Merge remote-tracking branch 'origin/next' into brian/rfm22_FHSS

Makefile

@@ -31,12 +31,44 @@ $(foreach var, $(SANITIZE_GCC_VARS), $(eval $(call SANITIZE_VAR,$(var),disallowe
 SANITIZE_DEPRECATED_VARS := USE_BOOTLOADER
 $(foreach var, $(SANITIZE_DEPRECATED_VARS), $(eval $(call SANITIZE_VAR,$(var),deprecated)))
 
+# Deal with unreasonable requests
+# See: http://xkcd.com/149/
+ifeq ($(MAKECMDGOALS),me a sandwich)
+ ifeq ($(shell whoami),root)
+ $(error Okay)
+ else
+ $(error What? Make it yourself)
+ endif
+endif
+
+# Make sure this isn't being run as root
+ifeq ($(shell whoami),root)
+$(error You should not be running this as root)
+endif
+
+# Decide on a verbosity level based on the V= parameter
+export AT := @
+
+ifndef V
+export V0    :=
+export V1    := $(AT)
+else ifeq ($(V), 0)
+export V0    := $(AT)
+export V1    := $(AT)
+else ifeq ($(V), 1)
+endif
+
+# Make sure we know a few things about the architecture before including
+# the tools.mk to ensure that we download/install the right tools.
+UNAME := $(shell uname)
+ARCH := $(shell uname -m)
+
+include $(ROOT_DIR)/make/tools.mk
+
 # We almost need to consider autoconf/automake instead of this
 # I don't know if windows supports uname :-(
 QT_SPEC=win32-g++
 UAVOBJGENERATOR="$(BUILD_DIR)/ground/uavobjgenerator/debug/uavobjgenerator.exe"
-UNAME := $(shell uname)
-ARCH := $(shell uname -m)
 ifeq ($(UNAME), Linux)
   QT_SPEC=linux-g++
   UAVOBJGENERATOR="$(BUILD_DIR)/ground/uavobjgenerator/uavobjgenerator"
@@ -52,18 +84,6 @@ GCS_BUILD_CONF ?= debug
 # Set up misc host tools
 RM=rm
 
-# Decide on a verbosity level based on the V= parameter
-export AT := @
-
-ifndef V
-export V0    :=
-export V1    := $(AT)
-else ifeq ($(V), 0)
-export V0    := $(AT)
-export V1    := $(AT)
-else ifeq ($(V), 1)
-endif
-
 .PHONY: help
 help:
 	@echo
@@ -96,6 +116,10 @@ help:
 	@echo "     all_<board>          - Build all available images for <board>"
 	@echo "     all_<board>_clean    - Remove all available images for <board>"
 	@echo
+	@echo "     all_ut               - Build all unit tests"
+	@echo "     all_ut_tap           - Run all unit tests and capture all TAP output to files"
+	@echo "     all_ut_run           - Run all unit tests and dump TAP output to console"
+	@echo
 	@echo "   [Firmware]"
 	@echo "     <board>              - Build firmware for <board>"
 	@echo "                            supported boards are ($(ALL_BOARDS))"
@@ -118,6 +142,10 @@ help:
 	@echo "   [Unbrick a board]"
 	@echo "     unbrick_<board>      - Use the STM32's built in boot ROM to write a bootloader to <board>"
 	@echo "                            supported boards are ($(BL_BOARDS))"
+	@echo "   [Unittests]"
+	@echo "     ut_<test>            - Build unit test <test>"
+	@echo "     ut_<test>_tap        - Run test and capture TAP output into a file"
+	@echo "     ut_<test>_run        - Run test and dump TAP output to console"
 	@echo
 	@echo "   [Simulation]"
 	@echo "     sim_osx              - Build OpenPilot simulation firmware for OSX"
@@ -158,316 +186,6 @@ $(TOOLS_DIR):
 $(BUILD_DIR):
 	mkdir -p $@
 
-###############################################################
-#
-# Installers for tools required by the ground and flight builds
-#
-# NOTE: These are not tied to the default goals
-#       and must be invoked manually
-#
-###############################################################
-
-# Set up QT toolchain
-QT_SDK_DIR := $(TOOLS_DIR)/qtsdk-v1.2.1
-
-.PHONY: qt_sdk_install
-# Choose the appropriate installer based on host architecture
-ifneq (,$(filter $(ARCH), x86_64 amd64))
-# 64-bit
-qt_sdk_install: QT_SDK_FILE := QtSdk-offline-linux-x86_64-v1.2.1.run
-qt_sdk_install: QT_SDK_URL := http://www.developer.nokia.com/dp?uri=http://sw.nokia.com/id/14b2039c-0e1f-4774-a4f2-9aa60b6d5313/Qt_SDK_Lin64_offline
-else
-# 32-bit
-qt_sdk_install: QT_SDK_URL  := http://www.developer.nokia.com/dp?uri=http://sw.nokia.com/id/8ea74da4-fec1-4277-8b26-c58cc82e204b/Qt_SDK_Lin32_offline
-qt_sdk_install: QT_SDK_FILE := QtSdk-offline-linux-x86-v1.2.1.run
-endif
-# order-only prereq on directory existance:
-qt_sdk_install : | $(DL_DIR) $(TOOLS_DIR)
-qt_sdk_install: qt_sdk_clean
-        # download the source only if it's newer than what we already have
-	$(V1) wget -N --content-disposition -P "$(DL_DIR)" "$(QT_SDK_URL)"
-        # tell the user exactly which path they should select in the GUI
-	$(V1) echo "*** NOTE NOTE NOTE ***"
-	$(V1) echo "*"
-	$(V1) echo "*  In the GUI, please use exactly this path as the installation path:"
-	$(V1) echo "*        $(QT_SDK_DIR)"
-	$(V1) echo "*"
-	$(V1) echo "*** NOTE NOTE NOTE ***"
-
-        #installer is an executable, make it executable and run it
-	$(V1) chmod u+x "$(DL_DIR)/$(QT_SDK_FILE)"
-	$(V1) "$(DL_DIR)/$(QT_SDK_FILE)" -style cleanlooks
-
-.PHONY: qt_sdk_clean
-qt_sdk_clean:
-	$(V1) [ ! -d "$(QT_SDK_DIR)" ] || $(RM) -rf $(QT_SDK_DIR)
-
-# Set up ARM (STM32) SDK
-ARM_SDK_DIR := $(TOOLS_DIR)/gcc-arm-none-eabi-4_6-2012q1
-
-.PHONY: arm_sdk_install
-arm_sdk_install: ARM_SDK_URL  := https://launchpad.net/gcc-arm-embedded/4.6/4.6-2012-q1-update/+download/gcc-arm-none-eabi-4_6-2012q1-20120316.tar.bz2
-arm_sdk_install: ARM_SDK_FILE := $(notdir $(ARM_SDK_URL))
-# order-only prereq on directory existance:
-arm_sdk_install: | $(DL_DIR) $(TOOLS_DIR)
-arm_sdk_install: arm_sdk_clean
-        # download the source only if it's newer than what we already have
-	$(V1) wget --no-check-certificate -N -P "$(DL_DIR)" "$(ARM_SDK_URL)"
-
-        # binary only release so just extract it
-	$(V1) tar -C $(TOOLS_DIR) -xjf "$(DL_DIR)/$(ARM_SDK_FILE)"
-
-.PHONY: arm_sdk_clean
-arm_sdk_clean:
-	$(V1) [ ! -d "$(ARM_SDK_DIR)" ] || $(RM) -r $(ARM_SDK_DIR)
-
-# Set up openocd tools
-OPENOCD_DIR       := $(TOOLS_DIR)/openocd
-OPENOCD_WIN_DIR   := $(TOOLS_DIR)/openocd_win
-OPENOCD_BUILD_DIR := $(DL_DIR)/openocd-build
-
-.PHONY: openocd_install
-openocd_install: | $(DL_DIR) $(TOOLS_DIR)
-openocd_install: OPENOCD_URL  := http://sourceforge.net/projects/openocd/files/openocd/0.5.0/openocd-0.5.0.tar.bz2/download
-openocd_install: OPENOCD_FILE := openocd-0.5.0.tar.bz2
-openocd_install: openocd_clean
-        # download the source only if it's newer than what we already have
-	$(V1) wget -N -P "$(DL_DIR)" --trust-server-name "$(OPENOCD_URL)"
-
-        # extract the source
-	$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -r "$(OPENOCD_BUILD_DIR)"
-	$(V1) mkdir -p "$(OPENOCD_BUILD_DIR)"
-	$(V1) tar -C $(OPENOCD_BUILD_DIR) -xjf "$(DL_DIR)/$(OPENOCD_FILE)"
-
-        # build and install
-	$(V1) mkdir -p "$(OPENOCD_DIR)"
-	$(V1) ( \
-	  cd $(OPENOCD_BUILD_DIR)/openocd-0.5.0 ; \
-	  ./configure --prefix="$(OPENOCD_DIR)" --enable-ft2232_libftdi ; \
-	  $(MAKE) --silent ; \
-	  $(MAKE) --silent install ; \
-	)
-
-        # delete the extracted source when we're done
-	$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
-
-.PHONY: ftd2xx_install
-
-FTD2XX_DIR := $(DL_DIR)/ftd2xx
-
-ftd2xx_install: | $(DL_DIR)
-ftd2xx_install: FTD2XX_URL  := http://www.ftdichip.com/Drivers/CDM/Beta/CDM20817.zip
-ftd2xx_install: FTD2XX_FILE := CDM20817.zip
-ftd2xx_install: ftd2xx_clean
-        # download the file only if it's newer than what we already have
-	$(V0) @echo " DOWNLOAD     $(FTD2XX_URL)"
-	$(V1) wget -q -N -P "$(DL_DIR)" "$(FTD2XX_URL)"
-
-        # extract the source
-	$(V0) @echo " EXTRACT      $(FTD2XX_FILE) -> $(FTD2XX_DIR)"
-	$(V1) mkdir -p "$(FTD2XX_DIR)"
-	$(V1) unzip -q -d "$(FTD2XX_DIR)" "$(DL_DIR)/$(FTD2XX_FILE)"
-
-.PHONY: ftd2xx_clean
-ftd2xx_clean:
-	$(V0) @echo " CLEAN        $(FTD2XX_DIR)"
-	$(V1) [ ! -d "$(FTD2XX_DIR)" ] || $(RM) -r "$(FTD2XX_DIR)"
-
-.PHONY: ftd2xx_install
-
-LIBUSB_WIN_DIR := $(DL_DIR)/libusb-win32-bin-1.2.6.0
-
-libusb_win_install: | $(DL_DIR)
-libusb_win_install: LIBUSB_WIN_URL  := http://sourceforge.net/projects/libusb-win32/files/libusb-win32-releases/1.2.6.0/libusb-win32-bin-1.2.6.0.zip/download
-libusb_win_install: LIBUSB_WIN_FILE := libusb-win32-bin-1.2.6.0.zip
-libusb_win_install: libusb_win_clean
-        # download the file only if it's newer than what we already have
-	$(V0) @echo " DOWNLOAD     $(LIBUSB_WIN_URL)"
-	$(V1) wget -q -N -P "$(DL_DIR)" --trust-server-name "$(LIBUSB_WIN_URL)"
-
-        # extract the source
-	$(V0) @echo " EXTRACT      $(LIBUSB_WIN_FILE) -> $(LIBUSB_WIN_DIR)"
-	$(V1) mkdir -p "$(LIBUSB_WIN_DIR)"
-	$(V1) unzip -q -d "$(DL_DIR)" "$(DL_DIR)/$(LIBUSB_WIN_FILE)"
-
-        # fixup .h file needed by openocd build
-	$(V0) @echo " FIXUP        $(LIBUSB_WIN_DIR)"
-	$(V1) ln -s "$(LIBUSB_WIN_DIR)/include/lusb0_usb.h" "$(LIBUSB_WIN_DIR)/include/usb.h"
-
-.PHONY: libusb_win_clean
-libusb_win_clean:
-	$(V0) @echo " CLEAN        $(LIBUSB_WIN_DIR)"
-	$(V1) [ ! -d "$(LIBUSB_WIN_DIR)" ] || $(RM) -r "$(LIBUSB_WIN_DIR)"
-
-.PHONY: openocd_git_win_install
-
-openocd_git_win_install: | $(DL_DIR) $(TOOLS_DIR)
-openocd_git_win_install: OPENOCD_URL  := git://openocd.git.sourceforge.net/gitroot/openocd/openocd
-openocd_git_win_install: OPENOCD_REV  := f1c0133321c8fcadadd10bba5537c0a634eb183b
-openocd_git_win_install: openocd_win_clean libusb_win_install ftd2xx_install
-        # download the source
-	$(V0) @echo " DOWNLOAD     $(OPENOCD_URL) @ $(OPENOCD_REV)"
-	$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
-	$(V1) mkdir -p "$(OPENOCD_BUILD_DIR)"
-	$(V1) git clone --no-checkout $(OPENOCD_URL) "$(DL_DIR)/openocd-build"
-	$(V1) ( \
-	  cd $(OPENOCD_BUILD_DIR) ; \
-	  git checkout -q $(OPENOCD_REV) ; \
-	)
-
-        # apply patches
-	$(V0) @echo " PATCH        $(OPENOCD_BUILD_DIR)"
-	$(V1) ( \
-	  cd $(OPENOCD_BUILD_DIR) ; \
-	  git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0001-armv7m-remove-dummy-FP-regs-for-new-gdb.patch ; \
-	  git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0002-rtos-add-stm32_stlink-to-FreeRTOS-targets.patch ; \
-	)
-
-        # build and install
-	$(V0) @echo " BUILD        $(OPENOCD_WIN_DIR)"
-	$(V1) mkdir -p "$(OPENOCD_WIN_DIR)"
-	$(V1) ( \
-	  cd $(OPENOCD_BUILD_DIR) ; \
-	  ./bootstrap ; \
-	  ./configure --enable-maintainer-mode --prefix="$(OPENOCD_WIN_DIR)" \
-		--build=i686-pc-linux-gnu --host=i586-mingw32msvc \
-		CPPFLAGS=-I$(LIBUSB_WIN_DIR)/include \
-		LDFLAGS=-L$(LIBUSB_WIN_DIR)/lib/gcc \
-		--enable-ft2232_ftd2xx --with-ftd2xx-win32-zipdir=$(FTD2XX_DIR) \
-		--disable-werror \
-		--enable-stlink ; \
-	  $(MAKE) ; \
-	  $(MAKE) install ; \
-	)
-
-        # delete the extracted source when we're done
-	$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
-
-.PHONY: openocd_win_clean
-openocd_win_clean:
-	$(V0) @echo " CLEAN        $(OPENOCD_WIN_DIR)"
-	$(V1) [ ! -d "$(OPENOCD_WIN_DIR)" ] || $(RM) -r "$(OPENOCD_WIN_DIR)"
-
-.PHONY: openocd_git_install
-
-openocd_git_install: | $(DL_DIR) $(TOOLS_DIR)
-openocd_git_install: OPENOCD_URL  := git://openocd.git.sourceforge.net/gitroot/openocd/openocd
-openocd_git_install: OPENOCD_REV  := f1c0133321c8fcadadd10bba5537c0a634eb183b
-openocd_git_install: openocd_clean
-        # download the source
-	$(V0) @echo " DOWNLOAD     $(OPENOCD_URL) @ $(OPENOCD_REV)"
-	$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
-	$(V1) mkdir -p "$(OPENOCD_BUILD_DIR)"
-	$(V1) git clone --no-checkout $(OPENOCD_URL) "$(OPENOCD_BUILD_DIR)"
-	$(V1) ( \
-	  cd $(OPENOCD_BUILD_DIR) ; \
-	  git checkout -q $(OPENOCD_REV) ; \
-	)
-
-        # apply patches
-	$(V0) @echo " PATCH        $(OPENOCD_DIR)"
-	$(V1) ( \
-	  cd $(OPENOCD_BUILD_DIR) ; \
-	  git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0001-armv7m-remove-dummy-FP-regs-for-new-gdb.patch ; \
-	  git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0002-rtos-add-stm32_stlink-to-FreeRTOS-targets.patch ; \
-	)
-
-        # build and install
-	$(V0) @echo " BUILD        $(OPENOCD_DIR)"
-	$(V1) mkdir -p "$(OPENOCD_DIR)"
-	$(V1) ( \
-	  cd $(OPENOCD_BUILD_DIR) ; \
-	  ./bootstrap ; \
-	  ./configure --enable-maintainer-mode --prefix="$(OPENOCD_DIR)" --enable-ft2232_libftdi --enable-buspirate --enable-stlink ; \
-	  $(MAKE) ; \
-	  $(MAKE) install ; \
-	)
-
-        # delete the extracted source when we're done
-	$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
-
-.PHONY: openocd_clean
-openocd_clean:
-	$(V0) @echo " CLEAN        $(OPENOCD_DIR)"
-	$(V1) [ ! -d "$(OPENOCD_DIR)" ] || $(RM) -r "$(OPENOCD_DIR)"
-
-STM32FLASH_DIR := $(TOOLS_DIR)/stm32flash
-
-.PHONY: stm32flash_install
-stm32flash_install: STM32FLASH_URL := http://stm32flash.googlecode.com/svn/trunk
-stm32flash_install: STM32FLASH_REV := 61
-stm32flash_install: stm32flash_clean
-        # download the source
-	$(V0) @echo " DOWNLOAD     $(STM32FLASH_URL) @ r$(STM32FLASH_REV)"
-	$(V1) svn export -q -r "$(STM32FLASH_REV)" "$(STM32FLASH_URL)" "$(STM32FLASH_DIR)"
-
-        # build
-	$(V0) @echo " BUILD        $(STM32FLASH_DIR)"
-	$(V1) $(MAKE) --silent -C $(STM32FLASH_DIR) all
-
-.PHONY: stm32flash_clean
-stm32flash_clean:
-	$(V0) @echo " CLEAN        $(STM32FLASH_DIR)"
-	$(V1) [ ! -d "$(STM32FLASH_DIR)" ] || $(RM) -r "$(STM32FLASH_DIR)"
-
-DFUUTIL_DIR := $(TOOLS_DIR)/dfu-util
-
-.PHONY: dfuutil_install
-dfuutil_install: DFUUTIL_URL  := http://dfu-util.gnumonks.org/releases/dfu-util-0.5.tar.gz
-dfuutil_install: DFUUTIL_FILE := $(notdir $(DFUUTIL_URL))
-dfuutil_install: | $(DL_DIR) $(TOOLS_DIR)
-dfuutil_install: dfuutil_clean
-        # download the source
-	$(V0) @echo " DOWNLOAD     $(DFUUTIL_URL)"
-	$(V1) wget -N -P "$(DL_DIR)" "$(DFUUTIL_URL)"
-
-        # extract the source
-	$(V0) @echo " EXTRACT      $(DFUUTIL_FILE)"
-	$(V1) [ ! -d "$(DL_DIR)/dfuutil-build" ] || $(RM) -r "$(DL_DIR)/dfuutil-build"
-	$(V1) mkdir -p "$(DL_DIR)/dfuutil-build"
-	$(V1) tar -C $(DL_DIR)/dfuutil-build -xf "$(DL_DIR)/$(DFUUTIL_FILE)"
-
-        # build
-	$(V0) @echo " BUILD        $(DFUUTIL_DIR)"
-	$(V1) mkdir -p "$(DFUUTIL_DIR)"
-	$(V1) ( \
-	  cd $(DL_DIR)/dfuutil-build/dfu-util-0.5 ; \
-	  ./configure --prefix="$(DFUUTIL_DIR)" ; \
-	  $(MAKE) ; \
-	  $(MAKE) install ; \
-	)
-
-.PHONY: dfuutil_clean
-dfuutil_clean:
-	$(V0) @echo " CLEAN        $(DFUUTIL_DIR)"
-	$(V1) [ ! -d "$(DFUUTIL_DIR)" ] || $(RM) -r "$(DFUUTIL_DIR)"
-
-# see http://developer.android.com/sdk/ for latest versions
-ANDROID_SDK_DIR := $(TOOLS_DIR)/android-sdk-linux
-.PHONY: android_sdk_install
-android_sdk_install: ANDROID_SDK_URL  := http://dl.google.com/android/android-sdk_r21.0.1-linux.tgz
-android_sdk_install: ANDROID_SDK_FILE := $(notdir $(ANDROID_SDK_URL))
-# order-only prereq on directory existance:
-android_sdk_install: | $(DL_DIR) $(TOOLS_DIR)
-android_sdk_install: android_sdk_clean
-        # download the source only if it's newer than what we already have
-	$(V0) @echo " DOWNLOAD     $(ANDROID_SDK_URL)"
-	$(V1) wget --no-check-certificate -N -P "$(DL_DIR)" "$(ANDROID_SDK_URL)"
-
-        # binary only release so just extract it
-	$(V0) @echo " EXTRACT      $(ANDROID_SDK_FILE)"
-	$(V1) tar -C $(TOOLS_DIR) -xf "$(DL_DIR)/$(ANDROID_SDK_FILE)"
-
-.PHONY: android_sdk_clean
-android_sdk_clean:
-	$(V0) @echo " CLEAN        $(ANDROID_SDK_DIR)"
-	$(V1) [ ! -d "$(ANDROID_SDK_DIR)" ] || $(RM) -r $(ANDROID_SDK_DIR)
-
-.PHONY: android_sdk_update
-android_sdk_update:
-	$(V0) @echo " UPDATE       $(ANDROID_SDK_DIR)"
-	$(ANDROID_SDK_DIR)/tools/android update sdk --no-ui -t platform-tools,android-14,addon-google_apis-google-14
-
 ##############################
 #
 # Set up paths to tools
@@ -475,7 +193,7 @@ android_sdk_update:
 ##############################
 
