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Code Issues Releases Activity

flashsettings and WDG for osd, revert the uavobjectmanager revert.

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This commit is contained in:
sambas 2013-04-14 12:43:37 +03:00
parent bb4aa08a15
commit 0c13fbbee6
7 changed files with 49 additions and 34 deletions
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13
flight/Modules/Osd/osdgen/osdgen.c
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@ -2322,7 +2322,9 @@ int32_t osdgenStart(void)
vSemaphoreCreateBinary(osdSemaphore);
xTaskCreate(osdgenTask, (signed char *) "OSDGEN", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &osdgenTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_OSDGEN, osdgenTaskHandle);
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_OSDGEN);
#endif
return 0;
}
@ -2370,12 +2372,18 @@ static void osdgenTask(void *parameters)
// intro
for (int i = 0; i < 63; i++) {
if (xSemaphoreTake(osdSemaphore, LONG_TIME) == pdTRUE) {
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_OSDGEN);
#endif
clearGraphics();
introGraphics();
}
}
for (int i = 0; i < 63; i++) {
if (xSemaphoreTake(osdSemaphore, LONG_TIME) == pdTRUE) {
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_OSDGEN);
#endif
clearGraphics();
introGraphics();
introText();
@ -2384,6 +2392,9 @@ static void osdgenTask(void *parameters)
while (1) {
if (xSemaphoreTake(osdSemaphore, LONG_TIME) == pdTRUE) {
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_OSDGEN);
#endif
updateOnceEveryFrame();
}
//xSemaphoreTake(osdSemaphore, portMAX_DELAY);

8
flight/Modules/Sensors/simulated/sensors.c
View File

@ -332,7 +332,7 @@ static void simulateModelQuadcopter()
static float baro_offset = 0.0f;
float Rbe[3][3];
const float ACTUATOR_ALPHA = 0.99;
const float ACTUATOR_ALPHA = 0.8;
const float MAX_THRUST = GRAV * 2;
const float K_FRICTION = 1;
const float GPS_PERIOD = 0.1;
@ -372,9 +372,9 @@ static void simulateModelQuadcopter()
RateDesiredData rateDesired;
RateDesiredGet(&rateDesired);
rpy[0] = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) * actuatorDesired.Roll * 250 * (1 - ACTUATOR_ALPHA) + rpy[0] * ACTUATOR_ALPHA;
rpy[1] = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) * actuatorDesired.Pitch * 250 * (1 - ACTUATOR_ALPHA) + rpy[1] * ACTUATOR_ALPHA;
rpy[2] = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) * actuatorDesired.Yaw * 250 *(1 - ACTUATOR_ALPHA) + rpy[2] * ACTUATOR_ALPHA;
rpy[0] = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) * rateDesired.Roll * (1 - ACTUATOR_ALPHA) + rpy[0] * ACTUATOR_ALPHA;
rpy[1] = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) * rateDesired.Pitch * (1 - ACTUATOR_ALPHA) + rpy[1] * ACTUATOR_ALPHA;
rpy[2] = (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) * rateDesired.Yaw * (1 - ACTUATOR_ALPHA) + rpy[2] * ACTUATOR_ALPHA;
GyrosData gyrosData; // Skip get as we set all the fields
gyrosData.x = rpy[0] + rand_gauss();

1
flight/PiOS/Boards/STM32F4xx_OSD.h
View File

@ -124,6 +124,7 @@ TIM4 | STOPWATCH |
#define PIOS_WDG_STABILIZATION 0x0002
#define PIOS_WDG_ATTITUDE 0x0004
#define PIOS_WDG_MANUAL 0x0008
#define PIOS_WDG_OSDGEN 0x0010
// *****************************************************************

3
flight/targets/OSD/Makefile
View File

@ -37,6 +37,9 @@ MODULES += Telemetry
OPTMODULES =
# Some diagnostics
CDEFS += -DDIAG_TASKS
# Misc options
CFLAGS += -ffast-math

5
flight/targets/OSD/System/pios_board.c
View File

@ -177,6 +177,11 @@ PIOS_FLASHFS_Logfs_Init(&fs_id, &flashfs_internal_cfg, &pios_internal_flash_driv
HwSettingsInitialize();
#ifdef PIOS_INCLUDE_WDG
/* Initialize watchdog as early as possible to catch faults during init */
PIOS_WDG_Init();
#endif /* PIOS_INCLUDE_WDG */
/* Initialize the alarms library */
AlarmsInitialize();

