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SiTL: Updates for UAVObjects, and for the recent Actuator and Watchdog changes to compile with SiTL. Posix needs to be tested.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2387 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
cwabbott 2011-01-12 00:39:18 +00:00 committed by cwabbott
parent 67fb65b984
commit 0f965df11e
12 changed files with 373 additions and 2 deletions
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5
flight/OpenPilot/Makefile.posix
View File

@ -165,6 +165,11 @@ SRC += $(OPUAVOBJ)/ratedesired.c
SRC += $(OPUAVOBJ)/pipxtrememodemsettings.c
SRC += $(OPUAVOBJ)/pipxtrememodemstatus.c
SRC += $(OPUAVOBJ)/batterysettings.c
SRC += $(OPUAVOBJ)/flightplancontrol.c
SRC += $(OPUAVOBJ)/flightplanstatus.c
SRC += $(OPUAVOBJ)/flightplansettings.c
SRC += $(OPUAVOBJ)/taskinfo.c
SRC += $(OPUAVOBJ)/watchdogstatus.c
endif
## PIOS Hardware (posix)

7
flight/OpenPilot/Makefile.win32
View File

@ -113,6 +113,7 @@ SRC += ${OPMODULEDIR}/System/systemmod.c
SRC += $(OPSYSTEM)/openpilot.c
SRC += $(OPSYSTEM)/pios_board_posix.c
SRC += $(OPSYSTEM)/alarms.c
SRC += $(OPSYSTEM)/taskmonitor.c
SRC += $(OPUAVTALK)/uavtalk.c
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/uavobjectsinit.c
@ -164,6 +165,11 @@ SRC += $(OPUAVOBJ)/ratedesired.c
SRC += $(OPUAVOBJ)/pipxtrememodemsettings.c
SRC += $(OPUAVOBJ)/pipxtrememodemstatus.c
SRC += $(OPUAVOBJ)/batterysettings.c
SRC += $(OPUAVOBJ)/flightplancontrol.c
SRC += $(OPUAVOBJ)/flightplanstatus.c
SRC += $(OPUAVOBJ)/flightplansettings.c
SRC += $(OPUAVOBJ)/taskinfo.c
SRC += $(OPUAVOBJ)/watchdogstatus.c
endif
## PIOS Hardware (win32)
@ -174,6 +180,7 @@ SRC += $(PIOSWIN32)/pios_sdcard.c
SRC += $(PIOSWIN32)/pios_udp.c
SRC += $(PIOSWIN32)/pios_com.c
SRC += $(PIOSWIN32)/pios_servo.c
SRC += $(PIOSWIN32)/pios_wdg.c
#
## RTOS
SRC += $(RTOSSRCDIR)/list.c

6
flight/OpenPilot/Modules/Actuator/actuator.c
View File

@ -410,6 +410,11 @@ static void setFailsafe()
ActuatorCommandSet(&command);
}
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
static bool set_channel(uint8_t mixer_channel, uint16_t value) {
return true;
}
#else
static bool set_channel(uint8_t mixer_channel, uint16_t value) {
ActuatorSettingsData settings;
@ -443,6 +448,7 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value) {
return false;
}
#endif
/**

6
flight/OpenPilot/Modules/System/systemmod.c
View File

@ -216,7 +216,7 @@ static void objectUpdatedCb(UAVObjEvent * ev)
* Called periodically to update the I2C statistics
*/
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
static void updateI2Cstats() {}
static void updateI2Cstats() {} //Posix and win32 don't have I2C
#else
static void updateI2Cstats()
{
@ -237,6 +237,9 @@ static void updateI2Cstats()
}
#endif
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
static void updateWDGstats() {} //Posix and win32 don't have a watchdog
#else
static void updateWDGstats()
{
WatchdogStatusData watchdogStatus;
@ -244,6 +247,7 @@ static void updateWDGstats()
watchdogStatus.ActiveFlags = PIOS_WDG_GetActiveFlags();
WatchdogStatusSet(&watchdogStatus);
}
#endif
/**
* Called periodically to update the system stats

3
flight/OpenPilot/System/pios_board_posix.c
View File

@ -47,6 +47,9 @@ void PIOS_Board_Init(void) {
/* Initialize the alarms library */
AlarmsInitialize();
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Initialize the PiOS library */
PIOS_COM_Init();