 ifeq ($(shell [ -d "$(QT_SDK_DIR)" ] && echo "exists"), exists)
-  QMAKE=$(QT_SDK_DIR)/Desktop/Qt/4.8.1/gcc/bin/qmake
+  QMAKE = $(QT_SDK_QMAKE_PATH)
 else
   # not installed, hope it's in the path...
   QMAKE = qmake
@@ -728,6 +446,17 @@ uavo-collections_clean:
 #
 ##############################
 
+# Define some pointers to the various important pieces of the flight code
+# to prevent these being repeated in every sub makefile
+PIOS          := $(ROOT_DIR)/flight/PiOS
+FLIGHTLIB     := $(ROOT_DIR)/flight/Libraries
+OPMODULEDIR   := $(ROOT_DIR)/flight/Modules
+OPUAVOBJ      := $(ROOT_DIR)/flight/targets/UAVObjects
+OPUAVTALK     := $(ROOT_DIR)/flight/targets/UAVTalk
+HWDEFS        := $(ROOT_DIR)/flight/targets/board_hw_defs
+DOXYGENDIR    := $(ROOT_DIR)/flight/Doc/Doxygen
+OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
+
 # $(1) = Canonical board name all in lower case (e.g. coptercontrol)
 # $(2) = Name of board used in source tree (e.g. CopterControl)
 # $(3) = Short name for board (e.g CC)
@@ -738,13 +467,26 @@ fw_$(1): fw_$(1)_opfw
 
 fw_$(1)_%: uavobjects_flight
 	$(V1) mkdir -p $(BUILD_DIR)/fw_$(1)/dep
-	$(V1) cd $(ROOT_DIR)/flight/$(2) && \
+	$(V1) cd $(ROOT_DIR)/flight/targets/$(2) && \
 		$$(MAKE) -r --no-print-directory \
 		BOARD_NAME=$(1) \
 		BOARD_SHORT_NAME=$(3) \
 		BUILD_TYPE=fw \
 		TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
 		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
+		\
+		TARGET=fw_$(1) \
+		OUTDIR=$(BUILD_DIR)/fw_$(1) \
+		\
+		PIOS=$(PIOS) \
+		FLIGHTLIB=$(FLIGHTLIB) \
+		OPMODULEDIR=$(OPMODULEDIR) \
+		OPUAVOBJ=$(OPUAVOBJ) \
+		OPUAVTALK=$(OPUAVTALK) \
+		HWDEFSINC=$(HWDEFS)/$(1) \
+		DOXYGENDIR=$(DOXYGENDIR) \
+		OPUAVSYNTHDIR=$(OPUAVSYNTHDIR) \
+		\
 		$$*
 
 .PHONY: $(1)_clean
@@ -763,13 +505,26 @@ bl_$(1)_bino: bl_$(1)_bin
 
 bl_$(1)_%:
 	$(V1) mkdir -p $(BUILD_DIR)/bl_$(1)/dep
-	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/$(2) && \
+	$(V1) cd $(ROOT_DIR)/flight/targets/Bootloaders/$(2) && \
 		$$(MAKE) -r --no-print-directory \
 		BOARD_NAME=$(1) \
 		BOARD_SHORT_NAME=$(3) \
 		BUILD_TYPE=bl \
 		TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
 		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
+		\
+		TARGET=bl_$(1) \
+		OUTDIR=$(BUILD_DIR)/bl_$(1) \
+		\
+		PIOS=$(PIOS) \
+		FLIGHTLIB=$(FLIGHTLIB) \
+		OPMODULEDIR=$(OPMODULEDIR) \
+		OPUAVOBJ=$(OPUAVOBJ) \
+		OPUAVTALK=$(OPUAVTALK) \
+		HWDEFSINC=$(HWDEFS)/$(1) \
+		OPUAVSYNTHDIR=$(OPUAVSYNTHDIR) \
+		DOXYGENDIR=$(DOXYGENDIR) \
+		\
 		$$*
 
 .PHONY: unbrick_$(1)
@@ -799,13 +554,26 @@ bu_$(1): bu_$(1)_opfw
 
 bu_$(1)_%: bl_$(1)_bino
 	$(V1) mkdir -p $(BUILD_DIR)/bu_$(1)/dep
-	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
+	$(V1) cd $(ROOT_DIR)/flight/targets/Bootloaders/BootloaderUpdater && \
 		$$(MAKE) -r --no-print-directory \
 		BOARD_NAME=$(1) \
 		BOARD_SHORT_NAME=$(3) \
 		BUILD_TYPE=bu \
 		TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
 		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
+		\
+		TARGET=bu_$(1) \
+		OUTDIR=$(BUILD_DIR)/bu_$(1) \
+		\
+		PIOS=$(PIOS) \
+		FLIGHTLIB=$(FLIGHTLIB) \
+		OPMODULEDIR=$(OPMODULEDIR) \
+		OPUAVOBJ=$(OPUAVOBJ) \
+		OPUAVTALK=$(OPUAVTALK) \
+		HWDEFSINC=$(HWDEFS)/$(1) \
+		OPUAVSYNTHDIR=$(OPUAVSYNTHDIR) \
+		DOXYGENDIR=$(DOXYGENDIR) \
+		\
 		$$*
 
 .PHONY: bu_$(1)_clean
@@ -821,13 +589,17 @@ ef_$(1): ef_$(1)_bin
 
 ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
 	$(V1) mkdir -p $(BUILD_DIR)/ef_$(1)/dep
-	$(V1) cd $(ROOT_DIR)/flight/EntireFlash && \
+	$(V1) cd $(ROOT_DIR)/flight/targets/EntireFlash && \
 		$$(MAKE) -r --no-print-directory \
 		BOARD_NAME=$(1) \
 		BOARD_SHORT_NAME=$(3) \
 		BUILD_TYPE=ef \
 		TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
 		DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
+		\
+		TARGET=ef_$(1) \
+		OUTDIR=$(BUILD_DIR)/ef_$(1) \
+		\
 		$$*
 
 .PHONY: ef_$(1)_clean
@@ -906,12 +678,6 @@ BL_BOARDS  := $(filter-out simposix, $(BL_BOARDS))
 BU_BOARDS  := $(filter-out simposix, $(BU_BOARDS))
 EF_BOARDS  := $(filter-out simposix, $(EF_BOARDS))
 
-# SimPosix doesn't have a BL, BU or EF target so we need to
-# filter them out to prevent errors on the all_flight target.
-BL_BOARDS  := $(filter-out simposix, $(BL_BOARDS))
-BU_BOARDS  := $(filter-out simposix, $(BU_BOARDS))
-EF_BOARDS  := $(filter-out simposix, $(EF_BOARDS))
-
 # Generate the targets for whatever boards are left in each list
 FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
 BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))
@@ -959,7 +725,7 @@ sim_win32: sim_win32_exe
 sim_win32_%: uavobjects_flight
 	$(V1) mkdir -p $(BUILD_DIR)/sitl_win32
 	$(V1) $(MAKE) --no-print-directory \
-		-C $(ROOT_DIR)/flight/OpenPilot --file=$(ROOT_DIR)/flight/OpenPilot/Makefile.win32 $*
+		-C $(ROOT_DIR)/flight/targets/OpenPilot --file=$(ROOT_DIR)/flight/targets/OpenPilot/Makefile.win32 $*
 
