James Cotton
5efbfb02fa
Make the BMA180 sensor system acquire from the queue. Correct the orientation
...
and speed it up to 10 MHz communications.
2012-01-24 15:09:20 -06:00
James Cotton
8c208412c9
Give the BMA180 a dynamically allocated device structure and also make it
...
properly bind to a SPI and slave number. Temporarily reducing spi bus to
slowest possible speed.
2012-01-24 14:38:00 -06:00
James Cotton
c242ab8b86
Merge branch 'next' into revolution3
...
Conflicts:
flight/AHRS/ahrs.c
flight/AHRS/pios_board.c
flight/Bootloaders/Revolution/Makefile
flight/CopterControl/System/pios_board.c
flight/INS/pios_board.c
flight/OpenPilot/Makefile
flight/OpenPilot/System/openpilot.c
flight/OpenPilot/System/pios_board.c
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
flight/PiOS/Boards/STM32F4xx_Revolution.h
flight/Revolution/Makefile
flight/Revolution/System/inc/pios_config.h
flight/Revolution/test.c
2012-01-24 10:46:35 -06:00
James Cotton
66293a9788
Merge remote-tracking branch 'origin/stac/led-boottime-config' into next
2012-01-24 10:38:33 -06:00
James Cotton
7c22215e0b
Patch from Sambas to fix F4 on windows
2012-01-24 10:33:07 -06:00
James Cotton
4d3af7afbf
Add ID test to ADXL345
2012-01-24 09:23:12 -06:00
James Cotton
11471ff68b
Update drivers for CC to the new EXTI system and SPI calls
2012-01-24 09:23:12 -06:00
James Cotton
4cf82815ce
Get the right pios_iap.c from next
2012-01-24 09:23:07 -06:00
James Cotton
aaf1c5dfdd
Update the F1 SPI library to support multiple NSS lines
2012-01-23 23:27:02 -06:00
James Cotton
5fd458426a
Merge branch 'cc3d' into revolution3
...
Conflicts:
flight/PiOS/inc/pios_l3gd20.h
flight/PiOS/pios.h
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2012-01-23 22:09:45 -06:00
Stacey Sheldon
5907022b6d
Merge remote-tracking branch 'origin/stac/ld-2.22-fix' into next
2012-01-23 23:05:52 -05:00
James Cotton
bcb49cbd33
Merge branch 'next' into cc3d
...
Conflicts:
flight/PiOS/STM32F10x/pios_exti.c
2012-01-23 17:09:47 -06:00
James Cotton
2524662475
Copy the BMP085 back from next
2012-01-23 16:58:07 -06:00
James Cotton
886d5456ac
Update pios_exti for F4
2012-01-23 16:55:54 -06:00
James Cotton
9a12299074
Update the driver cfg structures for the EXTI changes. Make the drivers call
...
the pios_exti_init instead of their individual implementations.
2012-01-23 16:55:52 -06:00
James Cotton
b2a292e9c4
Move all the drivers to the PiOS/Common directory to prepare for refactoring
...
the EXTI calls they make to the portable version
2012-01-23 10:11:46 -06:00
James Cotton
c84240e485
Merge branch 'next' into revolution3
...
Conflicts:
flight/PiOS/STM32F10x/pios_bmp085.c
flight/PiOS/STM32F10x/pios_exti.c
2012-01-23 06:51:30 -06:00
James Cotton
21ae37b3de
Remove BMP085 driver from F4 target
2012-01-23 06:44:25 -06:00
Stacey Sheldon
bfe6676eed
exti: rewrite exti layer to improve portability
...
The exti layer now allows drivers to register interrupt callbacks
during board initialization. All details of the driver using a
particular EXTI pin have been removed from the EXTI layer so it
can now be used on any board without board-specific modification.
This includes some nice refinements provided by Mike Smith during
initial review. His original commits have been squashed into this
one.
2012-01-22 23:23:41 -05:00
Stacey Sheldon
6bb4f0c61d
leds: use boot-time config for PiOS LED layer
...
LEDs are now configured based on a board-specific initialization
in PIOS_BOARD_Init().
LEDs are now named:
PIOS_LED_HEARTBEAT
PIOS_LED_ALARM
2012-01-22 18:22:59 -05:00
Stacey Sheldon
3cbf4499e1
ld: make sure current pointer never goes backwards
...
Fixes linking on ld version 2.22.
2012-01-21 21:18:06 -05:00
James Cotton
e505de7ba0
Remove redundant remap field from merge
2012-01-21 13:22:00 -06:00
James Cotton
838370b3a4
Fix calls to backup registers on F4
2012-01-21 13:21:37 -06:00
James Cotton
bb0bfe0ae4
Merge branch 'next' into revolution3
...
