/USB_HID: No longer clear buffer after getting a NAK. This was required
before because if transmission got NAK then sending would stop.  Now the next
time data is added to the buffer a new send will be attempted.

fifoBuf: in clearData just set the read pointer to the write pointer.  This is
safer for multiple people accessing it assuming the reader will be clearing it.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2279 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-24 17:16:04 +00:00
peabody124
ba8351f60a PiOS/USB_HID: When using FreeRTOS use a sempahore to stop multiple tasks
pushing data to the transmit buffer

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2278 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-24 17:15:59 +00:00
zedamota
14ef24a3de OP-21/Bootloader - Maximize flash space available for user code. Bring back delay on HID send (board->pc) it still hangs when blasted with data. AHRS is now Readable.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2263 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-21 17:25:24 +00:00
peabody124
f010502229 PiOS/I2C: Was throwing out repeated byte transmitted events but this is
required for longer sequences,  Need to deal with when it happens
inappropriately better.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2245 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-18 07:09:34 +00:00
peabody124
af99c31a61 PiOS/I2C: Fixed typo and also the values for I2C Diagnostics when disabled.
Enabled by default though.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2243 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-18 07:09:28 +00:00
zedamota
917f03121d Fixes a problem with the reset function introduced on the new ST libs migration, it was preventing the user space reset used with the bootloader to function properly.
I think someone still likes to honor his avatar :)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2241 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-17 14:16:58 +00:00
peabody124
4b4a66c2d7 PiOS/I2C: Lots of small changes. Added a few weird bus events that are
sometimes thrown, and made errors not lock it up by default.  It works for me,
but since this has historically been associated with lots of lock ups please
check your systems carefully.

PiOS/I2C: Make the bus by default try to recover from errors instead of locking
up

PiOS/I2C: After a bus error and clocking all previous data create a STOP
condition to make sure bus is released (note, this also requires creating a
START condition first)

PiOS/I2C: If the same event hits the I2C bus twice in a row then disregard
second one, there is no situation where we should get the same event multiple
times that matters and this gets us out really quickly to catch the real
events.  I was seeing this with repeated 0x70084 which means byte transmitted.
This is related to STM32 bugs in the IRQ timings I believe.

PiOS/I2C: 1) Mask out some bits we don't care about in the event flags
2) Don't lock up if the give semaphore fails, although why it does is strange
3) Recover from bus failure through the "auto" state path instead of just
coding state

PiOS/I2C: Change the reset bus code to follow
http://www.analog.com/static/imported-files/application_notes/54305147357414AN686_0.pdf
(thanks for the reference Neontangerine).  Although this may actually NOT clear
the bus the first time through, subsequent bus errors should eventually clock
it out.  The up side is it is less likely to clock a bunch of 1s into an ESC
and make it run up.

PiOS/I2C: Some cleaned up code for getting a snippet of the history when
something strange happens

PiOS/I2C: Export logging information from I2C through a UAV object

PiOS/I2C: Improve the diagnostic information

PiOS/I2C: Need to handle the event 0x30084.  This seems to happen between a
byte transmitted and new byte started

PiOS/I2C: Handle the NACK condition by simply going to the stopping state.

PiOS/I2C: Add a new NACK state to handle sending the STOP signal after a NACK
following the STM documentation.  Other error conditions still are not dealt
with.

PiOS/I2C: Should handle the NACK condition from all the write cases.  Need to
think about read cases

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2239 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-17 07:01:58 +00:00
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
stac
4ac001553d hmc5843: convert line endings from CRLF to LF
No functional changes.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1627 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:21:00 +00:00
stac
88e73906d0 i2c: Add recovery code for i2c bus errors
I2C bus errors are now recoverable.  The bus is properly reset
and an error indication is now provided to the caller whenever
a bus error occurs during processing of the transaction list.

For now, the users of the I2C layer just retry infinitely on
failure.  The BMP085 and HMC5843 code should be changed to
report errors to its callers to allow a more sensible retry
strategy.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1625 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:57 +00:00
stac
0122394481 i2c: consolidate handling of AUTO transitions
AUTO transitions in the FSM are now handled immediately
after processing each newly injected event rather than only
at the end of the EV ISR.

This consolidation allows the upcoming addition of event
injection from both the EV and ER ISR contexts.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1624 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:56 +00:00
stac
7d5463e5e6 i2c: Move polling for bus stopped from ISR to task/mainloop
Occasionally, the I2C driver races with the STM32 I2C peripheral
at the end of a bus cycle.  This leaves the bus in an errored
state and the stop condition is not properly asserted on the bus.

The polling for the stopped condition was previously implemented
in ISR context since it was expected to be nearly instananeous.
In the error condition, however, the stop condition will never
happen.  The polling for this case is now done by the initiating
task (or mainloop on the AHRS) to prevent the timeout condition
from triggering the watchdog.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1623 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:55 +00:00
stac
65ad2caf8a i2c: Make transaction initiator available in txn list
The info field in the pios_i2c_txn list can now be used
to provide a const string which describes the context
for this transaction.