 .PHONY: sim_osx
 sim_osx: sim_osx_elf
@@ -967,7 +733,79 @@ sim_osx: sim_osx_elf
 sim_osx_%: uavobjects_flight
 	$(V1) mkdir -p $(BUILD_DIR)/sim_osx
 	$(V1) $(MAKE) --no-print-directory \
-		-C $(ROOT_DIR)/flight/Revolution --file=$(ROOT_DIR)/flight/Revolution/Makefile.osx $*
+		-C $(ROOT_DIR)/flight/targets/Revolution --file=$(ROOT_DIR)/flight/targets/Revolution/Makefile.osx $*
+
+
+##############################
+#
+# Unit Tests
+#
+##############################
+
+ALL_UNITTESTS := logfs
+
+UT_OUT_DIR := $(BUILD_DIR)/unit_tests
+
+$(UT_OUT_DIR):
+	$(V1) mkdir -p $@
+
+.PHONY: all_ut
+all_ut: $(addsuffix _elf, $(addprefix ut_, $(ALL_UNITTESTS)))
+
+.PHONY: all_ut_xml
+all_ut_xml: $(addsuffix _xml, $(addprefix ut_, $(ALL_UNITTESTS)))
+
+.PHONY: all_ut_run
+all_ut_run: $(addsuffix _run, $(addprefix ut_, $(ALL_UNITTESTS)))
+
+.PHONY: all_ut_clean
+all_ut_clean:
+	$(V0) @echo " CLEAN      $@"
+	$(V1) [ ! -d "$(UT_OUT_DIR)" ] || $(RM) -r "$(UT_OUT_DIR)"
+
+# $(1) = Unit test name
+define UT_TEMPLATE
+.PHONY: ut_$(1)
+ut_$(1): ut_$(1)_run
+
+ut_$(1)_%: $$(UT_OUT_DIR)
+	$(V1) mkdir -p $(UT_OUT_DIR)/$(1)
+	$(V1) cd $(ROOT_DIR)/flight/tests/$(1) && \
+		$$(MAKE) -r --no-print-directory \
+		BUILD_TYPE=ut \
+		BOARD_SHORT_NAME=$(1) \
+		TCHAIN_PREFIX="" \
+		REMOVE_CMD="$(RM)" \
+		\
+		TARGET=$(1) \
+		OUTDIR="$(UT_OUT_DIR)/$(1)" \
+		\
+		PIOS=$(PIOS) \
+		OPUAVOBJ=$(OPUAVOBJ) \
+		OPUAVTALK=$(OPUAVTALK) \
+		FLIGHTLIB=$(FLIGHTLIB) \
+		\
+		GTEST_DIR=$(GTEST_DIR) \
+		\
+		$$*
+
+.PHONY: ut_$(1)_clean
+ut_$(1)_clean:
+	$(V0) @echo " CLEAN      $(1)"
+	$(V1) [ ! -d "$(UT_OUT_DIR)/$(1)" ] || $(RM) -r "$(UT_OUT_DIR)/$(1)"
+
+endef
+
+# Expand the unittest rules
+$(foreach ut, $(ALL_UNITTESTS), $(eval $(call UT_TEMPLATE,$(ut))))
+
+# Disable parallel make when the all_ut_run target is requested otherwise the TAP
+# output is interleaved with the rest of the make output.
+ifneq ($(strip $(filter all_ut_run,$(MAKECMDGOALS))),)
+.NOTPARALLEL:
+$(info *NOTE*     Parallel make disabled by all_ut_run target so we have sane console output)
+endif
+
 ##############################
 #
 # Packaging components

flight/Libraries/inc/sanitycheck.h

@@ -1,13 +1,12 @@
 /**
  ******************************************************************************
- * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @addtogroup OpenPilotSystem OpenPilot System
  * @{
- * @addtogroup   PIOS_CRC CRC Functions
+ * @addtogroup OpenPilotLibraries OpenPilot System Libraries
  * @{
- *
+ * @file       sanitycheck.h
- * @file       pios_crc.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Utilities to validate a flight configuration
- * @brief      CRC functions header.
  * @see        The GNU Public License (GPL) Version 3
  *
  *****************************************************************************/
@@ -27,5 +26,9 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-uint8_t PIOS_CRC_updateByte(uint8_t crc, const uint8_t data);
+#ifndef SANITYCHECK_H
-uint8_t PIOS_CRC_updateCRC(uint8_t crc, const uint8_t* data, int32_t length);
+#define SANITYCHECK_H
+
+extern int32_t configuration_check();
+
+#endif /* SANITYCHECK_H */

flight/Libraries/inc/taskmonitor.h

@@ -33,6 +33,7 @@
 int32_t TaskMonitorInitialize(void);
 int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle);
 int32_t TaskMonitorRemove(TaskInfoRunningElem task);
+bool TaskMonitorQueryRunning(TaskInfoRunningElem task);
 void TaskMonitorUpdateAll(void);
 
 #endif // TASKMONITOR_H

flight/Libraries/sanitycheck.c

@@ -0,0 +1,189 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilot System OpenPilot System
+ * @{
+ * @addtogroup OpenPilot Libraries OpenPilot System Libraries
+ * @{
+ * @file       sanitycheck.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Utilities to validate a flight configuration
+ * @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
+ */
+
+#include "openpilot.h"
+#include "taskmonitor.h"
+#include <pios_board_info.h>
+#include "sanitycheck.h"
+#include "manualcontrolsettings.h"
+#include "systemalarms.h"
+#include "systemsettings.h"
+
+/****************************
+ * Current checks:
+ * 1. If a flight mode switch allows autotune and autotune module not running
+ * 2. If airframe is a multirotor and either manual is available or a stabilization mode uses "none"
+ ****************************/
+
+//! Check a stabilization mode switch position for safety
+static int32_t check_stabilization_settings(int index, bool multirotor);
+
+/**
+ * Run a preflight check over the hardware configuration
+ * and currently active modules
+ */
+int32_t configuration_check()
+{
+	int32_t status = SYSTEMALARMS_ALARM_OK;
+
+	// Get board type
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;	
+	bool coptercontrol = bdinfo->board_type == 0x04;
+
+	// Classify airframe type
+	bool multirotor = true;
+	uint8_t airframe_type;
+	SystemSettingsAirframeTypeGet(&airframe_type);
+	switch(airframe_type) {
+		case SYSTEMSETTINGS_AIRFRAMETYPE_QUADX:
+		case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP:
+		case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
+		case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
+		case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX:
+		case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV:
+		case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP:
+		case SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX:
+		case SYSTEMSETTINGS_AIRFRAMETYPE_TRI:
+			multirotor = true;
+			break;
+		default:
+			multirotor = false;
+	}
+
+	// For each available flight mode position sanity check the available
+	// modes
+	uint8_t num_modes;
+	uint8_t modes[MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_NUMELEM];
+	ManualControlSettingsFlightModeNumberGet(&num_modes);
+	ManualControlSettingsFlightModePositionGet(modes);
+
+	for(uint32_t i = 0; i < num_modes; i++) {
+		switch(modes[i]) {
+			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL:
+				if (multirotor)
+					status = SYSTEMALARMS_ALARM_ERROR;
+				break;
+			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1:
+				status = (status == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(1, multirotor) : status;
+				break;
+			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2:
+				status = (status == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(2, multirotor) : status;
+				break;
+			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3:
+				status = (status == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(3, multirotor) : status;
+				break;
+			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_AUTOTUNE:
+				if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_AUTOTUNE))
+					status = SYSTEMALARMS_ALARM_ERROR;
+				break;
+			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD:
+				if (coptercontrol)
+					status = SYSTEMALARMS_ALARM_ERROR;
+				else {
+					// Revo supports altitude hold
+				if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_ALTITUDEHOLD))
+						status = SYSTEMALARMS_ALARM_ERROR;
+				}
+				break;
+			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL:
+				if (coptercontrol)
+					status = SYSTEMALARMS_ALARM_ERROR;
+				else {
+					// Revo supports altitude hold
+					if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER))
+						status = SYSTEMALARMS_ALARM_ERROR;
+				}
+				break;
+			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
+				if (coptercontrol)
+					status = SYSTEMALARMS_ALARM_ERROR;
+				else {
+					// Revo supports altitude hold
+					if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER))
+						status = SYSTEMALARMS_ALARM_ERROR;
+				}
+				break;
+			default:
+				// Uncovered modes are automatically an error
+				status = SYSTEMALARMS_ALARM_ERROR;
+		}
+	}
+
+	// TODO: Check on a multirotor no axis supports "None"
+	if(status != SYSTEMALARMS_ALARM_OK)
+		AlarmsSet(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION, status);
+	else
+		AlarmsClear(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION);
+
+	return 0;
+}
+
+/**
+ * Checks the stabiliation settings for a paritcular mode and makes
+ * sure it is appropriate for the airframe
+ * @param[in] index Which stabilization mode to check
+ * @returns SYSTEMALARMS_ALARM_OK or SYSTEMALARMS_ALARM_ERROR
+ */
+static int32_t check_stabilization_settings(int index, bool multirotor)
+{
+	// Make sure the modes have identical sizes
+	if (MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM != MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NUMELEM ||
+		MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM != MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NUMELEM)
+		return SYSTEMALARMS_ALARM_ERROR;
+
+	uint8_t modes[MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM];
+
+	// Get the different axis modes for this switch position
+	switch(index) {
+		case 1:
+			ManualControlSettingsStabilization1SettingsGet(modes);
+			break;
+		case 2:
+			ManualControlSettingsStabilization2SettingsGet(modes);
+			break;
+		case 3:
+			ManualControlSettingsStabilization3SettingsGet(modes);
+			break;
+		default:
+			return SYSTEMALARMS_ALARM_ERROR;
+	}
+
+	// For multirotors verify that nothing is set to "none"
+	if (multirotor) {
+		for(uint32_t i = 0; i < NELEMENTS(modes); i++) {
+			if (modes[i] == MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE)
+				return SYSTEMALARMS_ALARM_ERROR;
+		}
+	}
+
+	// Warning: This assumes that certain conditions in the XML file are met.  That 
+	// MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE has the same numeric value for each channel
+	// and is the same for STABILIZATIONDESIRED_STABILIZATIONMODE_NONE
+
+	return SYSTEMALARMS_ALARM_OK;
+}

flight/Libraries/taskmonitor.c

@@ -89,6 +89,16 @@ int32_t TaskMonitorRemove(TaskInfoRunningElem task)
 	}
 }
 
+/**
+ * Query if a task is running
+ */
+bool TaskMonitorQueryRunning(TaskInfoRunningElem task)
+{
+	if (task < TASKINFO_RUNNING_NUMELEM && handles[task] != 0)
+		return true;
+	return false;
+}
+
 /**
  * Update the status of all tasks
  */

flight/Modules/Autotune/autotune.c

@@ -48,7 +48,8 @@
  *
  */
 
-#include "pios.h"
+#include "openpilot.h"
+
 #include "flightstatus.h"
 #include "hwsettings.h"
 #include "manualcontrolcommand.h"

flight/Modules/ManualControl/manualcontrol.c

@@ -40,6 +40,7 @@
 #include "baroaltitude.h"
 #include "flighttelemetrystats.h"
 #include "flightstatus.h"
+#include "sanitycheck.h"
 #include "manualcontrol.h"
 #include "manualcontrolsettings.h"
 #include "manualcontrolcommand.h"
@@ -48,6 +49,7 @@
 #include "stabilizationsettings.h"
 #include "stabilizationdesired.h"
 #include "receiveractivity.h"
+#include "systemsettings.h"
 
 #if defined(PIOS_INCLUDE_USB_RCTX)
 #include "pios_usb_rctx.h"
@@ -96,6 +98,7 @@ static void updatePathDesired(ManualControlCommandData * cmd, bool changed, bool
 static void processFlightMode(ManualControlSettingsData * settings, float flightMode);
 static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
 static void setArmedIfChanged(uint8_t val);
+static void configurationUpdatedCb(UAVObjEvent * ev);
 
 static void manualControlTask(void *parameters);
 static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral);
@@ -174,6 +177,15 @@ static void manualControlTask(void *parameters)
 	AccessoryDesiredCreateInstance();
 	AccessoryDesiredCreateInstance();
 
+	// Run this initially to make sure the configuration is checked
+	configuration_check();
+	
+	// Whenever the configuration changes, make sure it is safe to fly
+	SystemSettingsConnectCallback(configurationUpdatedCb);
+	ManualControlSettingsConnectCallback(configurationUpdatedCb);
+	
+	// Whenever the configuration changes, make sure it is safe to fly
+
 	// Make sure unarmed on power up
 	ManualControlCommandGet(&cmd);
 	FlightStatusGet(&flightStatus);
@@ -1076,6 +1088,16 @@ static void applyLPF(float *value, ManualControlSettingsResponseTimeElem channel
 }
 #endif // USE_INPUT_LPF
 
+/**
+ * Called whenever a critical configuration component changes
+ */
+static void configurationUpdatedCb(UAVObjEvent * ev)
+{
+	configuration_check();
+}
+
+
+
 /**
   * @}
   * @}

flight/Modules/Sensors/sensors.c

@@ -46,7 +46,8 @@
  *
  */
 
-#include "pios.h"
+#include "openpilot.h"
+
 #include "homelocation.h"
 #include "magnetometer.h"
 #include "magbias.h"

flight/Modules/System/systemmod.c

@@ -48,6 +48,7 @@
 #include "taskinfo.h"
 #include "watchdogstatus.h"
 #include "taskmonitor.h"
+#include "hwsettings.h"
 
 //#define DEBUG_THIS_FILE
 
@@ -87,6 +88,7 @@ static bool mallocFailed;
 
 // Private functions
 static void objectUpdatedCb(UAVObjEvent * ev);
+static void hwSettingsUpdatedCb(UAVObjEvent * ev);
 static void updateStats();
 static void updateSystemAlarms();
 static void systemTask(void *parameters);
@@ -169,6 +171,9 @@ static void systemTask(void *parameters)
 	// Listen for SettingPersistance object updates, connect a callback function
 	ObjectPersistenceConnectQueue(objectPersistenceQueue);
 
+	// Whenever the configuration changes, make sure it is safe to fly
+	HwSettingsConnectCallback(hwSettingsUpdatedCb);
+
 	// Main system loop
 	while (1) {
 		// Update the system statistics
@@ -300,7 +305,7 @@ static void objectUpdatedCb(UAVObjEvent * ev)
 		} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_FULLERASE) {
 			retval = -1;
 #if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
-			retval = PIOS_FLASHFS_Format();
+			retval = PIOS_FLASHFS_Format(0);
 #endif
 		}
 		switch(retval) {
@@ -318,6 +323,14 @@ static void objectUpdatedCb(UAVObjEvent * ev)
 	}
 }
 