Conflicts:
flight/Bootloaders/CopterControl/Makefile
flight/Bootloaders/PipXtreme/Makefile
flight/Bootloaders/Revolution/inc/pios_config.h
flight/CopterControl/Makefile
flight/INS/inc/pios_config.h
flight/Libraries/taskmonitor.c
flight/Modules/Altitude/altitude.c
flight/Modules/Attitude/attitude.c
flight/OpenPilot/Makefile
flight/OpenPilot/Makefile.posix
flight/OpenPilot/System/inc/pios_usb_board_data.h
flight/OpenPilot/System/inc/taskmonitor.h
flight/OpenPilot/System/pios_board.c
flight/OpenPilot/System/taskmonitor.c
flight/PiOS/Boards/STM32F4xx_Revolution.h
flight/PiOS/STM32F4xx/pios_bmp085.c
flight/PiOS/STM32F4xx/pios_iap.c
flight/PiOS/pios.h
flight/Revolution/System/inc/pios_config.h
flight/Revolution/System/inc/taskmonitor.h
flight/Revolution/System/taskmonitor.c
ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp
shared/uavobjectdefinition/systemalarms.xml
shared/uavobjectdefinition/taskinfo.xml
2012-01-21 11:27:03 -06:00
James Cotton
f6db859e4f
Fix bug in flash driver where it could assert CS line after failing to claim
...
the bus. Also added a "claimed" flag to the device structure.
2012-01-21 09:57:12 -06:00
James Cotton
5dbbfec8a9
Make the BMA180 driver use the appropriate claim method from the ISR. Also
...
slow down this bus to 10 MHz.
2012-01-21 09:57:02 -06:00
James Cotton
ff0bd87f4e
PIOS SPI: Add a second claim bus method for use in ISR. This has no timeout
...
and uses an ISR safe queue claiming method. This avoids deadlocks when ISR
blocks other tasks from freeing the bus.
2012-01-21 09:07:06 -06:00
James Cotton
ec903449cd
Remove line that bypassed the BMA180 startup test
2012-01-21 08:46:32 -06:00
James Cotton
476cb4d9c2
Unfortunately for now hardcoding new LED configuration. Need to generalize LED
...
out to a proper run-time configuration. This unfortunately breaks a general
firmware for now.
2012-01-20 15:45:51 -06:00
James Cotton
a252ee134a
Fix the l3gd20 initialization in pios_board.c and also change the (ugly)
...
hardcoded exti system to use line3 on F1xx for L3GD20
2012-01-20 14:39:05 -06:00
James Cotton
c76e9f2d7a
Updates to the l3gd20 driver for stm32f1xx. Need to eventually merge these
...
drivers with F4 drivers.
2012-01-20 14:36:16 -06:00
James Cotton
4f28c8d48e
Change the init structures to be const in the std periph library for exti
2012-01-20 14:35:27 -06:00
James Cotton
a5d006d1a9
Set up the SPI interface to the l3gd20
2012-01-20 14:20:37 -06:00
James Cotton
8f535bd28c
Import of l3gd20 driver from revo branch
2012-01-20 13:42:58 -06:00
James Cotton
7f284596f2
Attempting to get flash and BMA180 to coexist
2012-01-20 13:33:21 -06:00
James Cotton
1e8811362e
On revolution attach the flash chip to the accel bus now. Also extended the
...
flash chip driver to take in the slave number during initialization so this is
no longer a hardcoded option.
2012-01-20 07:37:47 -06:00
Stacey Sheldon
64202ce092
Merge remote-tracking branch 'origin/stac/i2c_decoupling' into next
2012-01-17 22:35:36 -05:00
James Cotton
1b5e776dc5
Hardcoded scale for now since it isn't picking up from the cfg structure.
2012-01-17 19:53:20 -06:00
James Cotton
ce2d0fcbb1
L3GD20 data now running through IRQ -> FIFO
2012-01-17 19:36:32 -06:00
James Cotton
35025303cd
Getting data from gyro.
2012-01-17 19:29:38 -06:00
Stacey Sheldon
bffb184b7a
usb: add standard boilerplate to new files
2012-01-16 21:32:52 -05:00
Stacey Sheldon
0575b45378
usb: make USB usage depend on PiOS config
...
USB is not supported on sim platforms. Let PiOS
config determine when we use it.
2012-01-15 18:16:49 -05:00
Stacey Sheldon
c97b108a1f
bootfault: make IAP usage depend on PiOS config
...
The sim platforms don't support an IAP mechanism. Let
PiOS config control when we try to use it.
2012-01-15 18:16:49 -05:00
Stacey Sheldon
53e9ef06b4
altitude: add optional altitude module
2012-01-14 15:38:56 -05:00
Stacey Sheldon
bae08fcad0
bmp085: decouple i2c adapter
...
Let the bmp085 be attached to different adapters for different
boards.
2012-01-14 15:38:56 -05:00
Stacey Sheldon
4cb0c41338
bmp085: only use eoc and drdy gpios when available
...
When the bmp085 chip is on an external board, we don't
have access to the eoc and drdy gpio lines. Only use
them when available.
2012-01-14 15:38:56 -05:00
Stacey Sheldon
a0089f072a
i2c: rename main adapter to flexi adapter on CC
2012-01-14 15:38:56 -05:00
Stacey Sheldon
feacec468d
i2c: compile-time decoupling of i2c devices from adapters
...
This allows each device to be moved (at compile time) to a
different adapter. This is the first step to allowing devices
to be attached to different i2c adapters.
2012-01-14 15:38:56 -05:00
Stacey Sheldon
ec6d550225
i2c: allow i2c adapters to remap pin functions
...
Allows us to support more complex pin configurations
for i2c.
2012-01-14 15:38:55 -05:00
Stacey Sheldon
a51bf72bc7
usb: allow runtime selection of USB descriptors via hwsettings
2012-01-14 14:28:15 -05:00
Stacey Sheldon
2d27c54d48
com_msg: Create new message based COM layer for bootloaders
...