This is very helpful when diagnosing an error that occurs
somewhere in the middle of the I2C FSM since the FSM runs
primarily in the ISR where the original context for the
transactions is no longer available in the traceback.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1622 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:53 +00:00
stac
85c60479c1 i2c: rename FSM faulted state
Differentiate the _FSM_ faulted from the (soon to
exist _BUS_ faulted state.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1621 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:52 +00:00
pip
cc3860daaf Added 'uint32_t PIOS_SYS_getCPUFlashSize(void)' into pios_sys.c/h files.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1616 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-14 09:18:55 +00:00
pip
8bfaa997d3 made curr_state 'volatile' in pios_i2c_priv.h to prevernt compiler optimization lockup.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1611 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-13 20:52:56 +00:00
zedamota
66560786f4 Flight - #ifdefs to make it work with both normal and bootloader packet formats.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1609 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-13 17:08:52 +00:00
zedamota
257b4d2c95 flight - BL AHRS Comms - fixes to make it compile, not tested yet.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1601 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 21:08:43 +00:00
pip
d0b8a9755d Added USB_LED_ON/USB_LED_OFF and checks to see if they are defined to the PIOS_USB_HID_ChangeConnectionState function ..
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1596 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 10:47:20 +00:00
pip
9fca16db41 Added an RTOS detection is 2 places because I'm using this file on the modem (without an RTOS). #if defined(PIOS_INCLUDE_FREERTOS) ...
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1595 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 10:33:45 +00:00
stac
d18e0c3ef8 ahrscomms: Add low-level message code for bootloader msgs
Implement low-level utility functions for sending/receiving
the opahrs proto v0 (bootloader) messages.  These are used
by the OP firmware loader and the AHRS bootloader.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1586 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:31 +00:00
stac
c3c8a30bfc ahrscomms: fix return values on error
Some functions were returning -1 instead of one of the
valud enum values.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1585 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:29 +00:00
stac
6bf3038f3f ahrscomms: provide helper function for simple requests
This cleans up some of the boiler plate code that is
repeasted for simple (empty) requests that expect a
response.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1584 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:28 +00:00
stac
7ecbb5f5b8 opahrs_proto: Add new boot and versions messages
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1583 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:26 +00:00
stac
d1dc300081 ahrscomms: remove unused sync and switch_proto messages
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1582 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:25 +00:00
zedamota
aa1af2b9f3 OP-21/Flight Bootloader - Changes to make it independent of RTOS
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1570 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-09 18:44:55 +00:00
peabody124
b853c392f3 Flight: Was only returning half of the serial number (thanks for catching that Pip)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1476 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-31 02:33:47 +00:00
pip
7813414f29 added casting to prevent int overflows when calculating the watchdog delay
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1467 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-30 16:48:33 +00:00
pip
ba5f1b37ee changed pios watchdog from 8-bit to 16-bit ms capability, plus moved the .h file from the .c folder into the inc folder
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1466 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-30 16:29:36 +00:00
peabody124
f202884ce8 AHRS: Numerous changes. Added CPU load monitoring for AHRS as well as some friendly debugging output options. Also added a new CalibrationMode setting to AHRS (Echo) to speed up sensor calibration. Cleaned up the 6 point calibration interface to make it more friendly, but I think Edouard will clobber it with something nice and sexy :).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1455 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-29 06:38:30 +00:00
stac
a19c225697 ahrscomms: reduce retries and retry delay
The number of retries and delay between retries was
increased in a previous commit.  This doesn't appear
to be necessary so I'm reverting the increases.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1432 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 02:15:02 +00:00
stac
47df1faa8d ahrs: whitespace adjustments
No functional changes.  Whitespace/tab fixups only.
Use TRUE/FALSE instead of 1/0.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1430 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 02:14:58 +00:00
stac
0a7088c24a ahrs: fix type on flags, remove redundant code
No need to have boolean flags being floats.
Some of the attitude message was being populated twice.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1428 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 02:14:54 +00:00
peabody124
8dd81443be OP-122 Flight: Same changes regarding 62 byte limit applied to the receiving code on the device.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1405 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-25 05:32:56 +00:00
peabody124
dd491160c5 OP-121 OP-122 Flight: Improved the Blocking/Nonblocking behavior for USB to be correct. I'd like a mutex still around the transmission buffer but don't want to slow down the interrupt.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1404 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-25 05:32:54 +00:00
peabody124
4ca10e92c7 OP-121 OP-122 Flight: Improved USB HID communication.
1. Added reenumeration function and call it on USB init (device will appear after reprogramming now)
  2. Moved buffer.c to general flight/Libraries location
  3. Removed the 62 byte transmission limitation by adding a transmission buffer
  4. Sped up USB communication by increasing endpoint polling frequency

Note, that the nonblocking and blocking USB send functions are not blocking entirely correcting.  The blocking calls the nonblocking, and the nonblocking blocks until the last chunk has started tranmission if it's a big transmission.  The buffering I added would generalize to non-blocking nicely, but would require using the EP1(IN) callback to handle most of the tranmission.  This creates a lot of issues if one function is pushing data onto the buffer and the interrupt is sending.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1403 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-25 05:32:52 +00:00
peabody124
bd8fffe4d0 AHRS/Flight: Renamed AttitudeSettings to AhrsSettings to make it more intuitive. Added the ability to change the algorithm from GCS.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1383 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-23 03:39:13 +00:00
peabody124
2596f43511 OP-120 AHRS: Moved conversion of quaternion to RPY over from AHRS to OP to minimize transfer and computational load on AHRS.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1381 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-23 02:35:39 +00:00
zedamota
b0d1d0dd09 OP-21/Flight Prep work for the USB HID bootloader
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1373 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-22 18:54:57 +00:00
peabody124
5662d85c4e OP-120 AHRS: Tightened up the communication protocol so it runs more quickly. Looks ok in gdb but GCS not crashing right now (rendering error) so I can't test it properly.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1366 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-22 00:21:54 +00:00
peabody124
8897c441fa OP-118 AHRS: Added AHRSCalibration object and messages associated with that to AHRS. Also made AHRS run calibration only when requested. We will create a GCS plugin that runs through computing the calibration settings. To compute the variances on the AHRS set the measure variances to true, wait ten seconds, then set it to false to read it back.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1363 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 21:46:02 +00:00
stac
26e257d340 spi: slow down OP <-> AHRS spi link
Issues have been reported with CRC errors
on the SPI link between the OP and AHRS
boards.  Slowing the link down eliminates
the errors in my testing.