+/**
+ * Called whenever hardware settings changed
+ */
+static void hwSettingsUpdatedCb(UAVObjEvent * ev)
+{
+	AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT,SYSTEMALARMS_ALARM_ERROR);
+}
+
 /**
  * Called periodically to update the I2C statistics 
  */

flight/OpenPilot/System/pios_usb_board_data.c

@@ -1,120 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup PIOS_USB_BOARD Board specific USB definitions
- * @brief Board specific USB definitions
- * @{
- *
- * @file       pios_usb_board_data.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Board specific USB 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
- */
-
-#include "pios_usb_board_data.h" /* struct usb_*, USB_* */
-#include "pios_sys.h"		 /* PIOS_SYS_SerialNumberGet */
-#include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
-
-static const uint8_t usb_product_id[20] = {
-	sizeof(usb_product_id),
-	USB_DESC_TYPE_STRING,
-	'O', 0,
-	'p', 0,
-	'e', 0,
-	'n', 0,
-	'P', 0,
-	'i', 0,
-	'l', 0,
-	'o', 0,
-	't', 0,
-};
-
-static uint8_t usb_serial_number[52] = {
-	sizeof(usb_serial_number),
-	USB_DESC_TYPE_STRING,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0
-};
-
-static const struct usb_string_langid usb_lang_id = {
-	.bLength = sizeof(usb_lang_id),
-	.bDescriptorType = USB_DESC_TYPE_STRING,
-	.bLangID = htousbs(USB_LANGID_ENGLISH_UK),
-};
-
-static const uint8_t usb_vendor_id[28] = {
-	sizeof(usb_vendor_id),
-	USB_DESC_TYPE_STRING,
-	'o', 0,
-	'p', 0,
-	'e', 0,
-	'n', 0,
-	'p', 0,
-	'i', 0,
-	'l', 0,
-	'o', 0,
-	't', 0,
-	'.', 0,
-	'o', 0,
-	'r', 0,
-	'g', 0
-};
-
-int32_t PIOS_USB_BOARD_DATA_Init(void)
-{
-	/* Load device serial number into serial number string */
-	uint8_t sn[25];
-	PIOS_SYS_SerialNumberGet((char *)sn);
-	for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < usb_serial_number[0]; i++) {
-		usb_serial_number[2 + 2 * i] = sn[i];
-	}
-
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id));
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number));
-
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id));
-	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id));
-
-	return 0;
-}
-

flight/PiOS.posix/Boards/pios_board.h

@@ -1,10 +0,0 @@
-#ifndef PIOS_BOARD_H_
-#define PIOS_BOARD_H_
-
-#ifdef USE_SIM_POSIX
-#include "sim_posix.h"
-#else
-#error Board definition has not been provided.
-#endif
-
-#endif /* PIOS_BOARD_H_ */

flight/PiOS.posix/inc/pios_com.h

@@ -1,66 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup PIOS_COM COM layer functions
- * @brief Hardware communication layer
- * @{
- *
- * @file       pios_com.h  
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * 	       Parts by Thorsten Klose (tk@midibox.org)
- * @brief      COM 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_COM_H
-#define PIOS_COM_H
-
-typedef uint16_t (*pios_com_callback)(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * task_woken);
-
-struct pios_com_driver {
-	void (*init)(uint32_t id);
-	void (*set_baud)(uint32_t id, uint32_t baud);
-	void (*tx_start)(uint32_t id, uint16_t tx_bytes_avail);
-	void (*rx_start)(uint32_t id, uint16_t rx_bytes_avail);
-	void (*bind_rx_cb)(uint32_t id, pios_com_callback rx_in_cb, uint32_t context);
-	void (*bind_tx_cb)(uint32_t id, pios_com_callback tx_out_cb, uint32_t context);
-	bool (*available)(uint32_t id);	
-};
-
-/* Public Functions */
-extern int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t * rx_buffer, uint16_t rx_buffer_len, uint8_t * tx_buffer, uint16_t tx_buffer_len);
-extern int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud);
-extern int32_t PIOS_COM_SendCharNonBlocking(uint32_t com_id, char c);
-extern int32_t PIOS_COM_SendChar(uint32_t com_id, char c);
-extern int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, uint16_t len);
-extern int32_t PIOS_COM_SendBuffer(uint32_t com_id, const uint8_t *buffer, uint16_t len);
-extern int32_t PIOS_COM_SendStringNonBlocking(uint32_t com_id, const char *str);
-extern int32_t PIOS_COM_SendString(uint32_t com_id, const char *str);
-extern int32_t PIOS_COM_SendFormattedStringNonBlocking(uint32_t com_id, const char *format, ...);
-extern int32_t PIOS_COM_SendFormattedString(uint32_t com_id, const char *format, ...);
-extern uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len, uint32_t timeout_ms);
-extern bool PIOS_COM_Available(uint32_t com_id);
-
-#endif /* PIOS_COM_H */
-
-/**
-  * @}
-  * @}
-  */

flight/PiOS.posix/inc/pios_debug.h

@@ -1,56 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @defgroup   PIOS_DEBUG Debugging Functions
- * @brief Debugging functionality
- * @{
- *
- * @file       pios_i2c.h  
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Debug helper 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_DEBUG_H
-#define PIOS_DEBUG_H
-
-extern const char *PIOS_DEBUG_AssertMsg;
-
-void PIOS_DEBUG_Init(void);
-void PIOS_DEBUG_PinHigh(uint8_t pin);
-void PIOS_DEBUG_PinLow(uint8_t pin);
-void PIOS_DEBUG_PinValue8Bit(uint8_t value);
-void PIOS_DEBUG_PinValue4BitL(uint8_t value);
-void PIOS_DEBUG_Panic(const char *msg);
-
-#ifdef DEBUG
-#define PIOS_DEBUG_Assert(test) if (!(test)) PIOS_DEBUG_Panic(PIOS_DEBUG_AssertMsg);
-#define PIOS_Assert(test) PIOS_DEBUG_Assert(test)
-#else
-#define PIOS_DEBUG_Assert(test)
-#define PIOS_Assert(test) if (!(test)) while (1);
-#endif
-
-#endif /* PIOS_DEBUG_H */
-
-/**
-  * @}
-  * @}
-  */

flight/PiOS.posix/inc/pios_delay.h

@@ -1,48 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup PIOS_DELAY Delay Functions
- * @brief PiOS Delay functionality
- * @{
- *
- * @file       pios_settings.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Settings 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_DELAY_H
-#define PIOS_DELAY_H
-
-/* Public Functions */
-extern int32_t PIOS_DELAY_Init(void);
-extern int32_t PIOS_DELAY_WaituS(uint32_t uS);
-extern int32_t PIOS_DELAY_WaitmS(uint32_t mS);
-extern uint32_t PIOS_DELAY_GetuS();
-extern uint32_t PIOS_DELAY_GetuSSince(uint32_t t);
-extern uint32_t PIOS_DELAY_GetRaw();
-extern uint32_t PIOS_DELAY_DiffuS(uint32_t raw);
-
-#endif /* PIOS_DELAY_H */
-
-/**
-  * @}
-  * @}
-  */

flight/PiOS.posix/inc/pios_initcall.h

@@ -1,72 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup PIOS PIOS Initcall infrastructure
- * @{
- * @addtogroup   PIOS_INITCALL Generic Initcall Macros
- * @brief Initcall Macros
- * @{
- *
- * @file       pios_initcall.h  
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
- * @brief      Initcall 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_INITCALL_H
-#define PIOS_INITCALL_H
-
-/**
- * Just a stub define to make things compile.
- * Automatically link based initialization currently doesn't work
- * since posix really runs on a multitude of architectures
- * 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 MODULE_INITCALL(ifn, sfn)
-
-#define MODULE_TASKCREATE_ALL { \
-	/* Start all module threads */ \
-	StartModules(); \
-	}
-
-#define MODULE_INITIALISE_ALL { \
-	/* Initialize modules */ \
-	InitModules(); \
-	/* Initialize the system thread */ \
-	SystemModInitialize();}
-
-#endif	/* PIOS_INITCALL_H */
-
-/**
- * @}
- * @}
- */

flight/PiOS.posix/inc/pios_irq.h

@@ -1,38 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup PIOS_IRQ IRQ Setup Functions
- * @{
- *
- * @file       pios_irq.h  
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * 	       Parts by Thorsten Klose (tk@midibox.org)
- * @brief      IRQ 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_IRQ_H
-#define PIOS_IRQ_H
-
-/* Public Functions */
-extern int32_t PIOS_IRQ_Disable(void);
-extern int32_t PIOS_IRQ_Enable(void);
-
-#endif /* PIOS_IRQ_H */

flight/PiOS.posix/inc/pios_led.h

@@ -1,39 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup PIOS_LED LED Functions
- * @{
- *
- * @file       pios_led.h   
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      LED 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_LED_H
-#define PIOS_LED_H
-
-/* Public Functions */
-extern void PIOS_LED_On(uint32_t led_id);
-extern void PIOS_LED_Off(uint32_t led_id);
-extern void PIOS_LED_Toggle(uint32_t led_id);
-extern void PIOS_LED_Init();
-
-#endif /* PIOS_LED_H */

flight/PiOS.posix/inc/pios_rcvr.h

@@ -1,57 +0,0 @@
-/**
- ******************************************************************************
- * @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_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);
-
-/*! Define error codes for PIOS_RCVR_Get */
-enum PIOS_RCVR_errors {
-	/*! Indicates that a failsafe condition or missing receiver detected for that channel */
-	PIOS_RCVR_TIMEOUT = 0,
-	/*! Channel is invalid for this driver (usually out of range supported) */
-	PIOS_RCVR_INVALID = -1,
-	/*! Indicates that the driver for this channel has not been initialized */
-	PIOS_RCVR_NODRIVER = -2
-};
-
-#endif /* PIOS_RCVR_H */
-
-/**
-  * @}
-  * @}
-  */

flight/PiOS.posix/inc/pios_sdcard.h

@@ -1,113 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       pios_sdcard.h  
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * 	       Parts by Thorsten Klose (tk@midibox.org)
- * @brief      System and hardware Init 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_SDCARD_H
-#define PIOS_SDCARD_H
-
-#if defined(PIOS_INCLUDE_SDCARD)
-
-/* Public Functions */
-typedef struct {
-	uint8_t  CSDStruct;				/* CSD structure */
-	uint8_t  SysSpecVersion;		/* System specification version */
-	uint8_t  Reserved1;				/* Reserved */
-	uint8_t  TAAC;					/* Data read access-time 1 */
-	uint8_t  NSAC;					/* Data read access-time 2 in CLK cycles */
-	uint8_t  MaxBusClkFrec;			/* Max. bus clock frequency */
-	uint16_t CardComdClasses;		/* Card command classes */
-	uint8_t  RdBlockLen;			/* Max. read data block length */
-	uint8_t  PartBlockRead;			/* Partial blocks for read allowed */
-	uint8_t  WrBlockMisalign;		/* Write block misalignment */
-	uint8_t  RdBlockMisalign;		/* Read block misalignment */
-	uint8_t  DSRImpl;				/* DSR implemented */
-	uint8_t  Reserved2;				/* Reserved */
-	uint16_t DeviceSize;			/* Device Size */
-	uint8_t  MaxRdCurrentVDDMin;	/* Max. read current @ VDD min */
-	uint8_t  MaxRdCurrentVDDMax;	/* Max. read current @ VDD max */
-	uint8_t  MaxWrCurrentVDDMin;	/* Max. write current @ VDD min */
-	uint8_t  MaxWrCurrentVDDMax;	/* Max. write current @ VDD max */
-	uint8_t  DeviceSizeMul;			/* Device size multiplier */
-	uint8_t  EraseGrSize;			/* Erase group size */
-	uint8_t  EraseGrMul;			/* Erase group size multiplier */
-	uint8_t  WrProtectGrSize;		/* Write protect group size */
-	uint8_t  WrProtectGrEnable;		/* Write protect group enable */
-	uint8_t  ManDeflECC;			/* Manufacturer default ECC */
-	uint8_t  WrSpeedFact;			/* Write speed factor */
-	uint8_t  MaxWrBlockLen;			/* Max. write data block length */
-	uint8_t  WriteBlockPaPartial;	/* Partial blocks for write allowed */
-	uint8_t  Reserved3;				/* Reserved */
-	uint8_t  ContentProtectAppli;	/* Content protection application */
-	uint8_t  FileFormatGrouop;		/* File format group */
-	uint8_t  CopyFlag;				/* Copy flag (OTP) */
-	uint8_t  PermWrProtect;			/* Permanent write protection */
-	uint8_t  TempWrProtect;			/* Temporary write protection */
-	uint8_t  FileFormat;			/* File Format */
-	uint8_t  ECC;					/* ECC code */
-	uint8_t  msd_CRC;				/* CRC */
-	uint8_t  Reserved4;				/* always 1*/
-} SDCARDCsdTypeDef;
-
-/* Structure taken from Mass Storage Driver example provided by STM */
-typedef struct {
-  uint8_t  ManufacturerID;			/* ManufacturerID */
-  uint16_t OEM_AppliID;				/* OEM/Application ID */
-  char ProdName[6];					/* Product Name */
-  uint8_t  ProdRev;					/* Product Revision */
-  uint32_t ProdSN;						/* Product Serial Number */
-  uint8_t  Reserved1;				/* Reserved1 */
-  uint16_t ManufactDate;			/* Manufacturing Date */
-  uint8_t  msd_CRC;					/* CRC */
-  uint8_t  Reserved2;				/* always 1*/
-} SDCARDCidTypeDef;
-
-/* Global Variables */
-//extern VOLINFO PIOS_SDCARD_VolInfo;
-//extern uint8_t PIOS_SDCARD_Sector[SECTOR_SIZE];
-
-/* Prototypes */
-extern int32_t PIOS_SDCARD_Init(void);
-extern int32_t PIOS_SDCARD_PowerOn(void);
-extern int32_t PIOS_SDCARD_PowerOff(void);
-extern int32_t PIOS_SDCARD_CheckAvailable(uint8_t was_available);
-extern int32_t PIOS_SDCARD_SendSDCCmd(uint8_t cmd, uint32_t addr, uint8_t crc);
-extern int32_t PIOS_SDCARD_SectorRead(uint32_t sector, uint8_t *buffer);
-extern int32_t PIOS_SDCARD_SectorWrite(uint32_t sector, uint8_t *buffer);
-extern int32_t PIOS_SDCARD_CIDRead(SDCARDCidTypeDef *cid);
-extern int32_t PIOS_SDCARD_CSDRead(SDCARDCsdTypeDef *csd);
-
-extern int32_t PIOS_SDCARD_StartupLog(void);
-extern int32_t PIOS_SDCARD_IsMounted();
-extern int32_t PIOS_SDCARD_MountFS(uint32_t StartupLog);
-extern int32_t PIOS_SDCARD_GetFree(void);
-
-//extern int32_t PIOS_SDCARD_ReadBuffer(PFILEINFO fileinfo, uint8_t *buffer, uint32_t len);
-//extern int32_t PIOS_SDCARD_ReadLine(PFILEINFO fileinfo, uint8_t *buffer, uint32_t max_len);
-extern int32_t PIOS_SDCARD_FileCopy(char *Source, char *Destination);
-extern int32_t PIOS_SDCARD_FileDelete(char *Filename);
-
-#endif
-
-#endif /* PIOS_SDCARD_H */

flight/PiOS.posix/inc/pios_struct_helper.h

@@ -1,12 +0,0 @@
-/* Taken from include/linux/kernel.h from the Linux kernel tree */
-
-/**
- * container_of - cast a member of a structure out to the containing structure
- * @ptr:	the pointer to the member.
- * @type:	the type of the container struct this is embedded in.
- * @member:	the name of the member within the struct.
- *
- */
-#define container_of(ptr, type, member) ({			\
-	const typeof( ((type *)0)->member ) *__mptr = (ptr);	\
-	(type *)( (char *)__mptr - offsetof(type,member) );})

flight/PiOS.posix/inc/pios_sys.h

@@ -1,35 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       pios_sys.h  
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * 	       Parts by Thorsten Klose (tk@midibox.org)
- * @brief      System and hardware Init 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_SYS_H
-#define PIOS_SYS_H
-
-/* Public Functions */
-extern void PIOS_SYS_Init(void);
-extern int32_t PIOS_SYS_Reset(void);
-extern int32_t PIOS_SYS_SerialNumberGet(char *str);
-
-#endif /* PIOS_SYS_H */

flight/PiOS/Boards/pios_board.h

@@ -17,6 +17,8 @@
 #include "STM32F4xx_OSD.h"
 #elif USE_STM32F4xx_RM
 #include "STM32F4xx_RevoMini.h"
+#elif USE_SIM_POSIX
+#include "sim_posix.h"
 #else
 #error Board definition has not been provided.
 #endif

flight/PiOS/Common/pios_flash_jedec.c

@@ -8,6 +8,7 @@
  *
  * @file       pios_flash_w25x.c
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
  * @brief      Driver for talking to W25X flash chip (and most JEDEC chips)
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -28,6 +29,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 #include "pios.h"
+#include "pios_flash_jedec_priv.h"
 