The main purpose of this new COM implementation is that it is
much simpler, and requires less code space. This takes a bit
of the pressure off of the CC bootloader which was right at
the limit of available code space in the bootloader partition.
This is not intended to ever be used by the application.
This driver also formalizes the assumptions in the bootloader's
usage of the COM layer. All messages are assumed to arrive
in atomic chunks from the HID layer.
2012-01-14 14:23:18 -05:00
James Cotton
147cd7eede
Fix correct library.mk file
2012-01-08 09:27:32 +01:00
James Cotton
8b42fbeafc
Revert "Fix case in library.mk to stop Brian bitching :)"
...
This reverts commit d39e818ca6
.
2012-01-08 09:27:13 +01:00
James Cotton
d39e818ca6
Fix case in library.mk to stop Brian bitching :)
2012-01-08 09:10:56 +01:00
James Cotton
ebbe1bd497
Some beginning work on the l3gd20 driver
2012-01-08 09:07:07 +01:00
Stacey Sheldon
a86abcd140
usb cdc: fix index of first interface in IAD
...
This error resulted in the HID interface being non
functional on windows platforms.
2012-01-07 09:46:12 -05:00
James Cotton
cc47520baa
Checking ID on ST gyro works
2012-01-04 23:23:42 -06:00
James Cotton
0cc18e7dcf
Add files for new L3DG20 sensor
2012-01-04 20:33:54 -06:00
James Cotton
0da6109871
Update the F4 copyright headers to 2012
2012-01-04 19:29:29 -06:00
Stacey Sheldon
3bc45b0036
usb cdc: use proper macro for CDC mgmt endpoint packet size
...
The hard-coded value (16) in the descriptor differed from the
macro (32) which was used to configure the low-level USB HW
block in the STM32.
2012-01-04 00:38:19 -05:00
Stacey Sheldon
e22bc0c51b
copyright: remove incorrect attribution in boilerplate text
...
These files do not contain content from the ID in the header.
This name seems to have been cut/pasted all over throughout
the openpilot source tree and should be removed from any files
that should not rightfully be attributed to this person.
2012-01-02 23:33:07 -05:00
Stacey Sheldon
8d8715c8c1
copyright: add/correct GPL + copyright boilerplate
...
I missed some of the boilerplate text on some of the
new files I've added recently. Fixed.
2012-01-02 23:28:53 -05:00
Stacey Sheldon
481a13609e
com: remove all references to PIOS_COM_ReceiveBufferUsed()
...
The PIOS_COM_ReceiveBufferUsed() function call is no longer
necessary since the same semantics can be achieved using calls
to PIOS_COM_ReceiveBuffer().
2012-01-02 14:27:06 -05:00
Stacey Sheldon
b94f4b49a4
usb: major refactoring of USB descriptors, CDC and HID
...
Summary of changes:
* USB CDC and HID drivers are completely split apart.
* This will allow different max buffer sizes for HID and CDC.
* USB descriptors have been overhauled:
* Proper structs/macros/enums declared for USB (see pios_usb_defs.h)
* Two common descriptor definitions. One for HID+CDC another for HID only.
See pios_usb_desc_{hid_cdc,hid_only}.c for details.
* Long standing bugs in OP USB descriptors became much more obvious with the
new struct definitions.
* Board specific USB initialization is now in pios_usb_board_data.h in each build target.
* Definition of USB descriptors is now entirely indpendent of STM32 libs.
Glue into STM32 libs is provided by pios_usbhook.c.
* Removed a lot of stale/irrelevant USB #defines throughout the tree.
* Improved naming consistency throughout USB code:
* PIOS_USB_HID_* now refers to the HID endpoint code.
* PIOS_USB_CDC_* now refers to the CDC endpoint code.
* PIOS_USB_* now refers to the low-level USB code.
* PIOS_USB_BOARD_* now refers to board-specific USB data
* PIOS_USBHOOK_* is glue between PIOS and STM32 USB libs.
* struct usb_* and enum usb_* and USB_* and HID_* are all types from the USB spec.
* Shrunk the buffer size on the CDC call mgmt endpoint to save some RAM.
* Made a few more USB related variables static to save some RAM.
2012-01-02 14:27:06 -05:00
Stacey Sheldon
7f03195aba
stm32 usb: allow descriptor data to be const through API
...
This allows a few more data structures to be const to save
some RAM.
2012-01-02 14:27:06 -05:00
Stacey Sheldon
6c192f67ee
gasp: delete clutter
2011-12-31 13:03:49 -05:00
Stacey Sheldon
e7053c77f0
usb config: remove unused macro for number of endpoints
...
This is no longer referenced and is confusing.
2011-12-31 13:02:43 -05:00
Stacey Sheldon
b91f40eb94
iap: extend API to support read/write of boot counter
...
Also clean up unused/obsolete definitions.
2011-12-30 23:05:38 -05:00
Stacey Sheldon
2cf1fe93c6
com: don't block forever waiting for a transmitter
...
Not all transmitters will continue to run when disconnected.
USB is one example of this. When the USB cable was disconnected,
any transmitter blocked here would wait forever.
This was particularly noticeable when the telemetry Tx task
blocked forever on USB disconnect. This also resulted in
the telemetry Rx task blocking forever waiting on the UAVTalk
connection lock.
We now block for a max of 5s waiting for space in the transmit
buffer.