If we speed this link back up in the future,
further investigation will be required to
diagnose the source of the CRC errors.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1356 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 16:19:20 +00:00
stac
f388deef34 hmc5843: standardize line endings
This file had mixed line endings.  Now they're all the same.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1353 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 16:19:14 +00:00
stac
7b2111e512 baroaltitude: rename AltitudeActual to BaroAltitude
This is to align the object names to matches the UAVObject
architecture doc.  No functional changes.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1351 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 16:19:10 +00:00
stac
47c36b3da0 i2c: fix error in FSM for restarted reads
The transition from the ADDR state to the read state
was broken for non-final reads.  The FSM diagram was
also wrong for this transition.

Since reads are always the last transaction in a sequence
in our current usage, this doesn't actually fix any known
bugs.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1350 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 16:19:06 +00:00
stac
98822bff98 i2c: force bus free on warm starts
Since the i2c bus is bidirectional, there are certain
states (eg. part way through a read) where the slave
device is in control of driving the SDA line.

On a cold start (power on), the slave devices are all
quiescent and will not drive the bus.  However, on a warm
start (eg. watchdog or jtag restart), it is possible that as
the CPU boots, the slave device may be holding the SDA line
low.  This is a bus busy condition and will prevent the I2C
bus master in the CPU from being able to seize the bus during
init.

The fix for this is to clock the i2c bus sufficiently to ensure
that the the slave device finishes its transaction and releases
the bus.

Once the slave has released the bus, the bus master can properly
initialize and assert a STOP condition on the bus.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1349 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 16:19:02 +00:00
peabody124
2031cfe4d0 OP-119 AHRS: Added error counters for the messages as well as changed an error on AHRS echo back for the HomeLocation message.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1344 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-20 22:52:13 +00:00
peabody124
ef0b307353 [OP-119] Flight/AHRS: Created a HomeLocation object which is updated when the GPS gets an initial 3D fix and populated with the information to convert from LLA from the GPS to NED reference frame. Also added a message for passing the MagneticNorth vector to the AHRS and removed that computation from AHRS.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1337 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-19 20:38:27 +00:00
peabody124
3c4def13cc AHRS: Added message to pass GPS information into AHRS from OP. This is then converted
into NED reference frame and used in the INSGPS algorithm, although currently this
information isn't propagated back to OP.  Data structures related to the GPS position
into the algorithm and the position estimate out will likely be in flux.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1334 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-19 05:18:34 +00:00
peabody124
cfd20922cd AHRS: Added the filtered data to the attitude raw object. Even though this seems like an oxymoron it's still raw to the EKF algorithm, and nice to see the real values after filtering to make sure nothing weird is going on. However, if people don't like this I'm open to suggestions/patches. I'd maybe suggest the whole attituderaw object be converted to ahrsraw anyway since it's more like that (eg. none of the values are actually attitude estimates).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1325 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-18 14:54:24 +00:00
peabody124
450cf07a89 AHRS: Keeping magnetometer I2C address consistent with change to I2C driver.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1323 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-18 13:54:15 +00:00
FredericG
b46bc68e96 "addr" field of I2C transaction struct now takes real I2C address, and not address that is pre-shifted to accommodate the R/W bit
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1321 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-18 10:04:55 +00:00
stac
3125ecfc4e AHRSComms: altitude sensor data is now sent to AHRS
Altitude/pressure sensor data is sent to the AHRS whenever
the AltitudeActual object is updated.

Altitude, Pressure and Temperature are sent as floats.
Same as in the UAVObject that goes to the GCS.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1291 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-15 01:02:13 +00:00
stac
c3e509c2cb attituderaw: Replace HeadingActual with AttitudeRaw
AttitudeRaw now includes:
 - magnetometers XYZ (in mG)
 - gyros XYZ (raw ADC samples)
 - accelerometers XYZ (raw ADC samples)
 - placeholder for gyro temp sensors (read as zero for now)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1289 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-14 23:42:14 +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
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
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
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
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
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
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
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
peabody124
d928676f5e More documentation updates, standardizing format to include addtogroup at the beginning of headers so files are associated with modules
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1121 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-16 19:53:35 +00:00
peabody124
99e94228a9 More doxygen updates
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1106 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-16 05:31:11 +00:00
vassilis
9f2a01a78a Flight/Servo Fix Servo driver buffer overflow, was messing up the I2C and altitude readings, now working fine. Servo index used to be 1-8 but the Servo driver was indexing a buffer out of bounds. Changed everything to use index 0-7 for servo outputs.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1061 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-11 01:54:43 +00:00
stac
17bea4cb91 ahrscomms: connect the OP board to the AHRS board
The AHRS comms module now sync's with the AHRS and
exchanges interesting data periodically.  Whenever
the link to the AHRS is down, the AHRSComms alarm is
raised.

This is fairly basic for now but provides the last
piece of the infrastructure to move data back/forth
between the OP and the AHRS.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1014 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-04 02:21:49 +00:00
stac
29a8f05ac9 mag sensor: put some bounds on the parameters
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1012 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-04 02:21:45 +00:00
stac
a3a2dbd634 spi: Add support for hardware CRC generation/checking
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
2010-07-04 02:21:42 +00:00
stac
c12b7e3fed spi: tx buffer is now const
Tx buffers should not be modified.  This allows passing const data
to the transfer function.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1010 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-04 02:21:40 +00:00
stac
89a6d6d912 ahrs spi: Add definition of OP<->AHRS SPI protocol
This defines the SPI message format as well as a few
initial messages for moving data across the link.

The v0 messages are place holders for firmware download
in the bootloader.

The v1 messages are to be used by the main application.