 #define JEDEC_WRITE_ENABLE           0x06
 #define JEDEC_WRITE_DISABLE          0x04
@@ -47,8 +49,6 @@
 #define JEDEC_STATUS_SEC             0x40
 #define JEDEC_STATUS_SRP0            0x80
 
-static uint8_t device_type;
-
 enum pios_jedec_dev_magic {
 	PIOS_JEDEC_DEV_MAGIC = 0xcb55aa55,
 };
@@ -58,8 +58,11 @@ struct jedec_flash_dev {
 	uint32_t spi_id;
 	uint32_t slave_num;
 	bool claimed;
-	uint32_t device_type;
+
-	uint32_t capacity;
+	uint8_t manufacturer;
+	uint8_t memorytype;
+	uint8_t capacity;
+
 	const struct pios_flash_jedec_cfg * cfg;
 #if defined(FLASH_FREERTOS)
 	xSemaphoreHandle transaction_lock;
@@ -67,58 +70,82 @@ struct jedec_flash_dev {
 	enum pios_jedec_dev_magic magic;
 };
 
-//! Global structure for this flash device
-struct jedec_flash_dev * flash_dev;
-
 //! Private functions
-static int32_t PIOS_Flash_Jedec_Validate(struct jedec_flash_dev * dev);
+static int32_t PIOS_Flash_Jedec_Validate(struct jedec_flash_dev * flash_dev);
 static struct jedec_flash_dev * PIOS_Flash_Jedec_alloc(void);
-static int32_t PIOS_Flash_Jedec_ClaimBus();
-static int32_t PIOS_Flash_Jedec_ReleaseBus();
-static int32_t PIOS_Flash_Jedec_WriteEnable();
-static int32_t PIOS_Flash_Jedec_Busy() ;
 
+static int32_t PIOS_Flash_Jedec_ReadID(struct jedec_flash_dev * flash_dev);
+static int32_t PIOS_Flash_Jedec_ReadStatus(struct jedec_flash_dev * flash_dev);
+static int32_t PIOS_Flash_Jedec_ClaimBus(struct jedec_flash_dev * flash_dev);
+static int32_t PIOS_Flash_Jedec_ReleaseBus(struct jedec_flash_dev * flash_dev);
+static int32_t PIOS_Flash_Jedec_WriteEnable(struct jedec_flash_dev * flash_dev);
+static int32_t PIOS_Flash_Jedec_Busy(struct jedec_flash_dev * flash_dev);
 
 /**
  * @brief Allocate a new device
  */
 static struct jedec_flash_dev * PIOS_Flash_Jedec_alloc(void)
 {
-	struct jedec_flash_dev * jedec_dev;
+	struct jedec_flash_dev * flash_dev;
 
-	jedec_dev = (struct jedec_flash_dev *)pvPortMalloc(sizeof(*jedec_dev));
+	flash_dev = (struct jedec_flash_dev *)pvPortMalloc(sizeof(*flash_dev));
-	if (!jedec_dev) return (NULL);
+	if (!flash_dev) return (NULL);
 
-	jedec_dev->claimed = false;
+	flash_dev->claimed = false;
-	jedec_dev->magic = PIOS_JEDEC_DEV_MAGIC;
+	flash_dev->magic = PIOS_JEDEC_DEV_MAGIC;
 #if defined(FLASH_FREERTOS)
-	jedec_dev->transaction_lock = xSemaphoreCreateMutex();
+	flash_dev->transaction_lock = xSemaphoreCreateMutex();
 #endif
-	return(jedec_dev);
+	return(flash_dev);
 }
 
 /**
  * @brief Validate the handle to the spi device
  */
-static int32_t PIOS_Flash_Jedec_Validate(struct jedec_flash_dev * dev) {
+static int32_t PIOS_Flash_Jedec_Validate(struct jedec_flash_dev * flash_dev) {
-	if (dev == NULL) 
+	if (flash_dev == NULL)
 		return -1;
-	if (dev->magic != PIOS_JEDEC_DEV_MAGIC)
+	if (flash_dev->magic != PIOS_JEDEC_DEV_MAGIC)
 		return -2;
-	if (dev->spi_id == 0)
+	if (flash_dev->spi_id == 0)
 		return -3;
 	return 0;
 }
 
+/**
+ * @brief Initialize the flash device and enable write access
+ */
+int32_t PIOS_Flash_Jedec_Init(uintptr_t * flash_id, uint32_t spi_id, uint32_t slave_num, const struct pios_flash_jedec_cfg * cfg)
+{
+	struct jedec_flash_dev * flash_dev = PIOS_Flash_Jedec_alloc();
+	if (flash_dev == NULL)
+		return -1;
+
+	flash_dev->spi_id = spi_id;
+	flash_dev->slave_num = slave_num;
+	flash_dev->cfg = cfg;
+
+	(void) PIOS_Flash_Jedec_ReadID(flash_dev);
+	if ((flash_dev->manufacturer != flash_dev->cfg->expect_manufacturer) ||
+		(flash_dev->memorytype != flash_dev->cfg->expect_memorytype) ||
+		(flash_dev->capacity != flash_dev->cfg->expect_capacity)) {
+		/* Mismatched device has been discovered */
+		return -1;
+	}
+
+	/* Give back a handle to this flash device */
+	*flash_id = (uintptr_t) flash_dev;
+
+	return 0;
+}
+
+
 /**
  * @brief Claim the SPI bus for flash use and assert CS pin
  * @return 0 for sucess, -1 for failure to get semaphore
  */
-static int32_t PIOS_Flash_Jedec_ClaimBus()
+static int32_t PIOS_Flash_Jedec_ClaimBus(struct jedec_flash_dev * flash_dev)
 {
-	if(PIOS_Flash_Jedec_Validate(flash_dev) != 0)
-		return -1;
-
 	if (PIOS_SPI_ClaimBus(flash_dev->spi_id) < 0)
 		return -1;
 
@@ -131,10 +158,8 @@ static int32_t PIOS_Flash_Jedec_ClaimBus()
 /**
  * @brief Release the SPI bus sempahore and ensure flash chip not using bus
  */
-static int32_t PIOS_Flash_Jedec_ReleaseBus()
+static int32_t PIOS_Flash_Jedec_ReleaseBus(struct jedec_flash_dev * flash_dev)
 {
-	if(PIOS_Flash_Jedec_Validate(flash_dev) != 0)
-		return -1;
 	PIOS_SPI_RC_PinSet(flash_dev->spi_id, flash_dev->slave_num, 1);
 	PIOS_SPI_ReleaseBus(flash_dev->spi_id);
 	flash_dev->claimed = false;
@@ -145,9 +170,9 @@ static int32_t PIOS_Flash_Jedec_ReleaseBus()
  * @brief Returns if the flash chip is busy
  * @returns -1 for failure, 0 for not busy, 1 for busy
  */
-static int32_t PIOS_Flash_Jedec_Busy()
+static int32_t PIOS_Flash_Jedec_Busy(struct jedec_flash_dev * flash_dev)
 {
-	int32_t status = PIOS_Flash_Jedec_ReadStatus();
+	int32_t status = PIOS_Flash_Jedec_ReadStatus(flash_dev);
 	if (status < 0)
 		return -1;
 	return status & JEDEC_STATUS_BUSY;
@@ -157,52 +182,88 @@ static int32_t PIOS_Flash_Jedec_Busy()
  * @brief Execute the write enable instruction and returns the status
  * @returns 0 if successful, -1 if unable to claim bus
  */
-static int32_t PIOS_Flash_Jedec_WriteEnable()
+static int32_t PIOS_Flash_Jedec_WriteEnable(struct jedec_flash_dev * flash_dev)
 {
-	if(PIOS_Flash_Jedec_Validate(flash_dev) != 0)
+	if (PIOS_Flash_Jedec_ClaimBus(flash_dev) != 0)
 		return -1;
 
 	uint8_t out[] = {JEDEC_WRITE_ENABLE};
-	if(PIOS_Flash_Jedec_ClaimBus() != 0)
-		return -1;
 	PIOS_SPI_TransferBlock(flash_dev->spi_id,out,NULL,sizeof(out),NULL);
-	PIOS_Flash_Jedec_ReleaseBus();
+	PIOS_Flash_Jedec_ReleaseBus(flash_dev);
+
 	return 0;
 }
 
+
+/**
+ * @brief Read the status register from flash chip and return it
+ */
+static int32_t PIOS_Flash_Jedec_ReadStatus(struct jedec_flash_dev * flash_dev)
+{
+	if (PIOS_Flash_Jedec_ClaimBus(flash_dev) < 0)
+		return -1;
+
+	uint8_t out[2] = {JEDEC_READ_STATUS, 0};
+	uint8_t in[2] = {0,0};
+	if (PIOS_SPI_TransferBlock(flash_dev->spi_id,out,in,sizeof(out),NULL) < 0) {
+		PIOS_Flash_Jedec_ReleaseBus(flash_dev);
+		return -2;
+	}
+
+	PIOS_Flash_Jedec_ReleaseBus(flash_dev);
+
+	return in[1];
+}
+
 /**
- * @brief Initialize the flash device and enable write access
+ * @brief Read the status register from flash chip and return it
  */
-int32_t PIOS_Flash_Jedec_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_flash_jedec_cfg * cfg)
+static int32_t PIOS_Flash_Jedec_ReadID(struct jedec_flash_dev * flash_dev)
 {
-	flash_dev = PIOS_Flash_Jedec_alloc();
+	if (PIOS_Flash_Jedec_ClaimBus(flash_dev) < 0)
-	if(flash_dev == NULL)
+		return -2;
-		return -1;
 
-	flash_dev->spi_id = spi_id;
+	uint8_t out[] = {JEDEC_DEVICE_ID, 0, 0, 0};
-	flash_dev->slave_num = slave_num;
+	uint8_t in[4];
-	flash_dev->cfg = cfg;
+	if (PIOS_SPI_TransferBlock(flash_dev->spi_id,out,in,sizeof(out),NULL) < 0) {
-
+		PIOS_Flash_Jedec_ReleaseBus(flash_dev);
-	device_type = PIOS_Flash_Jedec_ReadID();
+		return -3;
-	if(device_type == 0)
-		return -1;
-
-	return 0;
 	}
 
+	PIOS_Flash_Jedec_ReleaseBus(flash_dev);
+
+	flash_dev->manufacturer = in[1];
+	flash_dev->memorytype   = in[2];
+	flash_dev->capacity     = in[3];
+
+	return flash_dev->manufacturer;
+}
+
+/**********************************
+ *
+ * Provide a PIOS flash driver API
+ *
+ *********************************/
+#include "pios_flash.h"
+
+#if FLASH_USE_FREERTOS_LOCKS
+
 /**
  * @brief Grab the semaphore to perform a transaction
  * @return 0 for success, -1 for timeout
  */
-int32_t PIOS_Flash_Jedec_StartTransaction()
+static int32_t PIOS_Flash_Jedec_StartTransaction(uintptr_t flash_id)
 {
-#if defined(FLASH_FREERTOS)
+	struct jedec_flash_dev * flash_dev = (struct jedec_flash_dev *)flash_id;
+
 	if (PIOS_Flash_Jedec_Validate(flash_dev) != 0)
 		return -1;
 
+#if defined(PIOS_INCLUDE_FREERTOS)
 	if (xSemaphoreTake(flash_dev->transaction_lock, portMAX_DELAY) != pdTRUE)
-		return -1;
+		return -2;
 #endif
+
 	return 0;
 }
 
@@ -210,60 +271,34 @@ int32_t PIOS_Flash_Jedec_StartTransaction()
  * @brief Release the semaphore to perform a transaction
  * @return 0 for success, -1 for timeout
  */
-int32_t PIOS_Flash_Jedec_EndTransaction()
+static int32_t PIOS_Flash_Jedec_EndTransaction(uintptr_t flash_id)
 {
-#if defined(FLASH_FREERTOS)
+	struct jedec_flash_dev * flash_dev = (struct jedec_flash_dev *)flash_id;
+
 	if (PIOS_Flash_Jedec_Validate(flash_dev) != 0)
 		return -1;
 
+#if defined(PIOS_INCLUDE_FREERTOS)
 	if (xSemaphoreGive(flash_dev->transaction_lock) != pdTRUE)
-		return -1;
+		return -2;
 #endif
+
 	return 0;
 }
 
-/**
+#else  /* FLASH_USE_FREERTOS_LOCKS */
- * @brief Read the status register from flash chip and return it
+
- */
+static int32_t PIOS_Flash_Jedec_StartTransaction(uintptr_t flash_id)
-int32_t PIOS_Flash_Jedec_ReadStatus()
 {
-	if(PIOS_Flash_Jedec_Validate(flash_dev) != 0)
+	return 0;
-		return -1;
-
-	uint8_t out[2] = {JEDEC_READ_STATUS, 0};
-	uint8_t in[2] = {0,0};
-	if(PIOS_Flash_Jedec_ClaimBus() < 0)
-		return -1;
-		
-	if(PIOS_SPI_TransferBlock(flash_dev->spi_id,out,in,sizeof(out),NULL) < 0) {
-		PIOS_Flash_Jedec_ReleaseBus();
-		return -2;
 }
 