2011-12-30 23:05:37 -05:00
Stacey Sheldon
16619584e4
usb cdc: return valid data in response to SetLineCoding
2011-12-30 23:05:36 -05:00
Stacey Sheldon
80e0be3cec
com: fragment transmitted buffers to match underlying device
...
PIOS_COM_SendBufferNonBlocking() will now fragment its buffer
to match the max size of the underlying device.
This allows the buffer size of the underlying device to shrink
below the maximum message size, thus allowing us to use smaller
buffers on memory-constrained platforms.
2011-12-30 23:05:36 -05:00
Stacey Sheldon
407bec0c95
usb cdc: track oversized rx buffers
2011-12-30 23:05:35 -05:00
Stacey Sheldon
b858cf387e
com: track dropped bytes on rx for usart and usb com
2011-12-30 23:05:35 -05:00
Stacey Sheldon
2040645171
com: Use all bytes in Tx buffer
...
Code would previously fail Tx if we happen to send data
that happened to be exactly the size of the available space
in the tx buffer.
2011-12-30 23:05:35 -05:00
Stacey Sheldon
34af9ac92d
usb_com: NAK rather than STALL on buffer full
...
STALL should only be used to indicate an error has occurred.
NAK is the correct mechanism to provide backpressure.
2011-12-30 23:05:35 -05:00
Stacey Sheldon
e2bb7140fe
usb cdc: allow use of entire rx buffer
...
Previously, the code only allowed n-1 bytes of the
available space to be used.
2011-12-30 23:05:35 -05:00
Stacey Sheldon
86aead52ce
usb cdc: only pass valid bytes from USB rx up to com layer
...
Previously, up to 63 random bytes would be passed to the COM
layer and would be delivered to the application as though
the far end had sent them.
2011-12-30 23:05:35 -05:00
Stacey Sheldon
f54c0552ce
com: make sure we know when a higher prio task is woken
2011-12-30 23:05:34 -05:00
Stacey Sheldon
202b1bd428
com: Always kick rx_start if we got zero bytes
...
This will ensure that we kick rx_start at least once every
time that a user tries to receive bytes from the underlying
device.
2011-12-30 23:05:34 -05:00
Stacey Sheldon
64f498e48a
com-bridge: add usart to usb vcp bridge
2011-12-30 23:05:34 -05:00
Stacey Sheldon
eebdda6276
usb cdc: make HID/CDC configurable in hwsettings
2011-12-30 23:05:34 -05:00
Stacey Sheldon
59cb489e01
usb: clean up pios hooks into stm32 usb_core
...
Reduced scope of many variables since they were being
exposed unnecessarily.
Renamed pios_usb_hid_prop code to pios_usbhook to reflect
the fact that it implements all of the callout functions
that are hooked into the stm32 usb library.
2011-12-30 23:05:33 -05:00
Stacey Sheldon
c0259dc616
usb cdc: USB composite device with HID + VCP
2011-12-30 23:05:33 -05:00
James Cotton
25dfb5463e
Add option to switch to using the MPU6000 accel instead of BMA180. Disabled by
...
default.
2011-12-29 02:08:13 -06:00
James Cotton
c080080810
Add ability to change the SPI bus runs at
2011-12-29 00:09:53 -06:00
James Cotton
05da41a79b
Get FirmwareIAP object working on revo
2011-12-24 13:15:56 -06:00
James Cotton
569b201b58
Move the bl_helper out of the common directory as it isn't
2011-12-24 13:10:23 -06:00
James Cotton
a9c61845af
Create a separate task for sensors and attitude on revo.
2011-12-12 00:47:16 -06:00
James Cotton
33a12d829e
Merge branch 'next' into revolution
...
Conflicts:
flight/PiOS/Common/pios_flashfs_objlist.c
2011-12-11 22:55:54 -06:00
James Cotton
162b0d7f75
Because the UAVO field sorting required for revo changes all the object IDs,
...
trigger a flash wipe on all existing boards with this upgrade.
2011-12-10 14:13:28 -06:00
James Cotton
43fa9e702e
Move DSM to Flexiport and enable GPS on GPS port. Currently GPS module locks
...
up though.
2011-11-28 09:11:13 -06:00
James Cotton
1af66fc3d2
Get rid of 500 ms delay in startup for the pios_sys so that servos start
...
properly but a delay is still needs to get MPU6000 up right. Fucking POS.
2011-11-27 18:05:20 -06:00
James Cotton
f7f94011ee
Damnit. For higher bus speeds MPU6000 chip must be initialized twice in a row.
...
WTF piece of shit.
2011-11-27 02:35:08 -06:00
James Cotton
f7d13ebd57
Hack to tweak the gyro gain for now although its too far out at the moment so
...
something isn't configured properly. Possibly it is staying in 250 deg/s mode.
Also make sure if the MPU6000 fifo backs up to pull extra data.
2011-11-27 01:22:37 -06:00
James Cotton
8bbc767a4e
Get the pressure sensor working and reading into Revolution
2011-11-27 00:52:09 -06:00
James Cotton
cd65df013e
Merge branch 'next' into revolution
...