Note: This is not the final protocol definition.
      Subject to change without notice.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1004 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-04 02:21:15 +00:00
stac
71e491e3c1 com: mark tx buffer as const throughout API
The com layer transmit functions should provide guarantees
that they will not modify the buffer that you're transmitting.
Declaring the parameter as a pointer to const keeps the underlying
implementations honest.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1001 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-04 02:21:08 +00:00
stac
4f8d81343f spi: assert on invalid SPI device
TransferByte API is simplified to either assert or
return the rx byte.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@999 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-04 02:21:00 +00:00
stac
1169514bf9 sd card: fix SD R1 detection
SD R1 response format is defined as any byte with the MSb
cleared.  The code was testing for any byte that was not 0xFF
which can lead to misinterpreting a byte as the response.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@998 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-04 02:20:57 +00:00
dankers
0d38dfc745 Minini removed from PiOS
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@966 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-01 08:57:40 +00:00
FredericG
3bc938d45e lowered I2C timoout whne using RTOS
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@842 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-06-21 09:19:02 +00:00
FredericG
c8f818a809 Do not configure the servo outputs when ENABLE_AUX_UART
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@839 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-06-20 18:02:26 +00:00
FredericG
5d9a718430 Made pios_com_num_devices const
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@837 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-06-20 17:59:48 +00:00
stac
20fa15c24a spi: fix block transfers
SPI block transfers were broken in commit r759.  Block
transfers are primarily used by the SD card interface so
this also broke accesses to the SD card.

SD card accesses should be fixed now.  Verified by writing
config objects in the GCS and confirming that they survived
a reboot of the OP board.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@808 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-06-18 04:28:32 +00:00
stac
771a56ca9d com/usart: generalize com driver API
- 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
2010-06-13 04:24:26 +00:00
stac
8d015a57d0 pios spi: support both master and slave configs
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
2010-06-13 04:23:44 +00:00
stac
02e0017cbb stm32 lib: declare read-only parameters as const
Many of the STM32 library functions take a pointer to an
initialization structure.  In nearly every case, this struct
is a read-only (ie. const) parameter.

It is advantageous (and good coding practice) to actually declare
read-only data as const so that the compiler can place the const data
in the .rodata section which resides in flash and doesn't consume any
RAM.  This has the added bonus advantage that it is impossible for the
running application to corrupt the read-only data.

In order to allow passing pointers to const data into the library
functions, it is essential that the function prototypes also declare
their associated read-only parameters as const.  This commit adds
the const attribute to those parameters that are actually read-only.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@758 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-06-13 04:23:15 +00:00
stac
aebc358e46 usart: use macro definitions for bit positions
No functionality changed.  Clean up only.

Changed a few of the (1 << x) constructs to use existing macro
definitions to improve code readability.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@757 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-06-13 04:22:57 +00:00
stac
8b5e1e8aea init cleanup: use irq stack during early init
No functionality changed.  Clean up only.

Make early init code (Reset_Handler) use the existing irq stack
rather than the hard-coded one.

Remove (now) unused references to the hard-coded stack.

Removed the link-time check for a minimal task stack in RAM since
FreeRTOS allocates user stacks from the heap which is already reserved
in the .bss section (as symbol xHeap).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@756 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-06-13 04:22:47 +00:00
fredericg
a2beb49257 Changed PIOS_DEBUG_Panic()
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@694 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-31 16:22:58 +00:00
stac
140a51932f spi: fix cut/paste error for AHRS SPI setup
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@669 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-27 01:37:43 +00:00
stac
918250868b irq_stack: correct one word overlap of _irq_stack_top
The previous fix in r652 was _almost_ right.  There was
still a one word (4-byte) overlap between _irq_stack_top
and the start of the data segment.

_irq_stack_end + _irq_stack_size leaves the '.' pointer at
the word immediatly after the stack.  This commit corrects
this error and places _irq_stack_top on the last word
_inside_ the reserved space for the irq stack.

[Before]
  $ ./tools/arm-2009q3/bin/arm-none-eabi-nm -n ./build/openpilot/OpenPilot.elf
  ...
  20000000 A SRAM_BASE
  20000000 B _irq_stack_end
  20000400 d LED_GPIO_PORT   <--- overlap
  20000400 B _irq_stack_top  <--- overlap
  20000400 D _sdata
  20000408 d ADC_GPIO_PORT
  ...

[After]
  $ ./tools/arm-2009q3/bin/arm-none-eabi-nm -n ./build/openpilot/OpenPilot.elf
  ...
  20000000 A SRAM_BASE
  20000000 B _irq_stack_end
  200003fc B _irq_stack_top
  20000400 d LED_GPIO_PORT
  20000400 D _sdata
  20000408 d ADC_GPIO_PORT
  ...

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@668 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-27 01:37:40 +00:00
stac
874239154a Turn on -Werror on openpilot firmware build
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
2010-05-24 16:33:46 +00:00
stac
6b2760da1a USB HID: basic COM functionality over USB HID
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
2010-05-24 16:33:40 +00:00
stac
69de42db49 Add AHRS attitude module and driver skeletons
- 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
2010-05-24 16:33:36 +00:00
stac
e892dcb033 bmp085: create semaphore prior to configuring irq
Since the EXTI and NVIC init routines automatically enable the IRQ when it
is configured, it is possible for the EOC interrupt to fire immediately
upon configuring the IRQ.

Since the handler for the EOC interrupt (EXTI15_10_IRQHandler) does a
xSemaphoreGiveFromISR, it is important to have the semaphore initialized
prior to enabling the interrupt.

Also, added missing include for altitude module.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@654 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-24 16:33:30 +00:00
stac
41da33c920 irq_stack: provide a proper IRQ stack for FreeRTOS
The MSP (IRQ stack) was trampling across the data segment.  This was
especially disastrous in the USB interrupts since they allocate and
fill buffers on the stack.

The root of this trampling was that no RAM was being reserved for the
MSP and a hard-coded value of (0x20000400) was used as the initial MSP
base address.  This resulted in the first 1K bytes of the .data segment
overlapping with the IRQ stack.  As can be expected, all sorts of badness
resulted when interrupts were firing and trampling over variables.

This change reserves the first _isr_stack_size bytes at the beginning of
RAM for the MSP.  If an ISR call chain runs off of the end of the MSP,
a Hard Fault will be generated as the (now invalid) sp is accessed.