-	PIOS_Flash_Jedec_ReleaseBus();
+static int32_t PIOS_Flash_Jedec_EndTransaction(uintptr_t flash_id)
-	return in[1];
-}
-
-/**
- * @brief Read the status register from flash chip and return it
- */
-int32_t PIOS_Flash_Jedec_ReadID()
 {
-	uint8_t out[] = {JEDEC_DEVICE_ID, 0, 0, 0};
+	return 0;
-	uint8_t in[4];
-	if (PIOS_Flash_Jedec_ClaimBus() < 0) 
-		return -1;
-	
-	if(PIOS_SPI_TransferBlock(flash_dev->spi_id,out,in,sizeof(out),NULL) < 0) {
-		PIOS_Flash_Jedec_ReleaseBus();
-		return -2;
 }
-	PIOS_Flash_Jedec_ReleaseBus();
 
-	flash_dev->device_type = in[1];
+#endif	/* FLASH_USE_FREERTOS_LOCKS */
-	flash_dev->capacity = in[3];
-	return in[1];
-}
 
 /**
  * @brief Erase a sector on the flash chip
@@ -272,29 +307,31 @@ int32_t PIOS_Flash_Jedec_ReadID()
  * @retval -1 if unable to claim bus
  * @retval
  */
-int32_t PIOS_Flash_Jedec_EraseSector(uint32_t addr)
+static int32_t PIOS_Flash_Jedec_EraseSector(uintptr_t flash_id, uint32_t addr)
 {
+	struct jedec_flash_dev * flash_dev = (struct jedec_flash_dev *)flash_id;
+
 	if (PIOS_Flash_Jedec_Validate(flash_dev) != 0)
 		return -1;
 
 	uint8_t ret;
 	uint8_t out[] = {flash_dev->cfg->sector_erase, (addr >> 16) & 0xff, (addr >> 8) & 0xff , addr & 0xff};
 
-	if((ret = PIOS_Flash_Jedec_WriteEnable()) != 0)
+	if ((ret = PIOS_Flash_Jedec_WriteEnable(flash_dev)) != 0)
 		return ret;
 
-	if(PIOS_Flash_Jedec_ClaimBus() != 0)
+	if (PIOS_Flash_Jedec_ClaimBus(flash_dev) != 0)
 		return -1;
 
 	if (PIOS_SPI_TransferBlock(flash_dev->spi_id,out,NULL,sizeof(out),NULL) < 0) {
-		PIOS_Flash_Jedec_ReleaseBus();
+		PIOS_Flash_Jedec_ReleaseBus(flash_dev);
 		return -2;
 	}
 
-	PIOS_Flash_Jedec_ReleaseBus();
+	PIOS_Flash_Jedec_ReleaseBus(flash_dev);
 
 	// Keep polling when bus is busy too
-	while(PIOS_Flash_Jedec_Busy() != 0) {
+	while (PIOS_Flash_Jedec_Busy(flash_dev) != 0) {
 #if defined(FLASH_FREERTOS)
 		vTaskDelay(1);
 #endif
@@ -307,30 +344,32 @@ int32_t PIOS_Flash_Jedec_EraseSector(uint32_t addr)
  * @brief Execute the whole chip
  * @returns 0 if successful, -1 if unable to claim bus
  */
-int32_t PIOS_Flash_Jedec_EraseChip()
+static int32_t PIOS_Flash_Jedec_EraseChip(uintptr_t flash_id)
 {
+	struct jedec_flash_dev * flash_dev = (struct jedec_flash_dev *)flash_id;
+
 	if (PIOS_Flash_Jedec_Validate(flash_dev) != 0)
 		return -1;
 
 	uint8_t ret;
 	uint8_t out[] = {flash_dev->cfg->chip_erase};
 
-	if((ret = PIOS_Flash_Jedec_WriteEnable()) != 0)
+	if ((ret = PIOS_Flash_Jedec_WriteEnable(flash_dev)) != 0)
 		return ret;
 
-	if(PIOS_Flash_Jedec_ClaimBus() != 0)
+	if (PIOS_Flash_Jedec_ClaimBus(flash_dev) != 0)
 		return -1;
 
 	if (PIOS_SPI_TransferBlock(flash_dev->spi_id,out,NULL,sizeof(out),NULL) < 0) {
-		PIOS_Flash_Jedec_ReleaseBus();
+		PIOS_Flash_Jedec_ReleaseBus(flash_dev);
 		return -2;
 	}
 
-	PIOS_Flash_Jedec_ReleaseBus();
+	PIOS_Flash_Jedec_ReleaseBus(flash_dev);
 
 	// Keep polling when bus is busy too
 	int i = 0;
-	while(PIOS_Flash_Jedec_Busy() != 0) {
+	while (PIOS_Flash_Jedec_Busy(flash_dev) != 0) {
 #if defined(FLASH_FREERTOS)
 		vTaskDelay(1);
 		if ((i++) % 100 == 0)
@@ -356,8 +395,10 @@ int32_t PIOS_Flash_Jedec_EraseChip()
  * @retval -2 Size exceeds 256 bytes
  * @retval -3 Length to write would wrap around page boundary
  */
-int32_t PIOS_Flash_Jedec_WriteData(uint32_t addr, uint8_t * data, uint16_t len)
+static int32_t PIOS_Flash_Jedec_WriteData(uintptr_t flash_id, uint32_t addr, uint8_t * data, uint16_t len)
 {
+	struct jedec_flash_dev * flash_dev = (struct jedec_flash_dev *)flash_id;
+
 	if(PIOS_Flash_Jedec_Validate(flash_dev) != 0)
 		return -1;
 
@@ -372,41 +413,41 @@ int32_t PIOS_Flash_Jedec_WriteData(uint32_t addr, uint8_t * data, uint16_t len)
 	if (((addr & 0xff) + len) > 0x100)
 		return -3;
 
-	if((ret = PIOS_Flash_Jedec_WriteEnable()) != 0)
+	if ((ret = PIOS_Flash_Jedec_WriteEnable(flash_dev)) != 0)
 		return ret;
 
 	/* Execute write page command and clock in address.  Keep CS asserted */
-	if(PIOS_Flash_Jedec_ClaimBus() != 0)
+	if (PIOS_Flash_Jedec_ClaimBus(flash_dev) != 0)
 		return -1;
 
 	if (PIOS_SPI_TransferBlock(flash_dev->spi_id,out,NULL,sizeof(out),NULL) < 0) {
-		PIOS_Flash_Jedec_ReleaseBus();
+		PIOS_Flash_Jedec_ReleaseBus(flash_dev);
 		return -1;
 	}
 
 	/* Clock out data to flash */
 	if (PIOS_SPI_TransferBlock(flash_dev->spi_id,data,NULL,len,NULL) < 0) {
-		PIOS_Flash_Jedec_ReleaseBus();
+		PIOS_Flash_Jedec_ReleaseBus(flash_dev);
 		return -1;
 	}
 
-	PIOS_Flash_Jedec_ReleaseBus();
+	PIOS_Flash_Jedec_ReleaseBus(flash_dev);
 
 	// Keep polling when bus is busy too
 #if defined(FLASH_FREERTOS)
-	while(PIOS_Flash_Jedec_Busy() != 0) {
+	while (PIOS_Flash_Jedec_Busy(flash_dev) != 0) {
 		vTaskDelay(1);
 	}
 #else
 
 	// Query status this way to prevent accel chip locking us out
-	if(PIOS_Flash_Jedec_ClaimBus() < 0)
+	if (PIOS_Flash_Jedec_ClaimBus(flash_dev) < 0)
 		return -1;
 
 	PIOS_SPI_TransferByte(flash_dev->spi_id, JEDEC_READ_STATUS);
 	while (PIOS_SPI_TransferByte(flash_dev->spi_id, JEDEC_READ_STATUS) & JEDEC_STATUS_BUSY);
 
-	PIOS_Flash_Jedec_ReleaseBus();
+	PIOS_Flash_Jedec_ReleaseBus(flash_dev);
 
 #endif
 	return 0;
@@ -422,8 +463,10 @@ int32_t PIOS_Flash_Jedec_WriteData(uint32_t addr, uint8_t * data, uint16_t len)
  * @retval -2 Size exceeds 256 bytes
  * @retval -3 Length to write would wrap around page boundary
  */
-int32_t PIOS_Flash_Jedec_WriteChunks(uint32_t addr, struct pios_flash_chunk * p_chunk, uint32_t num)
+static int32_t PIOS_Flash_Jedec_WriteChunks(uintptr_t flash_id, uint32_t addr, struct pios_flash_chunk chunks[], uint32_t num)
 {
+	struct jedec_flash_dev * flash_dev = (struct jedec_flash_dev *)flash_id;
+
 	if (PIOS_Flash_Jedec_Validate(flash_dev) != 0)
 		return -1;
 
@@ -433,7 +476,7 @@ int32_t PIOS_Flash_Jedec_WriteChunks(uint32_t addr, struct pios_flash_chunk * p_
 	/* Can only write one page at a time */
 	uint32_t len = 0;
 	for (uint32_t i = 0; i < num; i++)
-		len += p_chunk[i].len;
+		len += chunks[i].len;
 
 	if (len > 0x100)
 		return -2;
@@ -442,29 +485,29 @@ int32_t PIOS_Flash_Jedec_WriteChunks(uint32_t addr, struct pios_flash_chunk * p_
 	if (((addr & 0xff) + len) > 0x100)
 		return -3;
 
-	if((ret = PIOS_Flash_Jedec_WriteEnable()) != 0)
+	if ((ret = PIOS_Flash_Jedec_WriteEnable(flash_dev)) != 0)
 		return ret;
 
 	/* Execute write page command and clock in address.  Keep CS asserted */
-	if(PIOS_Flash_Jedec_ClaimBus() != 0)
+	if (PIOS_Flash_Jedec_ClaimBus(flash_dev) != 0)
 		return -1;
 
 	if (PIOS_SPI_TransferBlock(flash_dev->spi_id,out,NULL,sizeof(out),NULL) < 0) {
-		PIOS_Flash_Jedec_ReleaseBus();
+		PIOS_Flash_Jedec_ReleaseBus(flash_dev);
 		return -1;
 	}
 
 	for (uint32_t i = 0; i < num; i++) {
-		struct pios_flash_chunk * chunk = &p_chunk[i];
+		struct pios_flash_chunk * chunk = &chunks[i];
 
 		/* Clock out data to flash */
 		if (PIOS_SPI_TransferBlock(flash_dev->spi_id,chunk->addr,NULL,chunk->len,NULL) < 0) {
-			PIOS_Flash_Jedec_ReleaseBus();
+			PIOS_Flash_Jedec_ReleaseBus(flash_dev);
 			return -1;
 		}
 
 	}
-	PIOS_Flash_Jedec_ReleaseBus();
+	PIOS_Flash_Jedec_ReleaseBus(flash_dev);
 
 	// Skip checking for busy with this to get OS running again fast
 
@@ -479,29 +522,43 @@ int32_t PIOS_Flash_Jedec_WriteChunks(uint32_t addr, struct pios_flash_chunk * p_
  * @return Zero if success or error code
  * @retval -1 Unable to claim SPI bus
  */
-int32_t PIOS_Flash_Jedec_ReadData(uint32_t addr, uint8_t * data, uint16_t len)
+static int32_t PIOS_Flash_Jedec_ReadData(uintptr_t flash_id, uint32_t addr, uint8_t * data, uint16_t len)
 {
+	struct jedec_flash_dev * flash_dev = (struct jedec_flash_dev *)flash_id;
+
 	if (PIOS_Flash_Jedec_Validate(flash_dev) != 0)
 		return -1;
 
-	if(PIOS_Flash_Jedec_ClaimBus() == -1)
+	if (PIOS_Flash_Jedec_ClaimBus(flash_dev) == -1)
 		return -1;
 
 	/* Execute read command and clock in address.  Keep CS asserted */
 	uint8_t out[] = {JEDEC_READ_DATA, (addr >> 16) & 0xff, (addr >> 8) & 0xff , addr & 0xff};
 
 	if (PIOS_SPI_TransferBlock(flash_dev->spi_id,out,NULL,sizeof(out),NULL) < 0) {
-		PIOS_Flash_Jedec_ReleaseBus();
+		PIOS_Flash_Jedec_ReleaseBus(flash_dev);
 		return -2;
 	}
 
 	/* Copy the transfer data to the buffer */
 	if (PIOS_SPI_TransferBlock(flash_dev->spi_id,NULL,data,len,NULL) < 0) {
-		PIOS_Flash_Jedec_ReleaseBus();
+		PIOS_Flash_Jedec_ReleaseBus(flash_dev);
 		return -3;
 	}
 
-	PIOS_Flash_Jedec_ReleaseBus();
+	PIOS_Flash_Jedec_ReleaseBus(flash_dev);
 
 	return 0;
 }
+
+/* Provide a flash driver to external drivers */
+const struct pios_flash_driver pios_jedec_flash_driver = {
+	.start_transaction = PIOS_Flash_Jedec_StartTransaction,
+	.end_transaction   = PIOS_Flash_Jedec_EndTransaction,
+	.erase_chip        = PIOS_Flash_Jedec_EraseChip,
+	.erase_sector      = PIOS_Flash_Jedec_EraseSector,
+	.write_chunks      = PIOS_Flash_Jedec_WriteChunks,
+	.write_data        = PIOS_Flash_Jedec_WriteData,
+	.read_data         = PIOS_Flash_Jedec_ReadData,
+};
+