4
flight/OpenPilot/System/taskmonitor.c
View File

@ -83,7 +83,11 @@ void TaskMonitorUpdateAll(void)
if (handles[n] != 0)
{
data.Running[n] = TASKINFO_RUNNING_TRUE;
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
data.StackRemaining[n] = 10000;
#else
data.StackRemaining[n] = uxTaskGetStackHighWaterMark(handles[n]) * 4;
#endif
}
else
{

41
flight/PiOS.posix/inc/pios_wdg.h Normal file
View File

@ -0,0 +1,41 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_WDG Watchdog Functions
* @{
*
* @file pios_wdg.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief SPI 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_WDG
#define PIOS_WDG
void PIOS_WDG_Init();
bool PIOS_WDG_RegisterFlag(uint16_t flag_requested);
bool PIOS_WDG_UpdateFlag(uint16_t flag);
uint16_t PIOS_WDG_GetBootupFlags();
uint16_t PIOS_WDG_GetActiveFlags();
void PIOS_WDG_Clear(void);
#endif

3
flight/PiOS.posix/pios.h
View File

@ -58,7 +58,8 @@
#include <pios_sdcard.h>
#include <pios_udp.h>
#include <pios_com.h>
#include <pios_servo.h>
#include <pios_servo.h>
#include <pios_wdg.h>
#define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))

123
flight/PiOS.posix/posix/pios_wdg.c Normal file
View File

@ -0,0 +1,123 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_WDG Watchdog Functions
* @brief PIOS Comamnds to initialize and clear watchdog timer
* @{
*
* @file pios_spi.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
* @brief Hardware Abstraction Layer for SPI ports of STM32
* @see The GNU Public License (GPL) Version 3
* @notes
*
* The PIOS Watchdog provides a HAL to initialize a watchdog
*
*****************************************************************************/
/*
* 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
*/
#include "pios.h"
/**
* @brief Initialize the watchdog timer for a specified timeout
*
* It is important to note that this function returns the achieved timeout
* for this hardware. For hardware indendence this should be checked when
* scheduling updates. Other hardware dependent details may need to be
* considered such as a window time which sets a minimum update time,
* and this function should return a recommended delay for clearing.
*
* For the STM32 nominal clock rate is 32 khz, but for the maximum clock rate of
* 60 khz and a prescalar of 4 yields a clock rate of 15 khz. The delay that is
* set in the watchdog assumes the nominal clock rate, but the delay for FreeRTOS
* to use is 75% of the minimal delay.
*
* @param[in] delayMs The delay period in ms
* @returns Maximum recommended delay between updates
*/
void PIOS_WDG_Init()
{
}
/**
* @brief Register a module against the watchdog
*
* There are two ways to use PIOS WDG: this is for when
* multiple modules must be monitored. In this case they
* must first register against the watchdog system and
* only when all of the modules have been updated with the
* watchdog be cleared. Each module must have its own
* bit in the 16 bit
*
* @param[in] flag the bit this module wants to use
* @returns True if that bit is unregistered
*/
bool PIOS_WDG_RegisterFlag(uint16_t flag_requested)
{
return true;
}
/**
* @brief Function called by modules to indicate they are still running
*
* This function will set this flag in the active flags register (which is
* a backup regsiter) and if all the registered flags are set will clear
* the watchdog and set only this flag in the backup register
*
* @param[in] flag the flag to set
* @return true if the watchdog cleared, false if flags are pending
*/
bool PIOS_WDG_UpdateFlag(uint16_t flag)
{
return true;
}
/**
* @brief Returns the flags that were set at bootup
*
* This is used for diagnostics, if only one flag not set this
* was likely the module that wasn't running before reset
*
* @return The active flags register from bootup
*/
uint16_t PIOS_WDG_GetBootupFlags()
{
return (uint16_t) 0xffff;
}
/**
* @brief Returns the currently active flags
*
* For external monitoring
*
* @return The active flags register
*/
uint16_t PIOS_WDG_GetActiveFlags()
{
return (uint16_t) 0xffff;
}
/**
* @brief Clear the watchdog timer
*
* This function must be called at the appropriate delay to prevent a reset event occuring
*/
void PIOS_WDG_Clear(void)
{
}