There are two stack pointers in the Cortex-M3 CPU.  These are MSP (Main
Stack Pointer) and PSP (Process Stack Pointer).

Which stack is in use at any given time is determined by the following table:

   Mode      CONTROL[ASPSEL]    Stack
   ----      ---------------    -----
   Thread    0                  MSP
   Thread    1                  PSP
   Handler   x                  MSP

Out of reset, the CPU is in Thread mode using the MSP.  The initial value
of the MSP is automatically loaded from address 0 (lowest word in boot
region -- typically FLASH) immediately prior to jumping to the reset vector.

When running at interrupt level, the Cortex-M3 always uses the MSP and the
ASPSEL bit is forced to zero.

FreeRTOS allocates a separate stack for each task upon task creation.  These
task stacks are allocated from the heap.  FreeRTOS sets the active stack to
the PSP whenever running in a task context (both in privileged mode and user
mode).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@652 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-24 16:33:26 +00:00
sambas
d7b3a158d6 OP-22 Flight/PiOS: Spektrum bind function tested and working.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@649 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-23 11:19:28 +00:00
FredericG
09981b39c2 A few small fixes
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@647 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-22 06:30:42 +00:00
stac
d02a3325d9 altitude: Add altitude module which reads BMP085
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
2010-05-19 04:55:56 +00:00
stac
514d46f5b6 freertos: fix RTOS API calls from interrupt level
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
2010-05-18 04:50:38 +00:00
sambas
66fa56a1da OP-22 Flight/PiOS: Spektrum simple decoder works, getting seven working channels with my DX7 tx
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@630 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-16 10:04:07 +00:00
sambas
76cd72915d OP-22 Flight/PiOS: first tests done with spektrum satellite, I can read binded receiver serial stream
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@629 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-16 08:35:38 +00:00
sambas
26aecf720d OP-22 Flight/PiOS: Spektrum satellite protocol started
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@626 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-15 18:22:03 +00:00
gussy
5991a93739 Added GPIO functions for accelerometer full-scale selection.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@625 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-15 15:27:52 +00:00
gussy
73b5e29e02 Finalised and verified PIOS_HMC5843 library.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@624 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-15 12:50:05 +00:00
gussy
22fbd8e4bd ADC Updates.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@618 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-12 12:09:35 +00:00
gussy
ff73ab5a80 More updates to cross-target compatibility.
Added PIOS_I2C into AHRS code.
Added PIOS_HMC5843 Module.




git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@617 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-12 08:18:49 +00:00
gussy
fe9aa9e38f Small USART scalability fix.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@616 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-12 01:56:00 +00:00
gussy
8f3c2dbafb Changes to PiOS to be compatible with the AHRS.
Updates to AHRS code.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@615 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-11 13:36:13 +00:00
vassilis
a31215293d Flight\Telemetry Implement telemetry settings object, added functions for changing the baud rate in PiOS
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@607 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-08 02:44:26 +00:00
gussy
a574f56961 HID Loopback test now working. GCS code now needs to be brought up to speed.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@583 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-04 19:56:06 +00:00
gussy
0aba12fe1f Loopback test of HID working. Still a WIP but committing what I have to show progress.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@582 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-04 18:54:43 +00:00
fredericg
3281b1a128 OP-27 Use RTOS in LockDevice() and UnlockDevice()
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@564 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-01 14:49:51 +00:00
vassilis
8c11a03129 Flight/Alarms Implemented Alarms library, now checking for stack overflow, out of memory, event and other errors (see the SystemAlarms object). All modules will be reporting their alarms using this library.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@554 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-04-27 01:55:28 +00:00
vassilis
4f0377194d Flight/PiOS Remove use of semaphores in COM/USB ISR (not used and not working also causing random crashes)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@540 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-04-25 02:17:25 +00:00
vassilis
40beb15129 OP-4 Flight/System Created CPU utilization measurement and created object to report system information (load, heap and time)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@519 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-04-18 02:13:59 +00:00
vassilis
89a6dd30d1 OP-4 Flight/Telemetry Create new objects to report statistics of the telemetry link (plus a few bug fixes, heap size was also increased)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@515 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-04-17 22:16:20 +00:00
vassilis
5889849060 OP-4 Flight/Telemetry Various bug fixes while testing telemetry (working but not fully tested)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@500 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-04-15 02:15:46 +00:00
sambas
402b4e8e24 Telemetry and HID work, ugly hacks atm. Endianess needs checking. HID transmit doesn't work at all. Serialport works both ways
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@472 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-04-10 16:22:08 +00:00
vassilis
f4c4b1371a Flight/Settings: Remove old settings implementation (replaced with binary settings as UAVObjects)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@465 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-04-10 01:35:13 +00:00
pete
f1694527cc Working on the PPM functionality. Getting there but it is still not 100% correct.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@411 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-30 04:48:15 +00:00
sambas
37a0ce845c Solved bad USART port init
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@383 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-25 10:52:38 +00:00
gussy
41fd921b14 Updated BMP085 test code.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@375 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-23 04:01:11 +00:00
gussy
bad62d3af3 Moved things around.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@372 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-22 02:51:52 +00:00
gussy
362163d48b Added dependency checking, just in case.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@371 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-22 02:09:56 +00:00
gussy
6826706cb7 Moved external interrupts into it's own API.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@370 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-22 02:07:06 +00:00
gussy
62f4e2c636 Add PIOS_EXTI.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@367 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-21 20:23:20 +00:00
gussy
a03952fb5d Small updates and clean up.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@355 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-21 00:49:48 +00:00
pete
a3486477eb Added PPM defines and created pios_ppm.c
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@325 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-17 04:00:13 +00:00
fredericg
e57ec315e1 fixed warning
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@319 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-15 12:00:47 +00:00
FredericG
8e873ec0e8 Use the new PIOS assert
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@315 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-14 17:13:27 +00:00
gussy
f75fa5e567 Updated ADC to use the 3 auxillary inputs on the OpenPilot board.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@312 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-14 12:00:43 +00:00
gussy
e1504dafc6 Add PIOS_GPIO for controlling the auxiliary connections on the OpenPilot board.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@311 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-14 11:59:11 +00:00
FredericG
7bd573f043 OP-36 PIOS_DEBUG_Assert() function
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@307 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-14 10:20:27 +00:00
gussy
7b5d85cb3e PIOS_LED: Initialise all LED's as off.
PIOS_SYS: Added system reset function.
OpenPilot Makefile: Default USE_BOOTLOADER should be NO.
OpenPilot Bootloader: Removed LED initialisation.