Conflicts:
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2011-11-26 22:52:32 -06:00
James Cotton
13729f854e
PiOS F4: Fix PWM timer interrupts and enable PWM input
2011-11-26 22:41:41 -06:00
James Cotton
21367d3a22
Spektrum support for Revolution
2011-11-26 22:19:42 -06:00
James Cotton
e24c905ff7
F4 PiOS: Reimplement the RTC logic for F4
2011-11-26 22:13:57 -06:00
James Cotton
99123372d0
TO BE REVERTED: Temporary patch to make the w25x driver work with the revo m25p
...
chip. Need to abstract out the erase commands into a general pios_spi_flash
driver.
2011-11-26 14:55:16 -06:00
James Cotton
11ad135b27
Some changes to MPU6000 driver to make it start more reliably on fresh powerup
2011-11-26 14:12:12 -06:00
James Cotton
c57acf6459
F4 PiOS: Must use a different remap command on F4 for timer module to command
...
pin. Include the remap source in the config structure now.
2011-11-26 03:35:26 -06:00
James Cotton
de9a8453ef
Configure the board to use PWM input and servo output
2011-11-26 02:19:56 -06:00
Oleg Semyonov
6d78b97d92
dsm: update DSM protocol binding details in the comments (no code change)
2011-11-19 17:33:04 +02:00
James Cotton
7637e9f669
Get flash chip working and saving to memory. Also get the I2C working with
...
BMA180 driver.
2011-11-19 00:13:02 -06:00
James Cotton
da75e9fdaf
PiOS: Make I2C return an error code for NACK
2011-11-19 00:11:16 -06:00
James Cotton
a7ef5601e0
Update the MPU6000 FIFO code and also fix the temperature code
2011-11-18 00:24:55 -06:00
James Cotton
6d74e96c31
Got attitude working again. MPU6000 FIFO reading needs a bit of work.
2011-11-18 00:00:55 -06:00
James Cotton
79730d5afa
Try and get the MPU6000 buffer to run down. Staying high for some reason.
2011-11-17 11:23:31 -06:00
James Cotton
0efffef1fa
Work on bringing the Revolution board up
2011-11-17 10:13:34 -06:00
James Cotton
d97e5dbc59
Add SPI MPU6000 driver. Unfortunate hack in HMC5883 EXTI handler to call
...
MPU6000. Need to generalize EXTI ASAP.
2011-11-17 10:12:10 -06:00
James Cotton
8477c2229b
Using real prototype board now. Move telemetry to GPS port for easy-ness right
...
now.
2011-11-17 01:58:51 -06:00
James Cotton
1deb799b6f
Get simple attitude estimation working on F4 INS. Also make MPU6050 return
...
scaling that casts to degrees.
2011-11-16 11:36:04 -06:00
James Cotton
aa698f7b0a
Increase the CC IRQ stack to avoid some memory warnings
2011-11-16 09:20:30 -06:00
James Cotton
aeb42332d6
Get the MPU6050 fifo running and read by the attitude module
2011-11-14 11:23:14 -06:00
James Cotton
1086df5b21
Correctly configure MPU6050 interrupt. However currently not pushing data to
...
the buffer as that seems to fail.
2011-11-14 11:11:40 -06:00
James Cotton
da679441ec
Duplicate the spektrum (dsm) driver to F4 branch
2011-11-14 10:12:51 -06:00
James Cotton
684715930a
Merge branch 'next' into revolution
...
Conflicts:
flight/OpenPilot/Makefile
flight/Revolution/System/inc/openpilot.h
2011-11-14 10:11:53 -06:00
James Cotton
180d84e373
Update the MPU6050 code a bit more to use the right registers.
2011-11-14 10:09:49 -06:00
James Cotton
2eb89e9b81
No reason for the data read flag in pios_bmp085.c to be a semaphore
2011-11-14 10:07:19 -06:00
James Cotton
96a098bf74
Add code for MPU6050 driver
2011-11-13 19:44:56 -06:00
James Cotton
1e2fe77e3f
Start migrating the attitude solution to FreeRTOS
2011-11-13 18:51:35 -06:00
James Cotton
0c103f7b2c
Delete F2 PiOS port since unused
2011-11-13 17:33:43 -06:00
James Cotton
fffb6449ac
Delete the old INS target
2011-11-13 17:31:34 -06:00
James Cotton
c44235494c
Update the Revolution board file a bit
2011-11-13 17:23:56 -06:00
James Cotton
938a577d11
Small change to pios_adc so it works when not enabled
2011-11-13 17:14:08 -06:00
James Cotton
ec84fc4058
Get the Revolution bootloader working
2011-11-13 17:13:42 -06:00
Corvus Corax
aa69027cb2
Merge branch 'next' into CC_GPS
2011-11-11 11:44:11 +01:00
Corvus Corax
e03e3c2ed8
removed "special code" to start optional modules
2011-11-11 11:22:54 +01:00
Oleg Semyonov
f5e82b8242
spektrum: rename Spektrum to DSM (DSM2/DSMJ/DSMX used by Spektrum and JR radios)
...
No code changes, just file, variable and define names are changed.
First, it better describes the serial protocol used by DSMx satellite
receivers. Second, many people using Spektrum radio, assume Spektrum
protocol. This is the attempt to address those inaccuracies.