53
flight/PiOS.win32/inc/pios_wdg.h Normal file
View File

@ -0,0 +1,53 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_WDG Watchdog Functions
* @{
*
* @file pios_wdg.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief SPI 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_WDG
#define PIOS_WDG
#include <stdbool.h>
//------------------------
// WATCHDOG_SETTINGS
//------------------------
#define PIOS_WATCHDOG_TIMEOUT 250
#define PIOS_WDG_REGISTER BKP_DR4
#define PIOS_WDG_ACTUATOR 0x0001
#define PIOS_WDG_STABILIZATION 0x0002
#define PIOS_WDG_AHRS 0x0004
#define PIOS_WDG_MANUAL 0x0008
void PIOS_WDG_Init();
bool PIOS_WDG_RegisterFlag(uint16_t flag_requested);
bool PIOS_WDG_UpdateFlag(uint16_t flag);
uint16_t PIOS_WDG_GetBootupFlags();
uint16_t PIOS_WDG_GetActiveFlags();
void PIOS_WDG_Clear(void);
#endif

1
flight/PiOS.win32/pios.h
View File

@ -59,6 +59,7 @@
#include <pios_udp.h>
#include <pios_com.h>
#include <pios_servo.h>
#include <pios_wdg.h>
#define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))

123
flight/PiOS.win32/win32/pios_wdg.c Normal file
View File

@ -0,0 +1,123 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_WDG Watchdog Functions
* @brief PIOS Comamnds to initialize and clear watchdog timer
* @{
*
* @file pios_spi.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
* @brief Hardware Abstraction Layer for SPI ports of STM32
* @see The GNU Public License (GPL) Version 3
* @notes
*
* The PIOS Watchdog provides a HAL to initialize a watchdog
*
*****************************************************************************/
/*
* 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
*/
#include "pios.h"
/**
* @brief Initialize the watchdog timer for a specified timeout
*
* It is important to note that this function returns the achieved timeout
* for this hardware. For hardware indendence this should be checked when
* scheduling updates. Other hardware dependent details may need to be
* considered such as a window time which sets a minimum update time,
* and this function should return a recommended delay for clearing.
*
* For the STM32 nominal clock rate is 32 khz, but for the maximum clock rate of
* 60 khz and a prescalar of 4 yields a clock rate of 15 khz. The delay that is
* set in the watchdog assumes the nominal clock rate, but the delay for FreeRTOS
* to use is 75% of the minimal delay.
*
* @param[in] delayMs The delay period in ms
* @returns Maximum recommended delay between updates
*/
void PIOS_WDG_Init()
{
}
/**
* @brief Register a module against the watchdog
*
* There are two ways to use PIOS WDG: this is for when
* multiple modules must be monitored. In this case they
* must first register against the watchdog system and
* only when all of the modules have been updated with the
* watchdog be cleared. Each module must have its own
* bit in the 16 bit
*
* @param[in] flag the bit this module wants to use
* @returns True if that bit is unregistered
*/
bool PIOS_WDG_RegisterFlag(uint16_t flag_requested)
{
return true;
}
/**
* @brief Function called by modules to indicate they are still running
*
* This function will set this flag in the active flags register (which is
* a backup regsiter) and if all the registered flags are set will clear
* the watchdog and set only this flag in the backup register
*
* @param[in] flag the flag to set
* @return true if the watchdog cleared, false if flags are pending
*/
bool PIOS_WDG_UpdateFlag(uint16_t flag)
{
return true;
}
/**
* @brief Returns the flags that were set at bootup
*
* This is used for diagnostics, if only one flag not set this
* was likely the module that wasn't running before reset
*
* @return The active flags register from bootup
*/
uint16_t PIOS_WDG_GetBootupFlags()
{
return (uint16_t) 0xffff;
}
/**
* @brief Returns the currently active flags
*
* For external monitoring
*
* @return The active flags register
*/
uint16_t PIOS_WDG_GetActiveFlags()
{
return (uint16_t) 0xffff;
}
/**
* @brief Clear the watchdog timer
*
* This function must be called at the appropriate delay to prevent a reset event occuring
*/
void PIOS_WDG_Clear(void)
{
}