git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@303 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-14 06:47:57 +00:00
gussy
8ba2d76cd6 OP-21: Cleaning up a few things.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@302 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-13 20:46:46 +00:00
gussy
a0a92d5a59 OP-21: Made changes to OpenPilot makefile too allow building for bootloader and non-bootloader targets. Use "USE_BOOTLOADER = YES" to build for the OpenPilot Bootloader.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@300 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-13 20:01:31 +00:00
FredericG
3b332c786f OP-11 Use RTOS when waiting for an I2C transfer to finish when RTOS is enabled
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@298 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-13 17:28:42 +00:00
gussy
7863954f1a Added debugging port buffer handling.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@297 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-13 15:37:00 +00:00
FredericG
50215e75c6 OP-28 Some changes in the I2C API
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@296 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-13 12:23:55 +00:00
FredericG
7b753399ec Drive all debug pins low at startup
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@295 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-13 10:52:10 +00:00
gussy
978e07419d Small FreeRTOS fixes.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@294 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-13 06:44:15 +00:00
gussy
3de8a31fa0 Added working and tested base for OpenPilot HID Bootloader.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@293 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-12 16:24:02 +00:00
gussy
6764a34285 Updated some FreeRTOS specific issues and fixed a few typos.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@292 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-12 16:22:56 +00:00
fredericg
47038af0c0 PIOS_DONT_USE_XXX => PIOS_INCLUDE_XXX
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@283 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-11 12:38:51 +00:00
FredericG
dbde2b1bac I2C: Some more fixes. I2C test passes at 400KBit and 200KBit but needs to be investigated further
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@280 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-10 21:11:19 +00:00
dankers
e66c491942 Update to headers in the flight portion of the code. Just formatting.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@276 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-10 09:12:31 +00:00
gussy
b08eb71a9a Changed USB VID and PID to our own ones now.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@272 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-08 18:48:00 +00:00
gussy
bcc84f00fb Cleanup of unused code.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@271 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-08 10:14:38 +00:00
gussy
4f5d7ae83a PIOS_PWM now reading 8 channels properly!
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@269 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-08 10:09:30 +00:00
gussy
1ed841946c Added "supervisor" and comments to PIOS_PWM.
Added timer usage diagram to pios_board.h
Removed bloat for extra optimisation in PIOS_DELAY.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@265 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-07 14:19:43 +00:00
gussy
098cff2145 Small typo fix.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@264 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-07 12:25:29 +00:00
gussy
075dcf5aee PIOS_PWM example code measures servo signal pulse width in microseconds (uS).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@263 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-07 12:25:11 +00:00
gussy
c409a62978 PIOS_BMP085 module finished.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@262 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-06 16:04:31 +00:00
gussy
cafed0a148 BMP085 Sensor now working completely.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@261 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-06 14:20:42 +00:00
gussy
fd889b918b Updates to BMP085 readings.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@260 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-06 10:28:08 +00:00
gussy
0e8b618953 Updated files inside OpenPilot to use the single openpilot.h header file rather than multiple headers inside each file. This resolves a few build warnings/errors and makes the code cleaner.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@257 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-06 06:17:17 +00:00
gussy
5e70edb021 OP-1: Small fixes to reading/writing from sensor.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@256 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-06 06:09:18 +00:00
gussy
d406232eb1 Improvement OP-3; Implemented buffer based receiving functions, untested.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@254 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-06 03:13:14 +00:00
FredericG
dd429536f7 pios_i2c.c: last commit broke reading; need to ack the incoming bytes
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@252 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-05 18:36:28 +00:00
FredericG
595a8f2cef One exit point for isr function
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@251 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-05 18:14:00 +00:00
FredericG
b3ad53acdc Enable and disable interrupts in TransferStart() and TransferEnd() functions
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@250 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-05 18:07:15 +00:00
gussy
7de6be3f59 Reading and writing to BMP085 sensor now working.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@249 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-05 10:44:11 +00:00
FredericG
7dd7c0201c Fix: Don't generate start at the end of WriteWithoutStop transfer. Needs cleanup
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@248 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-05 07:57:26 +00:00
gussy
792406510c Small fixes. BMP085 drivers still not working.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@246 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-04 15:41:21 +00:00
gussy
6d67d2dab2 PIOS_ADC now non-application specific.
Removed "application hooks" system from PIOS_ADC.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@245 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-04 09:25:09 +00:00
gussy
09645920ee PIOS_COM and PIOS_USART now non-application specific.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@243 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-04 07:07:27 +00:00
gussy
df6b2e4ddc Moved STM32 specific PiOS Libraries.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@240 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-04 06:14:14 +00:00
gussy
798ad15bba More refactoring.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@235 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-04 05:51:11 +00:00
fredericg
0310339cb6 Introduced ENABLE_DEBUG_PINS option in makefile that will enable the debug-pins and disable the servo outputs
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@233 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-03 16:16:43 +00:00
fredericg
35f07fe9dc Introduction of lacal functions TransferStart() and TransferEnd()
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@232 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-03 12:05:49 +00:00
fredericg
ad816dc070 Renamed PIOS_I2C_TransferBegin => PIOS_I2C_LockDevice because it better describes what it does
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@231 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-03 11:46:24 +00:00
gussy
a5d56cd537 Small re-factorings.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@230 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-03 10:55:49 +00:00
gussy
72933cd5e6 Fixed re-factoring build issues.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@228 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-03 10:39:16 +00:00
gussy
47c5211cd4 Small changes to random files.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@227 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-03 07:53:15 +00:00
gussy
0968b0adf9 Added provisions for TurboPWM and other custom servo update rates.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@226 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-03 07:46:40 +00:00
FredericG
b205ebd873 Small fix: Write operations did have to time out before a new could be started
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@225 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-02 18:33:19 +00:00
FredericG
ce5f814b63 Introduction of PIOS_DEBUG
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@222 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-02 11:23:03 +00:00
gussy
fbb175e01c Initial commit of AHRS project code base.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@212 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-28 12:10:48 +00:00
gussy
9953188fe2 PIOS_SYS now non-application specific.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@208 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-28 08:44:01 +00:00
gussy
792cfef50b PIOS_SPI now non-application specific.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@207 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-28 08:34:44 +00:00
gussy
fcf47bf1f6 PIOS_USART now non-application specific.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@206 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-28 08:29:14 +00:00
gussy
95d068884a PIOS_BMP085 now non-application specific.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@205 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-28 07:01:18 +00:00
gussy
22f02cb460 PIOS_I2C now non-application specific.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@204 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-28 06:57:59 +00:00
gussy
700116abd9 PIOS_LED now non-application specific.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@203 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-28 06:54:43 +00:00
gussy
adcd47a31b Added ability to enable and disable PiOS modules.
Added PIOS_USB_COM.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@202 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-28 06:47:49 +00:00
gussy
7f31e3a9ff Start of making PiOS application independent.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@201 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-28 06:30:45 +00:00
gussy
9bce59ef1a Small cleanup changes.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@200 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-28 04:47:51 +00:00
FredericG
163862af54 Temp I2C test-code
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@198 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-24 10:50:55 +00:00
gussy
4eedbd854d A few updates for including PIOS_USB_HID into PIOS_COM.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@187 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-12 10:11:17 +00:00
gussy
0a9be2dedd USB HID now working and integrated into PIOS_COM.
You can now send and receive packets (up to 63 bytes) just like using the USART port with PIOS_COM.
HID packet length will soon be increased to support maximum UAVTalk message length.