2011-11-04 21:40:34 +02:00
James Cotton
c0f16d2f44
Revolution: Configure clocks correctly
2011-11-03 20:12:34 -05:00
James Cotton
a2015a4f8d
Compiled and flashing
2011-11-02 13:20:39 -05:00
James Cotton
0ce80e02f5
Compiles now
2011-11-02 02:51:20 -05:00
James Cotton
0931a518d4
Bring F4 PiOS up to date with some of our timer conventions
2011-11-01 04:39:51 -05:00
James Cotton
48d2e038bb
More work to the revolution build
2011-11-01 04:39:20 -05:00
James Cotton
4d6f810984
Make ADC driver play properly when not included
2011-11-01 03:22:48 -05:00
James Cotton
7eee6bf85b
Create revolution board file
2011-11-01 03:22:19 -05:00
James Cotton
9607da9c62
Add some drivers to the device specific library for now until the exti problems
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are fixed
2011-11-01 03:19:58 -05:00
James Cotton
2cc0b301ce
Make some of the StdPeriph function calls const where appropriate
2011-11-01 03:18:59 -05:00
James Cotton
3388843fb5
Merge in PixHawk F4 work
2011-11-01 01:09:55 -05:00
Oleg Semyonov
0116e6a007
spektrum: rework DSM2/DSMJ/DSMX driver for explicit DSMX resolution support
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- both CC serial ports are now disabled by default (no telemetry);
- serial ports now have DSM2, DSMX (10bit) and DSMX (11bit) options;
- ReceiverGroups now have DSM (MainPort) and DSM (FlexiPort) options.
For DSM2 protocol there is an explicit resolution bit in the stream, so
the DSM2 should be selected. For DSMX there is no such bit, and user
should choose the resolution from the list configuring the spektrum port.
ReceiverGroups have single DSM option which is handled by the same driver.
Downside: this implementation saves received frame first, unrolls by the
end of frame. This should be ok, but may be improved by unrolling channels
on the fly in the rx callback.
Another minor difference is that a ChannelGroup is now bound to port:
DSM (MainPort) or DSM (FlexiPort). This was considered as acceptable
solution in order to not have 6 DSM options for each ChannelGroup and
even more in case of new DSM protocol variations.
Known problem: it is not possible to choose same protocols like
DSM2/DSM2 for two ports. It can be enabled by adding an exception to
common rule, though.
The DSMX throttle channel misbehavior (zero value) is not treated
specially yet. It should trigger the failsafe being out of bounds.
More info and data dumps are required to handle this properly.
2011-10-30 19:29:03 +02:00
James Cotton
f019412209
Various tweaks to get the F4 working
2011-10-26 21:56:00 -05:00
James Cotton
d786c152e3
Merge F4 files from PixHawk branch
2011-10-26 18:23:35 -05:00
James Cotton
0f8ae1e076
Merge branch 'next' into ins
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Conflicts:
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2011-10-26 13:18:44 -05:00
Oleg Semyonov
a19bbba858
Merge branch 'next' into os/alternative_spektrum_driver
2011-10-25 11:55:05 +03:00
Oleg Semyonov
f71361ca83
Merge branch 'next' into os/GPS-on-CopterControl_next_v2
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Conflicts:
flight/Modules/System/systemmod.c
2011-10-22 23:00:47 +03:00
Oleg Semyonov
58d0812309
sbus: better frame syncronization, some cosmetic changes
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In the previous version the decoder could in rare cases get synced from
the middle of data stream in case of data byte equal to the S.Bus start
of frame (SOF) byte (wrong data will be rejected but it was not perfect).
Now it waits for the real start of frame and then checks the SOF byte.
2011-10-22 00:44:09 +03:00
Oleg Semyonov
62bca651d5
spektrum: alternative DSMx (DSM2/DSMJ/DSMX) driver
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- does not glitch when used in 2-frame mode (DM9, 9503, etc)
- does NOT provides yet DSMX stream decoding - do NOT merge
- uses a bit more time in the interrupt, but frees 16 bytes of RAM.
This is done to help decoding the weird DSMX stream which does not
contain explicit resolution/frame/lost frames info and needs special
processing (to be done yet).
2011-10-21 23:35:17 +03:00
Oleg Semyonov
92b81e3f88
sbus: refactor the code using unified PIOS RCVR driver structure
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- allow more than one S.Bus receiver (needs hardware support)
- use dynamic memory allocation (frees around 72 bytes of RAM when unused)
2011-10-20 18:23:23 +03:00
James Cotton
5dc0f397a6
OP-499 Erase settings bug: Make hte flash chip read a wrong value for 1 second
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before wiping settings.
2011-10-07 14:08:56 -05:00
Oleg Semyonov
ed8cf89888
Initcall: fix compilation errors for firmware which does not use Initcalls
2011-09-28 22:57:18 +03:00
Oleg Semyonov
53c098dd08
Merge branch 'next' into os/GPS-on-CopterControl_next_v2
...
Conflicts:
flight/OpenPilot/System/pios_board.c
flight/OpenPilot/UAVObjects.inc
shared/uavobjectdefinition/hwsettings.xml
2011-09-28 22:02:02 +03:00
James Cotton
400ba3bd47
Merge branch 'next' into ins
2011-09-12 18:57:11 -05:00
James Cotton
6457276438
Merge branch 'input_configuration' into next
2011-09-11 18:52:35 -05:00
Oleg Semyonov
f5369f9338
Input Configuration: support all 18 S.Bus input channels
2011-09-12 02:06:50 +03:00
James Cotton
4847a04db8
Mainboard: Get PWM working again. Had to add extra timer IRQ handlers for
...