51
flight/targets/UAVObjects/uavobjectmanager.c
View File

@ -41,6 +41,17 @@
// Macros
#define SET_BITS(var, shift, value, mask) var = (var & ~(mask << shift)) | (value << shift);
/* Table of UAVO handles registered at compile time */
extern struct UAVOData * __start__uavo_handles[] __attribute__((weak));
extern struct UAVOData * __stop__uavo_handles[] __attribute__((weak));
#define UAVO_LIST_ITERATE(_item) \
for (struct UAVOData ** _uavo_slot = __start__uavo_handles; \
_uavo_slot && _uavo_slot < __stop__uavo_handles; \
_uavo_slot++) { \
struct UAVOData * _item = *_uavo_slot; \
if (_item == NULL) continue;
/**
* List of event queues and the eventmask associated with the queue.
*/
@ -98,7 +109,6 @@ struct UAVOData {
* inside the payload for this UAVO.
*/
struct UAVOMeta metaObj;
struct UAVOData * next;
uint16_t instance_size;
} __attribute__((packed));
@ -168,7 +178,6 @@ static void customSPrintf(uint8_t * buffer, uint8_t * format, ...);
#endif
// Private variables
static struct UAVOData * uavo_list;
static xSemaphoreHandle mutex;
static const UAVObjMetadata defMetadata = {
.flags = (ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
@ -192,9 +201,12 @@ static UAVObjStats stats;
int32_t UAVObjInitialize()
{
// Initialize variables
uavo_list = NULL;
memset(&stats, 0, sizeof(UAVObjStats));
// Initialize the uavo handle table
memset(__start__uavo_handles, 0,
(uintptr_t)__stop__uavo_handles - (uintptr_t)__start__uavo_handles);
// Create mutex
mutex = xSemaphoreCreateRecursiveMutex();
if (mutex == NULL)
@ -342,9 +354,6 @@ UAVObjHandle UAVObjRegister(uint32_t id,
/* Initialize the embedded meta UAVO */
UAVObjInitMetaData (&uavo_data->metaObj);
/* Add the newly created object to the global list of objects */
LL_APPEND(uavo_list, uavo_data);
/* Initialize object fields and metadata to default values */
if (initCb)
initCb((UAVObjHandle) uavo_data, 0);
@ -378,8 +387,7 @@ UAVObjHandle UAVObjGetByID(uint32_t id)
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Look for object
struct UAVOData * tmp_obj;
LL_FOREACH(uavo_list, tmp_obj) {
UAVO_LIST_ITERATE(tmp_obj)
if (tmp_obj->id == id) {
found_obj = (UAVObjHandle *)tmp_obj;
goto unlock_exit;
@ -1023,15 +1031,13 @@ int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId)
*/
int32_t UAVObjSaveSettings()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Save all settings objects
LL_FOREACH(uavo_list, obj) {
UAVO_LIST_ITERATE(obj)
// Check if this is a settings object
if (UAVObjIsSettings(obj)) {
// Save object
@ -1055,15 +1061,13 @@ unlock_exit:
*/
int32_t UAVObjLoadSettings()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Load all settings objects
LL_FOREACH(uavo_list, obj) {
UAVO_LIST_ITERATE(obj)
// Check if this is a settings object
if (UAVObjIsSettings(obj)) {
// Load object
@ -1087,15 +1091,13 @@ unlock_exit:
*/
int32_t UAVObjDeleteSettings()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Save all settings objects
LL_FOREACH(uavo_list, obj) {
UAVO_LIST_ITERATE(obj)
// Check if this is a settings object
if (UAVObjIsSettings(obj)) {
// Save object
@ -1119,15 +1121,13 @@ unlock_exit:
*/
int32_t UAVObjSaveMetaobjects()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Save all settings objects
LL_FOREACH(uavo_list, obj) {
UAVO_LIST_ITERATE(obj)
// Save object
if (UAVObjSave( (UAVObjHandle) MetaObjectPtr(obj), 0) ==
-1) {
@ -1148,15 +1148,13 @@ unlock_exit:
*/
int32_t UAVObjLoadMetaobjects()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Load all settings objects
LL_FOREACH(uavo_list, obj) {
UAVO_LIST_ITERATE(obj)
// Load object
if (UAVObjLoad((UAVObjHandle) MetaObjectPtr(obj), 0) ==
-1) {
@ -1177,15 +1175,13 @@ unlock_exit:
*/
int32_t UAVObjDeleteMetaobjects()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Load all settings objects
LL_FOREACH(uavo_list, obj) {
UAVO_LIST_ITERATE(obj)
// Load object
if (UAVObjDelete((UAVObjHandle) MetaObjectPtr(obj), 0)
== -1) {
@ -1791,8 +1787,7 @@ void UAVObjIterate(void (*iterator) (UAVObjHandle obj))
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Iterate through the list and invoke iterator for each object
struct UAVOData *obj;
LL_FOREACH(uavo_list, obj) {
UAVO_LIST_ITERATE(obj)
(*iterator) ((UAVObjHandle) obj);
(*iterator) ((UAVObjHandle) &obj->metaObj);
}

2
flight/targets/UAVObjects/uavobjecttemplate.c
View File

@ -40,7 +40,7 @@
#include "$(NAMELC).h"
// Private variables
static UAVObjHandle handle = NULL;
static UAVObjHandle handle __attribute__((section("_uavo_handles")));
/**
* Initialize object.