Merge branch 'bugfix-flight' into next

flight/OpenPilot/Makefile.posix

@@ -173,6 +173,8 @@ SRC += $(PIOSPOSIX)/pios_servo.c
 SRC += $(PIOSPOSIX)/pios_wdg.c
 SRC += $(PIOSPOSIX)/pios_debug.c
 
+SRC += $(PIOSPOSIX)/pios_rcvr.c
+
 ## Libraries for flight calculations
 #SRC += $(FLIGHTLIB)/fifo_buffer.c
 SRC += $(FLIGHTLIB)/WorldMagModel.c

flight/OpenPilot/System/inc/pios_config_posix.h

@@ -38,7 +38,10 @@
 #define PIOS_INCLUDE_COM
 #define PIOS_INCLUDE_UDP
 #define PIOS_INCLUDE_SERVO
+#define PIOS_INCLUDE_RCVR
 
+#define PIOS_RCVR_MAX_CHANNELS			12
+#define PIOS_RCVR_MAX_DEVS              3
 
 /* Defaults for Logging */
 #define LOG_FILENAME 			"PIOS.LOG"

flight/OpenPilot/System/pios_board_posix.c

@@ -29,6 +29,17 @@
 #include <openpilot.h>
 #include <uavobjectsinit.h>
 
+#include "pios_rcvr_priv.h"
+
+struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
+uint32_t pios_rcvr_max_channel;
+
+void Stack_Change() {
+}
+
+void Stack_Change_Weak() {
+}
+
 /**
  * PIOS_Board_Init()
  * initializes all the core systems on this specific hardware

flight/PiOS.posix/inc/pios_initcall.h

@@ -38,11 +38,21 @@
  * and we cannot define a linker script for each of them atm
  */
 
+
+typedef int32_t (*initcall_t)(void);
+typedef struct {
+	initcall_t fn_minit;
+	initcall_t fn_tinit;
+} initmodule_t;
+
+/* Init module section */
+extern initmodule_t __module_initcall_start[], __module_initcall_end[];
+
 extern void InitModules();
 extern void StartModules();
 
 #define UAVOBJ_INITCALL(fn)
-#define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags)
+#define MODULE_INITCALL(ifn, sfn)
 
 #define MODULE_TASKCREATE_ALL { \
 	/* Start all module threads */ \

flight/PiOS.posix/inc/pios_rcvr.h

@@ -0,0 +1,54 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_RCVR RCVR layer functions
+ * @brief Hardware communication layer
+ * @{
+ *
+ * @file       pios_rcvr.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      RCVR layer functions header
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_RCVR_H
+#define PIOS_RCVR_H
+
+struct pios_rcvr_channel_map {
+	uint32_t id;
+	uint8_t  channel;
+};
+
+extern struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[];
+
+struct pios_rcvr_driver {
+  void    (*init)(uint32_t id);
+  int32_t (*read)(uint32_t id, uint8_t channel);
+};
+
+/* Public Functions */
+extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel);
+
+#endif /* PIOS_RCVR_H */
+
+/**
+  * @}
+  * @}
+  */

flight/PiOS.posix/inc/pios_rcvr_priv.h

@@ -0,0 +1,48 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup   PIOS_RCVR RCVR Functions
+ * @brief PIOS interface for RCVR drivers
+ * @{
+ *
+ * @file       pios_rcvr_priv.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * 	       Parts by Thorsten Klose (tk@midibox.org)
+ * @brief      USART private definitions.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_RCVR_PRIV_H
+#define PIOS_RCVR_PRIV_H
+
+#include <pios.h>
+
+extern uint32_t pios_rcvr_max_channel;
+
+extern int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, const uint32_t lower_id);
+
+extern void PIOS_RCVR_IRQ_Handler(uint32_t rcvr_id);
+
+#endif /* PIOS_RCVR_PRIV_H */
+
+/**
+  * @}
+  * @}
+  */

flight/PiOS.posix/pios.h

@@ -65,6 +65,7 @@
 #include <pios_wdg.h>
 #include <pios_debug.h>
 #include <pios_crc.h>
+#include <pios_rcvr.h>
 
 #define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
 

flight/PiOS.posix/posix/pios_rcvr.c

@@ -0,0 +1,100 @@
+/* Project Includes */
+#include "pios.h"
+
+#if defined(PIOS_INCLUDE_RCVR)
+
+#include <pios_rcvr_priv.h>
+
+enum pios_rcvr_dev_magic {
+  PIOS_RCVR_DEV_MAGIC = 0x99aabbcc,
+};
+
+struct pios_rcvr_dev {
+  enum pios_rcvr_dev_magic        magic;
+  uint32_t                        lower_id;
+  const struct pios_rcvr_driver * driver;
+};
+
+static bool PIOS_RCVR_validate(struct pios_rcvr_dev * rcvr_dev)
+{
+  return (rcvr_dev->magic == PIOS_RCVR_DEV_MAGIC);
+}
+
+#if defined(PIOS_INCLUDE_FREERTOS) && 0
+static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
+{
+  struct pios_rcvr_dev * rcvr_dev;
+
+  rcvr_dev = (struct pios_rcvr_dev *)malloc(sizeof(*rcvr_dev));
+  if (!rcvr_dev) return (NULL);
+
+  rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
+  return(rcvr_dev);
+}
+#else
+static struct pios_rcvr_dev pios_rcvr_devs[PIOS_RCVR_MAX_DEVS];
+static uint8_t pios_rcvr_num_devs;
+static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
+{
+  struct pios_rcvr_dev * rcvr_dev;
+
+  if (pios_rcvr_num_devs >= PIOS_RCVR_MAX_DEVS) {
+    return (NULL);
+  }
+
+  rcvr_dev = &pios_rcvr_devs[pios_rcvr_num_devs++];
+  rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
+
+  return (rcvr_dev);
+}
+#endif
+
+/**
+  * Initialises RCVR layer
+  * \param[out] handle
+  * \param[in] driver
+  * \param[in] id
+  * \return < 0 if initialisation failed
+  */
+int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, const uint32_t lower_id)
+{
+  PIOS_DEBUG_Assert(rcvr_id);
+  PIOS_DEBUG_Assert(driver);
+
+  struct pios_rcvr_dev * rcvr_dev;
+
+  rcvr_dev = (struct pios_rcvr_dev *) PIOS_RCVR_alloc();
+  if (!rcvr_dev) goto out_fail;
+
+  rcvr_dev->driver   = driver;
+  rcvr_dev->lower_id = lower_id;
+
+
+  *rcvr_id = pios_rcvr_num_devs - 1;
+
+  return(0);
+
+out_fail:
+  return(-1);
+}
+
+int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel)
+{
+  struct pios_rcvr_dev * rcvr_dev = &pios_rcvr_devs[rcvr_id];
+
+  if (!PIOS_RCVR_validate(rcvr_dev)) {
+    /* Undefined RCVR port for this board (see pios_board.c) */
+    PIOS_DEBUG_Assert(0);
+  }
+
+  PIOS_DEBUG_Assert(rcvr_dev->driver->read);
+
+  return rcvr_dev->driver->read(rcvr_dev->lower_id, channel);
+}
+
+#endif
+
+/**
+ * @}
+ * @}
+ */