TIM5-8. Also TIM1 was not handled probably (for CC either) as the name of the
IRQ is TIM1_CC and TIM1_UP for the capture compare versus update. I haven't
checked the downstream code that the registers it uses to map from a context to
event is invariant under timer channel.
2011-09-10 14:20:40 -05:00
James Cotton
eb191d869a
Mainboard: Get spektrum working again.
2011-09-10 14:19:54 -05:00
James Cotton
2871c75a79
Mainboard: Get PWM working again. Had to add extra timer IRQ handlers for
...
TIM5-8. Also TIM1 was not handled probably (for CC either) as the name of the
IRQ is TIM1_CC and TIM1_UP for the capture compare versus update. I haven't
checked the downstream code that the registers it uses to map from a context to
event is invariant under timer channel.
2011-09-10 13:53:38 -05:00
James Cotton
1d2a424296
Mainboard: Get spektrum working again.
2011-09-09 09:42:13 -05:00
James Cotton
3239fdf21b
Merge branch 'next' into ins
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Conflicts:
flight/CopterControl/Makefile
flight/OpenPilot/System/pios_board.c
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2011-09-09 08:33:34 -05:00
James Cotton
552022250b
INS: Disable power up checks until these are made more reliable and remove some
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debugging outputs.
2011-09-08 21:44:27 -05:00
James Cotton
0eb4fd113b
PiOS BMA180: Increase the comms speed for BMA180 and perfom SPI without
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callback. This takes less time.
2011-09-08 03:28:32 -05:00
James Cotton
d7ea1fc306
PiOS I2C: Swap the expected return value of the F2 pios i2c calls
2011-09-08 01:32:27 -05:00
James Cotton
72625d9971
PiOS RCVR: Make the public API use a 1 based indexing for channel numbers.
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This may or may not get into next, but if so anyone following it MUST
reconfigure their inputs.
2011-09-06 16:39:08 -05:00
James Cotton
8f7712435f
Merge branch 'safer_failsafe' into next
2011-09-06 16:23:11 -05:00
James Cotton
627c931c79
PiOS I2C: Swap the convention of returned values for I2C
2011-09-06 03:27:20 -05:00
Sambas
a8ef57c6d6
Redo DX8 changes
2011-09-06 08:40:10 +03:00
James Cotton
82c5f9f0f4
PIOS_RCVR: Document return values better and use enum for them
2011-09-04 12:37:39 -05:00
James Cotton
533ae9bb41
SBUS: Missed handling the S.Bus failsafe. Now returns PIOS_RVCR_TIMEOUT for
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either SBus failsafe mode or when no data for 100 ms.
2011-09-04 12:15:34 -05:00
James Cotton
89e640ae7f
Make sure all receiver drivers return correct constants for invalid channels.
2011-09-04 01:24:16 -05:00
James Cotton
51967ae63f
OP-571 PIOS_PWM: Add back the PWM supervisor
2011-09-04 01:17:40 -05:00
James Cotton
697dbf4f5f
OP-568 PIOS_RCVR: Standardize the values that are returned from the PIOS_RCVR and make
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them symbolic constants.
- A timeout is 0
- A missing driver is 65534
- An invalid channel is 65535
ManualControl: Make it deal with the values explicitly. A timed out value
should not be treated like a minimum duration signal. Instead it does not
updated the scaled value but marks the data window as invalid to trigger the
failsafe.
2011-09-03 23:50:56 -05:00
James Cotton
dae11cf877
INS Logging: Enable temperature reading from gyro and accel (may be removed in
...
future), push it into UAVO and introduced a logging mode for INS that outputs
all sensor data from aux port.
2011-09-03 15:10:47 -05:00
James Cotton
5eaebac8d8
INS: Get the aux uart working. All F2 GPIO pins need to be remapped to work. Good thing to remember.
2011-09-02 17:04:39 -05:00
James Cotton
c40e5800ab
BMA180: Enable the EEPROM writing on startup so settings take the first time.
2011-09-02 13:28:36 -05:00
James Cotton
612d3336b4
This patch breaks backward compatibility with AHRS solidly.
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Move the configuration files for INS from AHRS* to INS*. Strip out unused
fields in settings and merge calibration and settings since settings has
basically no information.
2011-09-01 12:21:33 -05:00
Stacey Sheldon
43b31efb76
pios: allocate driver instance data from heap
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Allocate per-instance data for drivers from the heap
rather than as static variables from the .data segment.
This converts > 800 bytes of RAM from being always consumed
as static data into being allocated from the heap only when
a particular feature is enabled in the hwsettings object.
A minimal config (no receivers, flexi port disabled, main port
disabled) leaves 2448 bytes of free heap. That's our new baseline.
Approximate RAM (heap) costs of enabling various features:
+ 632 Serial Telemetry (includes 400 bytes of Rx/Tx buffers)
+ 108 PWM Rcvr
+ 152 PPM Rcvr
+ 112 Spektrum Rcvr
+ 24 S.Bus (Should be closer to 68 since driver is still using
static memory)
There are still some drivers that pre-allocate all of their memory
as static data. It'll take some work to convert those over to
dynamically allocating their instance data.
2011-08-31 22:35:03 -04:00
Stacey Sheldon
2f86e4dd4f
Make PWM/PPM and Servo drivers play nicely together
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PWM and PPM can now coexist in the same load and be
selected at boot time via the hwsettings UAVObject.