git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@182 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-10 03:31:51 +00:00
gussy
7578f74e8c Small fixes.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@181 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-09 07:45:25 +00:00
gussy
818fa05608 HID receiving still not working.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@180 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-09 07:39:49 +00:00
gussy
875dff963d Fixed the descriptors.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@177 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-07 02:01:44 +00:00
gussy
929d5fe51b Added custom HID report descriptors. Updated packet length to 64 bytes for now.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@175 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-05 10:33:56 +00:00
gussy
e39f2801d1 More HID work.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@173 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-05 09:34:45 +00:00
gussy
1a1b5cfcdb Updated to Version 3.1.0 ST USB Lib.
Added working preliminary PIOS_USB_HID support.
Integrated PIOS_USB_HID support into PIOS_USB_HID.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@171 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-05 04:58:59 +00:00
gussy
3b32b89839 Updated copyright headers.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@146 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-01-31 17:56:54 +00:00
gussy
efdb5c5f2b Added MSD library.
Added PIOS_USB.
Global improvements, see specific files for changes.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@144 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-01-31 16:48:23 +00:00
gussy
53ea65bb2f Updated PIOS_Settings_CheckForFiles routine to work with DFS.
Startup procedure now waits for SD Card with the correct settings files on it.
Refactored a few global PIOS_SDCARD names.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@140 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-01-25 16:30:31 +00:00
gussy
b2c23c5473 Added beginnings to POIS_PWM for RC Input.
Enabled ADC, needs reworking still.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@139 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-01-25 15:23:55 +00:00
gussy
c1ab22f595 Added variety of helper functions to PIOS_SDCARD.
Made minGlue even more robust and simpler.
Fixed a small bug with the servo output code, which is now working 100%.
Enabled USART, which can now be used for debugging.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@138 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-01-24 13:03:13 +00:00
gussy
39403ee20d Now using global filesystem mounting on bootup.
Changed bootup procedure for how the SD Card is handled.
Completed, optimised and added error handling to minGlue.c

