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

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2387 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/OpenPilot/Makefile.posix

@@ -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)

flight/OpenPilot/Makefile.win32

@@ -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 

flight/OpenPilot/Modules/Actuator/actuator.c

@@ -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
 
 
 /**

flight/OpenPilot/Modules/System/systemmod.c

@@ -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

flight/OpenPilot/System/pios_board_posix.c

@@ -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();
 

flight/OpenPilot/System/taskmonitor.c

@@ -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
 		{

flight/PiOS.posix/inc/pios_wdg.h

@@ -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

flight/PiOS.posix/pios.h

@@ -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)))
 

flight/PiOS.posix/posix/pios_wdg.c

@@ -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)
+{
+}

flight/PiOS.win32/inc/pios_wdg.h

@@ -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

flight/PiOS.win32/pios.h

@@ -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)))
 

flight/PiOS.win32/win32/pios_wdg.c

@@ -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)
+{
+}