This is basically a complete restructuring of the
way the drivers interact with the TIM peripheral in
the STM32.
As a side effect, the PWM and PPM drivers are now
ready to support multiple instances of each.
This also provides the first step toward being able
to reassign some of the PWM input pins to be servo
output pins. Still more work required, but this is
a good start.
2011-08-27 21:39:56 -04:00
Stacey Sheldon
b3c43da90a
stdperiph: Make TIM related APIs use const pointers
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This allows the configuration parameters to be stored in
flash instead of copied to RAM.
2011-08-27 21:39:17 -04:00
James Cotton
dc340596f5
Merge branch 'next' into GCS_ChangesToUI-RuntimeCFG
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Conflicts:
flight/CopterControl/Makefile
flight/OpenPilot/System/pios_board.c
flight/OpenPilot/UAVObjects.inc
flight/PiOS/STM32F10x/pios_spektrum.c
ground/openpilotgcs/src/plugins/config/config.pro
ground/openpilotgcs/src/plugins/config/configgadget.qrc
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
shared/uavobjectdefinition/hwsettings.xml
2011-08-27 15:26:05 -05:00
Corvus Corax
4bd72923e5
Merge branch 'CorvusCorax_unidirectional-GPS-com' into CC_GPS
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Conflicts:
flight/Modules/GPS/GPS.c
flight/Modules/GPS/GTOP_BIN.c
flight/Modules/GPS/NMEA.c
shared/uavobjectdefinition/hwsettings.xml
2011-08-25 15:33:23 +02:00
James Cotton
5f7a9b513a
Merge branch 'sambas/dsmx_stuff' of ssh://git.openpilot.org/OpenPilot into next
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Conflicts:
shared/uavobjectdefinition/hwsettings.xml
2011-08-24 11:37:30 -05:00
James Cotton
4e59e697af
IMU3000: Sometimes the irq is called before previous I2C transaction. This
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isn't good but for now just deal with it. Need DMA I2C driver.
2011-08-22 02:34:40 -05:00
James Cotton
8c16f614f2
INS: Use the data from the BMP085 and feed into EKF
2011-08-22 02:32:40 -05:00
James Cotton
b1c522def3
Merge remote-tracking branch 'origin/next' into ins
2011-08-21 01:34:40 -05:00
James Cotton
38d9df8fcb
HMC5883: Clean up the mag driver
2011-08-21 01:29:55 -05:00
James Cotton
e1afc9a19a
Merge branch 'next' into ins
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Conflicts:
flight/Libraries/inc/fifo_buffer.h
flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2011-08-21 00:47:43 -05:00
James Cotton
c82aa64c53
INS: General clean up to deal with new driver formats. Also automatically
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monitors the EKF rate.
2011-08-21 00:42:06 -05:00
James Cotton
af69e0a1a8
BMA180 driver; Don't externalize the fifo buffer but handle it in the driver
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layer. General driver cleanup.
2011-08-21 00:40:10 -05:00
James Cotton
8ae53a4f97
PiOS: Cleanup IMU3000 driver a fair bit.
2011-08-21 00:39:20 -05:00
James Cotton
368323fd59
Merge remote-tracking branch 'origin/james/erase_settings' into next
2011-08-20 13:07:01 -05:00
Corvus Corax
dfd301571a
HWSettings: Allow late Initialization and Start of Modules as defined in Makefile(available modules) and UAVObject(actually started modules)
2011-08-20 01:24:06 +02:00
James Cotton
d103541970
IMU3000: Make the IRQ trigger the callback based I2C read. Drop the
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temperatured data from the FIFO stream. Add some flags to stop the callbacks
trampling over the configuration.
2011-08-19 14:28:33 -05:00
James Cotton
3465eb2f30
PiOS F2 I2C: Add a callback based transfer. This needs merging into the main
...
transfer function like SPI but I will leave that for now to avoid creating a
lot of changes in the main code.
2011-08-19 13:38:11 -05:00
James Cotton
7444337418
F2 PiOS I2C: Add a poor man semaphore here in case we start calling I2C
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transfers from IRQ. Also catch the double 0x70084 event which was locking up
the FSM with -Os enabled. I did this in a cheating way (filtering the event
based on state) but it's the cleanest I can see. Hopefully a DMA version of
I2C will fix this.
2011-08-19 11:39:50 -05:00
James Cotton
b0e04e5f79
PIOS SPI: Make sure the non-freertos busy flag inits to zero
2011-08-19 10:52:50 -05:00
James Cotton
c7034ef8a6
IMU3000: Fix a constant that made the sampling rate 1kh instead of 8 internaly.
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No downsample that (in IMU3000) by 8 to get gyros at 1khz. Well about 256 Hz
nyquist and shouldn't cause substantial issues for EKF.
2011-08-18 13:01:51 -05:00
James Cotton
bdb9dc0a54
BMA180: Use DMA for getting the accels and use callback to push it onto the
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stack.
2011-08-18 12:51:22 -05:00
James Cotton
3b6ffc8afa
PiSO SPI: Implement a poor mans semaphore for non-freertos systems.
2011-08-18 12:51:00 -05:00
James Cotton
294e0cbdff
IMU3000: Change IMU3000 api right now so it only reads one element from the
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fifo but swaps the endian appropriately.
2011-08-18 11:03:56 -05:00