flight/PiOS/Common/pios_flashfs_logfs.c

@@ -0,0 +1,1026 @@
+/**
+ ******************************************************************************
+ * @file       pios_flashfs_logfs.c
+ * @author     PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_FLASHFS Flash Filesystem Function
+ * @{
+ * @brief Log Structured Filesystem for internal or external NOR Flash
+ *****************************************************************************/
+/*
+ * 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 "openpilot.h"
+
+#include "pios_flashfs_logfs_priv.h"
+
+#include <stdbool.h>
+
+#define MIN(x,y) ((x) < (y) ? (x) : (y))
+
+/*
+ * Filesystem state data tracked in RAM
+ */
+
+struct logfs_state {
+	const struct flashfs_logfs_cfg * cfg;
+	bool mounted;
+	uint8_t active_arena_id;
+
+	/* NOTE: num_active_slots + num_free_slots will not typically add
+	 *       up to the number of slots in the arena since some of the
+	 *       slots will be obsolete or otherwise invalidated
+	 */
+	uint16_t num_free_slots;   /* slots in free state */
+	uint16_t num_active_slots; /* slots in active state */
+
+	/* Underlying flash driver glue */
+	const struct pios_flash_driver * driver;
+	uintptr_t flash_id;
+};
+
+static struct logfs_state logfs;
+
+/*
+ * Internal Utility functions
+ */
+
+/**
+ * @brief Return the offset in flash of a particular slot within an arena
+ * @return address of the requested slot
+ */
+static uintptr_t logfs_get_addr(uint8_t arena_id, uint16_t slot_id)
+{
+	PIOS_Assert(arena_id < (logfs.cfg->total_fs_size / logfs.cfg->arena_size));
+	PIOS_Assert(slot_id < (logfs.cfg->arena_size / logfs.cfg->slot_size));
+
+	return (logfs.cfg->start_offset +
+		(arena_id * logfs.cfg->arena_size) +
+		(slot_id  * logfs.cfg->slot_size));
+}
+
+/*
+ * The bits within these enum values must progress ONLY
+ * from 1 -> 0 so that we can write later ones on top
+ * of earlier ones in NOR flash without an erase cycle.
+ */
+enum arena_state {
+	/*
+	 * The STM32F30X flash subsystem is only capable of
+	 * writing words or halfwords. In this case we use halfwords.
+	 * In addition to that it is only capable to write to erased
+	 * cells (0xffff) or write a cell from anything to (0x0000).
+	 * To cope with this, the F3 needs carefully crafted enum values.
+	 * For this to work the underlying flash driver has to
+	 * check each halfword if it has changed before writing.
+	 */
+	ARENA_STATE_ERASED   = 0xFFFFFFFF,
+	ARENA_STATE_RESERVED = 0xE6E6FFFF,
+	ARENA_STATE_ACTIVE   = 0xE6E66666,
+	ARENA_STATE_OBSOLETE = 0x00000000,
+};
+
+struct arena_header {
+	uint32_t magic;
+	enum arena_state state;
+} __attribute__((packed));
+
+
+/****************************************
+ * Arena life-cycle transition functions
+ ****************************************/
+
+/**
+ * @brief Erases all sectors within the given arena and sets arena to erased state.
+ * @return 0 if success, < 0 on failure
+ * @note Must be called while holding the flash transaction lock
+ */
+static int32_t logfs_erase_arena(uint8_t arena_id)
+{
+	uintptr_t arena_addr = logfs_get_addr (arena_id, 0);
+
+	/* Erase all of the sectors in the arena */
+	for (uint8_t sector_id = 0;
+	     sector_id < (logfs.cfg->arena_size / logfs.cfg->sector_size);
+	     sector_id++) {
+		if (logfs.driver->erase_sector(logfs.flash_id,
+						arena_addr + (sector_id * logfs.cfg->sector_size))) {
+			return -1;
+		}
+	}
+
+	/* Mark this arena as fully erased */
+	struct arena_header arena_hdr = {
+		.magic = logfs.cfg->fs_magic,
+		.state = ARENA_STATE_ERASED,
+	};
+
+	if (logfs.driver->write_data(logfs.flash_id,
+					arena_addr,
+					(uint8_t *)&arena_hdr,
+					sizeof(arena_hdr)) != 0) {
+		return -2;
+	}
+
+	/* Arena is ready to be activated */
+	return 0;
+}
+
+/**
+ * @brief Marks the given arena as reserved so it can be filled.
+ * @return 0 if success, < 0 on failure
+ * @note Arena must have been previously erased before calling this
+ * @note Must be called while holding the flash transaction lock
+ */
+static int32_t logfs_reserve_arena (uint8_t arena_id)
+{
+	uintptr_t arena_addr = logfs_get_addr (arena_id, 0);
+
+	/* Read in the current arena header */
+	struct arena_header arena_hdr;
+	if (logfs.driver->read_data(logfs.flash_id,
+					arena_addr,
+					(uint8_t *)&arena_hdr,
+					sizeof(arena_hdr)) != 0) {
+		return -1;
+	}
+	if (arena_hdr.state != ARENA_STATE_ERASED) {
+		/* Arena was not erased, can't reserve it */
+		return -2;
+	}
+
+	/* Set the arena state to reserved */
+	arena_hdr.state = ARENA_STATE_RESERVED;
+
+	/* Write the arena header back to flash */
+	if (logfs.driver->write_data(logfs.flash_id,
+					arena_addr,
+					(uint8_t *)&arena_hdr,
+					sizeof(arena_hdr)) != 0) {
+		return -3;
+	}
+
+	/* Arena is ready to be filled */
+	return 0;
+}
+
+/**
+ * @brief Erases all arenas available to this filesystem instance
+ * @return 0 if success, < 0 on failure
+ * @note Must be called while holding the flash transaction lock
+ */
+static int32_t logfs_erase_all_arenas()
+{
+	uint16_t num_arenas = logfs.cfg->total_fs_size / logfs.cfg->arena_size;
+
+	for (uint16_t arena = 0; arena < num_arenas; arena++) {
+		if (logfs_erase_arena(arena) != 0)
+			return -1;
+	}
+
+	return 0;
+}
+
+/**
+ * @brief Marks the given arena as active so it can be mounted.
+ * @return 0 if success, < 0 on failure
+ * @note Arena must have been previously erased or reserved before calling this
+ * @note Must be called while holding the flash transaction lock
+ */
+static int32_t logfs_activate_arena(uint8_t arena_id)
+{
+	uintptr_t arena_addr = logfs_get_addr(arena_id, 0);
+
+	/* Make sure this arena has been previously erased */
+	struct arena_header arena_hdr;
+	if (logfs.driver->read_data(logfs.flash_id,
+					arena_addr,
+					(uint8_t *)&arena_hdr,
+					sizeof (arena_hdr)) != 0) {
+		/* Failed to read arena header */
+		return -1;
+	}
+	if ((arena_hdr.state != ARENA_STATE_RESERVED) &&
+		(arena_hdr.state != ARENA_STATE_ERASED)) {
+		/* Arena was not erased or reserved, can't activate it */
+		return -2;
+	}
+
+	/* Mark this arena as active */
+	arena_hdr.state = ARENA_STATE_ACTIVE;
+	if (logfs.driver->write_data(logfs.flash_id,
+					arena_addr,
+					(uint8_t *)&arena_hdr,
+					sizeof(arena_hdr)) != 0) {
+		return -3;
+	}
+
+	/* The arena is now activated and the log may be mounted */
+	return 0;
+}
+
+/**
+ * @brief Marks the given arena as obsolete.
+ * @return 0 if success, < 0 on failure
+ * @note Arena must have been previously active before calling this
+ * @note Must be called while holding the flash transaction lock
+ */
+static int32_t logfs_obsolete_arena(uint8_t arena_id)
+{
+	uintptr_t arena_addr = logfs_get_addr (arena_id, 0);
+
+	/* We shouldn't be retiring the currently active arena */
+	PIOS_Assert(!logfs.mounted);
+
+	/* Make sure this arena was previously active */
+	struct arena_header arena_hdr;
+	if (logfs.driver->read_data(logfs.flash_id,
+					arena_addr,
+					(uint8_t *)&arena_hdr,
+					sizeof (arena_hdr)) != 0) {
+		/* Failed to read arena header */
+		return -1;
+	}
+
+	if (arena_hdr.state != ARENA_STATE_ACTIVE) {
+		/* Arena was not previously active, can't obsolete it */
+		return -2;
+	}
+
+	/* Mark this arena as obsolete */
+	arena_hdr.state = ARENA_STATE_OBSOLETE;
+	if (logfs.driver->write_data(logfs.flash_id,
+					arena_addr,
+					(uint8_t *)&arena_hdr,
+					sizeof(arena_hdr)) != 0) {
+		return -3;
+	}
+
+	/* Arena is now obsoleted */
+	return 0;
+}
+
+/**
+ * @brief Find the first active arena in flash
+ * @return arena_id (>=0) of first active arena
+ * @return -1 if no active arena is found
+ * @return -2 if failed to read arena header
+ * @note Must be called while holding the flash transaction lock
+ */
+static int32_t logfs_find_active_arena()
+{
+	/* Search for the lowest numbered active arena */
+	for (uint8_t arena_id = 0;
+	     arena_id < logfs.cfg->total_fs_size / logfs.cfg->arena_size;
+	     arena_id++) {
+		uintptr_t arena_addr = logfs_get_addr (arena_id, 0);
+		/* Load the arena header */
+		struct arena_header arena_hdr;
+		if (logfs.driver->read_data(logfs.flash_id,
+						arena_addr,
+						(uint8_t *)&arena_hdr,
+						sizeof (arena_hdr)) != 0) {
+			return -2;
+		}
+		if ((arena_hdr.state == ARENA_STATE_ACTIVE) &&
+			(arena_hdr.magic == logfs.cfg->fs_magic)) {
+			/* This is the first active arena */
+			return arena_id;
+		}
+	}
+
+	/* Didn't find an active arena */
+	return -1;
+}
+
+/*
+ * The bits within these enum values must progress ONLY
+ * from 1 -> 0 so that we can write later ones on top
+ * of earlier ones in NOR flash without an erase cycle.
+ */
+enum slot_state {
+	/*
+	 * The STM32F30X flash subsystem is only capable of
+	 * writing words or halfwords. In this case we use halfwords.
+	 * In addition to that it is only capable to write to erased
+	 * cells (0xffff) or write a cell from anything to (0x0000).
+	 * To cope with this, the F3 needs carfully crafted enum values.
+	 * For this to work the underlying flash driver has to
+	 * check each halfword if it has changed before writing.
+	 */
+	SLOT_STATE_EMPTY    = 0xFFFFFFFF,
+	SLOT_STATE_RESERVED = 0xFAFAFFFF,
+	SLOT_STATE_ACTIVE   = 0xFAFAAAAA,
+	SLOT_STATE_OBSOLETE = 0x00000000,
+};
+
+struct slot_header {
+	enum slot_state state;
+	uint32_t obj_id;
+	uint16_t obj_inst_id;
+	uint16_t obj_size;
+} __attribute__((packed));
+
+/* NOTE: Must be called while holding the flash transaction lock */
+static int32_t logfs_raw_copy_bytes (uintptr_t src_addr, uint16_t src_size, uintptr_t dst_addr)
+{
+#define RAW_COPY_BLOCK_SIZE 16
+	uint8_t data_block[RAW_COPY_BLOCK_SIZE];
+
+	while (src_size) {
+		uint16_t blk_size;
+		if (src_size >= RAW_COPY_BLOCK_SIZE) {
+			/* Copy a full block */
+			blk_size = RAW_COPY_BLOCK_SIZE;
+		} else {
+			/* Copy the remainder */
+			blk_size = src_size;
+		}
+
+		/* Read a block of data from source */
+		if (logfs.driver->read_data(logfs.flash_id,
+						src_addr,
+						data_block,
+						blk_size) != 0) {
+			/* Failed to read next chunk from source */
+			return -1;
+		}
+
+		/* Write a block of data to destination */
+		if (logfs.driver->write_data(logfs.flash_id,
+						dst_addr,
+						data_block,
+						blk_size) != 0) {
+			/* Failed to write chunk to destination */
+			return -2;
+		}
+
+		/* Update the src/dst pointers */
+		src_size -= blk_size;
+		src_addr += blk_size;
+		dst_addr += blk_size;
+	}
+
+	return 0;
+}
+
+/*
+ * Is the entire filesystem full?
+ * true = all slots in the arena are in the ACTIVE state (ie. garbage collection won't free anything)
+ * false = some slots in the arena are either currently free or could be free'd by garbage collection
+ */
+static bool logfs_fs_is_full(void)
+{
+	return (logfs.num_active_slots == (logfs.cfg->arena_size / logfs.cfg->slot_size) - 1);
+}
+
+/*
+ * Is the log full?
+ * true = there are no unwritten slots left in the log (garbage collection may or may not help)
+ * false = there are still some entirely unused slots left in the log
+ */
+static bool logfs_log_is_full(void)
+{
+	return (logfs.num_free_slots == 0);
+}
+
+static int32_t logfs_unmount_log(void)
+{
+	PIOS_Assert (logfs.mounted);
+
+	logfs.num_active_slots = 0;
+	logfs.num_free_slots   = 0;
+	logfs.mounted          = false;
+
+	return 0;
+}
+
+static int32_t logfs_mount_log(uint8_t arena_id)
+{
+	PIOS_Assert (!logfs.mounted);
+
+	logfs.num_active_slots = 0;
+	logfs.num_free_slots   = 0;
+	logfs.active_arena_id  = arena_id;
+
+	/* Scan the log to find out how full it is */
+	for (uint16_t slot_id = 1;
+	     slot_id < (logfs.cfg->arena_size / logfs.cfg->slot_size);
+	     slot_id++) {
+		struct slot_header slot_hdr;
+		uintptr_t slot_addr = logfs_get_addr (logfs.active_arena_id, slot_id);
+		if (logfs.driver->read_data(logfs.flash_id,
+						slot_addr,
+						(uint8_t *)&slot_hdr,
+						sizeof (slot_hdr)) != 0) {
+			return -1;
+		}
+
+		/*
+		 * Empty slots must be in a continguous block at the
+		 * end of the arena.
+		 */
+		PIOS_Assert (slot_hdr.state == SLOT_STATE_EMPTY ||
+			logfs.num_free_slots == 0);
+
+		switch (slot_hdr.state) {
+		case SLOT_STATE_EMPTY:
+			logfs.num_free_slots++;
+			break;
+		case SLOT_STATE_ACTIVE:
+			logfs.num_active_slots++;
+			break;
+		case SLOT_STATE_RESERVED:
+		case SLOT_STATE_OBSOLETE:
+			break;
+		}
+	}
+
+	/* Scan is complete, mark the arena mounted */
+	logfs.active_arena_id = arena_id;
+	logfs.mounted = true;
+
+	return 0;
+}
+
+/**
+ * @brief Initialize the flash object setting FS
+ * @return 0 if success, -1 if failure
+ */
+int32_t PIOS_FLASHFS_Logfs_Init(uintptr_t * fs_id, const struct flashfs_logfs_cfg * cfg, const struct pios_flash_driver * driver, uintptr_t flash_id)
+{
+	PIOS_Assert(cfg);
+	PIOS_Assert(fs_id);
+	PIOS_Assert(driver);
+
+	/* We must have at least 2 arenas for garbage collection to work */
+	PIOS_Assert((cfg->total_fs_size / cfg->arena_size > 1));
+
+	/* Make sure the underlying flash driver provides the minimal set of required methods */
+	PIOS_Assert(driver->start_transaction);