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@137 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-01-24 08:13:48 +00:00
gussy
26410ad8de Back to where we were with r133, but now with proper SD Card code.
Additions to note; PIOS_SPI, DosFS and PIOS_SDCARD.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@136 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-01-23 17:31:14 +00:00
gussy
a4853aee53 Changed to sdcard startup procedure. Now puts diagnostic information on the SD card.
This revision is a good fall-back point as a basic test that the hardware and your development environment is working.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@133 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-01-21 02:04:15 +00:00
gussy
998ab12de4 Delays fixed.
SD Card fixed and working, tested with 2Gb and 8Gb (SDHC) cards.
Changed startup_stm32f10x_HD.S to work with SysTick_Handler, needs to be changed back for FreeRTOS to work.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@132 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-01-20 23:48:04 +00:00
gussy
90f1fab5fe Fixed DELAY module. Now uses TIM2 and conforms to standard coding practices.
Added temporary flashing function as an easy way to know things are working.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@131 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-01-20 08:16:35 +00:00
dankers
3614685969 comments update to reflect where the delay defines are (board.h)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@126 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-24 22:25:34 +00:00
dankers
a1ca5c5e67 Move delay timer to TIM 7. Move definition from pios_config.h to pios_board.h
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@125 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-24 22:24:15 +00:00
dankers
17304c7239 stdint compliance
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@124 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-24 03:09:37 +00:00
dankers
3e76e78f47 stdint compliance
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@123 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-24 03:03:24 +00:00
dankers
ebeed14ce4 stdint compliance
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@122 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-24 03:01:34 +00:00
dankers
c3d63f0782 stdint compliance
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@121 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-24 02:59:44 +00:00
dankers
24220da63a stdint compliance
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@120 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-24 02:58:39 +00:00
dankers
cb920513ff stdint compliance
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@119 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-24 02:56:49 +00:00
dankers
282cf5c43e Delay module.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@118 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-24 02:51:20 +00:00
dankers
6c2d90cd11 Added delay #defines to compile time config file.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@117 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-24 02:44:20 +00:00
dankers
8cb7ce6a86 A tiny bit simpler pios.c, FreeRTOS is working and flashing an LED. Fat stuff needs a timer, Freertos is a nice way to supply that so a task is created and running. Need to rework the fat stuff so it is FreeRTOS friendly.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@111 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-23 10:34:26 +00:00
dankers
08fc0ac743 Add notes section. To be completed as we get more advanced.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@110 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-23 10:07:05 +00:00
dankers
04d2428922 Move Settings file define from board to config header
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@109 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-23 10:03:49 +00:00
dankers
5b31cc8813 Move SDCard functions.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@107 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-23 07:39:34 +00:00
dankers
3a0ecba2cc Back to a basic setup, lets walk before running.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@106 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-23 07:14:52 +00:00
dankers
a6c9041f55 pios sdcard, try to open a file
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@104 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-23 04:03:21 +00:00
dankers
1cafc86aaa copy and paste fail :)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@103 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-22 20:36:51 +00:00
dankers
2a3f572147 Split the SDCard functions away in to their own file. Just for readability & clean code. Only init function for now but there will be logging functions added.
init function will also try to access a file on the SDCard, this forces a real mount and will get real errors which we can handle. 

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@100 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-22 19:32:47 +00:00
dankers
6003def85d Fix var issue.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@99 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-22 06:28:12 +00:00
dankers
c8b42d5976 Remove the RTC TODO.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@98 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-22 05:09:53 +00:00
dankers
74d4609cc6 Comment out the rest of the startup until we get ChanFat working. These come afterwards anyway, however, its a target, we uncomment them as they get fixed.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@97 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-22 05:08:59 +00:00
dankers
f457599d9c Comment about where defaults live.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@86 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-21 04:10:50 +00:00
dankers
fb54cca9e9 Move the PIOS_Settings_Load() call to the main() function. Easier to see program flow this way as it is a key part of our startup.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@85 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-21 04:07:29 +00:00
dankers
b888eb3813 Move the #defines to pios_config.h
Add some comments to pios.c so people know where the settings are loaded. 

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@84 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-21 03:57:30 +00:00
dankers
565eff7f00 Just a TODO to setup the RTC clock here, I've been through all the startup code and it seems great, only got up to the LEDs.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@76 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-18 19:56:53 +00:00
gussy
38d98a26a6 Swapped LED On and Off to proper set/reset function.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@75 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-18 17:59:43 +00:00
dankers
313f3cceff Gussy: Fixed uint16 on LEDs
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@74 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-18 12:44:49 +00:00
dankers
3117c9ac45 Removed GPIO function from piso_sys, each module does their own GPIO setup.
pios_config.h to inc directory. 


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@66 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-15 12:17:11 +00:00
dankers
ebcec5533f Added config header file skeleton, changed "" to <> in central header as headers now go in include and not the same directory as the C files. Removed the doxygen @s from the Makefile as Doxygen doesn't parse the Makefile.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@65 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-11 18:48:48 +00:00
gussy
8eaaf20a21 Optimised startup procedure for speed.
Fixed bmp085 i2c write procedure.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@64 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-11 00:24:03 +00:00
gussy
d306ade1a7 Conversions now use the BMP085 EOC (End Of Conversion) pin with an external interrupt, which is a much nicer way of doing things.
One major timing caveat still exists, still deciding the best way to cross that bridge.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@63 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-10 06:08:28 +00:00
gussy
b6cc2df29d Finished off initial revision of BMP085 drivers.
Added math.h to pios.h includes.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@62 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-10 04:28:21 +00:00
gussy
9eeaf09b80 Fixed a few typos in PIOS_I2C.
Started work on BMP085 driver. Need more information from Bosch to continue.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@61 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-10 01:59:46 +00:00
gussy
a1f7f260c1 Added PIOS_I2C module. It's blind code though, no idea if it works.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@60 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-09 23:10:32 +00:00
gussy
f52a719c1d Updated all PIOS function names to new standard.
New standard to be used is PIOS_Module_Function().
Likewise with OpenPilot, OP_Module_Function() is to be used.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@59 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-08 02:13:21 +00:00
gussy
4e4b50e187 Added OpenPilot Logging functions, tasks.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@55 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-04 20:33:18 +00:00
gussy
e174898bf2 Added pios_servo. Straight from ST examples.
Updated printf-stdarg to use debug port.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@53 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-03 21:30:53 +00:00
gussy
7a39f5f55c Added in ADC hooks to OpenPilot.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@52 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-02 21:49:31 +00:00
gussy
dc830b7a96 Initial commit of pios_adc
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@51 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-02 21:37:51 +00:00
gussy
28e9081872 More FreeRTOS Stuff.
Added in the initial OpenPilot files.
Added HooksTask.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@49 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-02 11:07:56 +00:00
gussy
42591b0edf Moved pios_settings.c to /PiOS/Common since it is not platform specific.
Started to add some FreeRTOS stuff into pios.c

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@47 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-02 06:44:53 +00:00
dankers
922d27982a Add Compile time configuration header. Just #defines really. Won't be used a great deal as most our config is dynamic.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@45 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-02 05:33:29 +00:00
dankers
b165fafd4e Formatting on one of the comments needed a new line.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@43 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-01 18:44:21 +00:00
gussy
58b09ed761 Changed all mention and use of "UART" to "USART".
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@41 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-01 17:15:33 +00:00