+	PIOS_Assert(driver->end_transaction);
+	PIOS_Assert(driver->erase_sector);
+	PIOS_Assert(driver->write_data);
+	PIOS_Assert(driver->read_data);
+
+	/* Bind configuration parameters to this filesystem instance */
+	logfs.cfg      = cfg;	/* filesystem configuration */
+	logfs.driver   = driver; /* lower-level flash driver */
+	logfs.flash_id = flash_id; /* lower-level flash device id */
+	logfs.mounted  = false;
+
+	int8_t rc;
+
+	if (logfs.driver->start_transaction(logfs.flash_id) != 0) {
+		rc = -1;
+		goto out_exit;
+	}
+
+	bool found = false;
+	int32_t arena_id;
+	for (uint8_t try = 0; !found && try < 2; try++) {
+		/* Find the active arena */
+		arena_id = logfs_find_active_arena();
+		if (arena_id >= 0) {
+			/* Found the active arena */
+			found = true;
+			break;
+		} else {
+			/* No active arena found, erase and activate arena 0 */
+			if (logfs_erase_arena(0) != 0)
+				break;
+			if (logfs_activate_arena(0) != 0)
+				break;
+		}
+	}
+
+	if (!found) {
+		/* Still no active arena, something is broken */
+		rc = -2;
+		goto out_end_trans;
+	}
+
+	/* We've found an active arena, mount it */
+	if (logfs_mount_log(arena_id) != 0) {
+		/* Failed to mount the log, something is broken */
+		rc = -3;
+		goto out_end_trans;
+	}
+
+	/* Log has been mounted */
+	rc = 0;
+
+	*fs_id = (uintptr_t) &logfs;
+
+out_end_trans:
+	logfs.driver->end_transaction(logfs.flash_id);
+
+out_exit:
+	return rc;
+}
+
+/* NOTE: Must be called while holding the flash transaction lock */
+static int32_t logfs_garbage_collect (void) {
+	PIOS_Assert (logfs.mounted);
+
+	/* Source arena is the active arena */
+	uint8_t src_arena_id = logfs.active_arena_id;
+
+	/* Compute destination arena */
+	uint8_t dst_arena_id = (logfs.active_arena_id + 1) % (logfs.cfg->total_fs_size / logfs.cfg->arena_size);
+
+	/* Erase destination arena */
+	if (logfs_erase_arena (dst_arena_id) != 0) {
+		return -1;
+	}
+
+	/* Reserve the destination arena so we can start filling it */
+	if (logfs_reserve_arena (dst_arena_id) != 0) {
+		/* Unable to reserve the arena */
+		return -2;
+	}
+
+	/* Copy active slots from active arena to destination arena */
+	uint16_t dst_slot_id = 1;
+	for (uint16_t src_slot_id = 1;
+	     src_slot_id < (logfs.cfg->arena_size / logfs.cfg->slot_size);
+	     src_slot_id++) {
+		struct slot_header slot_hdr;
+		uintptr_t src_addr = logfs_get_addr (src_arena_id, src_slot_id);
+		if (logfs.driver->read_data(logfs.flash_id,
+						src_addr,
+						(uint8_t *)&slot_hdr,
+						sizeof (slot_hdr)) != 0) {
+			return -3;
+		}
+
+		if (slot_hdr.state == SLOT_STATE_ACTIVE) {
+			uintptr_t dst_addr = logfs_get_addr (dst_arena_id, dst_slot_id);
+			if (logfs_raw_copy_bytes(src_addr,
+							sizeof(slot_hdr) + slot_hdr.obj_size,
+							dst_addr) != 0) {
+				/* Failed to copy all bytes */
+				return -4;
+			}
+			dst_slot_id++;
+		}
+	}
+
+	/* Activate the destination arena */
+	if (logfs_activate_arena (dst_arena_id) != 0) {
+		return -5;
+	}
+
+	/* Unmount the source arena */
+	if (logfs_unmount_log () != 0) {
+		return -6;
+	}
+
+	/* Obsolete the source arena */
+	if (logfs_obsolete_arena (src_arena_id) != 0) {
+		return -7;
+	}
+
+	/* Mount the new arena */
+	if (logfs_mount_log (dst_arena_id) != 0) {
+		return -8;
+	}
+
+	return 0;
+}
+
+/* NOTE: Must be called while holding the flash transaction lock */
+static int16_t logfs_object_find_next (struct slot_header * slot_hdr, uint16_t * curr_slot, uint32_t obj_id, uint16_t obj_inst_id)
+{
+	PIOS_Assert(slot_hdr);
+	PIOS_Assert(curr_slot);
+
+	/* First slot in the arena is reserved for arena header, skip it. */
+	if (*curr_slot == 0) *curr_slot = 1;
+
+	for (uint16_t slot_id = *curr_slot;
+	     slot_id < (logfs.cfg->arena_size / logfs.cfg->slot_size);
+	     slot_id++) {
+		uintptr_t slot_addr = logfs_get_addr (logfs.active_arena_id, slot_id);
+
+		if (logfs.driver->read_data(logfs.flash_id,
+						slot_addr,
+						(uint8_t *)slot_hdr,
+						sizeof (*slot_hdr)) != 0) {
+			return -2;
+		}
+		if (slot_hdr->state == SLOT_STATE_EMPTY) {
+			/* We hit the end of the log */
+			break;
+		}
+		if (slot_hdr->state == SLOT_STATE_ACTIVE &&
+			slot_hdr->obj_id      == obj_id &&
+			slot_hdr->obj_inst_id == obj_inst_id) {
+			/* Found what we were looking for */
+			*curr_slot = slot_id;
+			return 0;
+		}
+	}
+
+	/* No matching entry was found */
+	return -1;
+}
+
+/* NOTE: Must be called while holding the flash transaction lock */
+/* OPTIMIZE: could trust that there is at most one active version of every object and terminate the search when we find one */
+static int8_t logfs_delete_object (uint32_t obj_id, uint16_t obj_inst_id)
+{
+	int8_t rc;
+
+	bool more = true;
+	uint16_t curr_slot_id = 0;
+	do {
+		struct slot_header slot_hdr;
+		switch (logfs_object_find_next (&slot_hdr, &curr_slot_id, obj_id, obj_inst_id)) {
+		case 0:
+			/* Found a matching slot.  Obsolete it. */
+			slot_hdr.state = SLOT_STATE_OBSOLETE;
+			uintptr_t slot_addr = logfs_get_addr (logfs.active_arena_id, curr_slot_id);
+
+			if (logfs.driver->write_data(logfs.flash_id,
+							slot_addr,
+							(uint8_t *)&slot_hdr,
+							sizeof(slot_hdr)) != 0) {
+				rc = -2;
+				goto out_exit;
+			}
+			/* Object has been successfully obsoleted and is no longer active */
+			logfs.num_active_slots--;
+			break;
+		case -1:
+			/* Search completed, object not found */
+			more = false;
+			rc = 0;
+			break;
+		default:
+			/* Error occurred during search */
+			rc = -1;
+			goto out_exit;
+		}
+	} while (more);
+
+out_exit:
+	return rc;
+}
+
+/* NOTE: Must be called while holding the flash transaction lock */
+static int8_t logfs_reserve_free_slot (uint16_t * slot_id, struct slot_header * slot_hdr, uint32_t obj_id, uint16_t obj_inst_id, uint16_t obj_size)
+{
+	PIOS_Assert(slot_id);
+	PIOS_Assert(slot_hdr);
+
+	if (logfs.num_free_slots < 1) {
+		/* No free slots to allocate */
+		return -1;
+	}
+
+	if (obj_size > (logfs.cfg->slot_size - sizeof (slot_hdr))) {
+		/* This object is too big for the slot */
+		return -2;
+	}
+
+	uint16_t candidate_slot_id = (logfs.cfg->arena_size / logfs.cfg->slot_size) - logfs.num_free_slots;
+	PIOS_Assert(candidate_slot_id > 0);
+
+	uintptr_t slot_addr = logfs_get_addr (logfs.active_arena_id, candidate_slot_id);
+
+	if (logfs.driver->read_data(logfs.flash_id,
+					slot_addr,
+					(uint8_t *)slot_hdr,
+					sizeof (*slot_hdr)) != 0) {
+		/* Failed to read slot header for candidate slot */
+		return -3;
+	}
+
+	if (slot_hdr->state != SLOT_STATE_EMPTY) {
+		/* Candidate slot isn't empty!  Something is broken. */
+		PIOS_DEBUG_Assert(0);
+		return -4;
+	}
+
+	/* Mark this slot as RESERVED */
+	slot_hdr->state       = SLOT_STATE_RESERVED;
+	slot_hdr->obj_id      = obj_id;
+	slot_hdr->obj_inst_id = obj_inst_id;
+	slot_hdr->obj_size    = obj_size;
+
+	if (logfs.driver->write_data(logfs.flash_id,
+					slot_addr,
+					(uint8_t *)slot_hdr,
+					sizeof(*slot_hdr)) != 0) {
+		/* Failed to write the slot header */
+		return -5;
+	}
+
+	/* FIXME: If the header write (above) failed, may have partially written data, thus corrupting that slot but we would have missed decrementing this counter */
+	logfs.num_free_slots--;
+
+	*slot_id = candidate_slot_id;
+	return 0;
+}
+
+/* NOTE: Must be called while holding the flash transaction lock */
+static int8_t logfs_append_to_log (uint32_t obj_id, uint16_t obj_inst_id, uint8_t * obj_data, uint16_t obj_size)
+{
+	/* Reserve a free slot for our new object */
+	uint16_t free_slot_id;
+	struct slot_header slot_hdr;
+	if (logfs_reserve_free_slot (&free_slot_id, &slot_hdr, obj_id, obj_inst_id, obj_size) != 0) {
+		/* Failed to reserve a free slot */
+		return -1;
+	}
+
+	/* Compute slot address */
+	uintptr_t slot_addr = logfs_get_addr (logfs.active_arena_id, free_slot_id);
+
+	/* Write the data into the reserved slot, starting after the slot header */
+	uintptr_t slot_offset = sizeof(slot_hdr);
+	while (obj_size > 0) {
+		/* Individual writes must fit entirely within a single page buffer. */
+		uint16_t page_remaining = logfs.cfg->page_size - (slot_offset % logfs.cfg->page_size);
+		uint16_t write_size = MIN(obj_size, page_remaining);
+		if (logfs.driver->write_data (logfs.flash_id,
+						slot_addr + slot_offset,
+						obj_data,
+						write_size) != 0) {
+			/* Failed to write the object data to the slot */
+			return -2;
+		}
+
+		/* Update our accounting */
+		obj_data    += write_size;
+		slot_offset += write_size;
+		obj_size    -= write_size;
+	}
+
+	/* Mark this slot active in one atomic step */
+	slot_hdr.state = SLOT_STATE_ACTIVE;
+	if (logfs.driver->write_data (logfs.flash_id,
+					slot_addr,
+					(uint8_t *)&slot_hdr,
+					sizeof(slot_hdr)) != 0) {
+		/* Failed to mark the slot active */
+		return -4;
+	}
+
+	/* Object has been successfully written to the slot */
+	logfs.num_active_slots++;
+	return 0;
+}
+
+
+/**********************************
+ *
+ * Provide a PIOS_FLASHFS_* driver
+ *
+ *********************************/
+#include "pios_flashfs.h"	/* API for flash filesystem */
+
+/**
+ * @brief Saves one object instance to the filesystem
+ * @param[in] fs_id The filesystem to use for this action
+ * @param[in] obj UAVObject ID of the object to save
+ * @param[in] obj_inst_id The instance number of the object being saved
+ * @param[in] obj_data Contents of the object being saved
+ * @param[in] obj_size Size of the object being saved
+ * @return 0 if success or error code
+ * @retval -1 if failed to start transaction
+ * @retval -2 if failure to delete any previous versions of the object
+ * @retval -3 if filesystem is entirely full and garbage collection won't help
+ * @retval -4 if garbage collection failed
+ * @retval -5 if filesystem is full even after garbage collection should have freed space
+ * @retval -6 if writing the new object to the filesystem failed
+ */
+int32_t PIOS_FLASHFS_ObjSave(uint32_t fs_id, uint32_t obj_id, uint16_t obj_inst_id, uint8_t * obj_data, uint16_t obj_size)
+{
+	int8_t rc;
+
+	PIOS_Assert(obj_size <= (logfs.cfg->slot_size - sizeof(struct slot_header)));
+
+	if (logfs.driver->start_transaction(logfs.flash_id) != 0) {
+		rc = -1;
+		goto out_exit;
+	}
+
+	if (logfs_delete_object (obj_id, obj_inst_id) != 0) {
+		rc = -2;
+		goto out_end_trans;
+	}
+
+	/*
+	 * All old versions of this object + instance have been invalidated.
+	 * Write the new object.
+	 */
+
+	/* Check if the arena is entirely full. */
+	if (logfs_fs_is_full()) {
+		/* Note: Filesystem Full means we're full of *active* records so gc won't help at all. */
+		rc = -3;
+		goto out_end_trans;
+	}
+
+	/* Is garbage collection required? */
+	if (logfs_log_is_full()) {
+		/* Note: Log Full means the log is full but may contain obsolete slots so gc may free some space */
+		if (logfs_garbage_collect() != 0) {
+			rc = -4;
+			goto out_end_trans;
+		}
+		/* Check one more time just to be sure we actually free'd some space */
+		if (logfs_log_is_full()) {
+			/*
+			 * Log is still full even after gc!
+			 * NOTE: This should not happen since the filesystem wasn't full
+			 *       when we checked above so gc should have helped.
+			 */
+			PIOS_DEBUG_Assert(0);
+			rc = -5;
+			goto out_end_trans;
+		}
+	}
+
+	/* We have room for our new object.  Append it to the log. */
+	if (logfs_append_to_log(obj_id, obj_inst_id, obj_data, obj_size) != 0) {
+		/* Error during append */
+		rc = -6;
+		goto out_end_trans;
+	}
+
+	/* Object successfully written to the log */
+	rc = 0;
+
+out_end_trans:
+	logfs.driver->end_transaction(logfs.flash_id);
+
+out_exit:
+	return rc;
+}
+
+/**
+ * @brief Load one object instance from the filesystem
+ * @param[in] fs_id The filesystem to use for this action
+ * @param[in] obj UAVObject ID of the object to load
+ * @param[in] obj_inst_id The instance of the object to load
+ * @param[in] obj_data Buffer to hold the contents of the loaded object
+ * @param[in] obj_size Size of the object to be loaded
+ * @return 0 if success or error code
+ * @retval -1 if failed to start transaction
+ * @retval -2 if object not found in filesystem
+ * @retval -3 if object size in filesystem does not exactly match buffer size
+ * @retval -4 if reading the object data from flash fails
+ */
+int32_t PIOS_FLASHFS_ObjLoad(uint32_t fs_id, uint32_t obj_id, uint16_t obj_inst_id, uint8_t * obj_data, uint16_t obj_size)
+{
+	int8_t rc;
+
+	PIOS_Assert(obj_size <= (logfs.cfg->slot_size - sizeof(struct slot_header)));
+
+	if (logfs.driver->start_transaction(logfs.flash_id) != 0) {
+		rc = -1;
+		goto out_exit;
+	}
+
+	/* Find the object in the log */
+	uint16_t slot_id = 0;
+	struct slot_header slot_hdr;
+	if (logfs_object_find_next (&slot_hdr, &slot_id, obj_id, obj_inst_id) != 0) {
+		/* Object does not exist in fs */
+		rc = -2;
+		goto out_end_trans;
+	}
+
+	/* Sanity check what we've found */
+	if (slot_hdr.obj_size != obj_size) {
+		/* Object sizes don't match.  Not safe to copy contents. */
+		rc = -3;
+		goto out_end_trans;
+	}
+
+	/* Read the contents of the object from the log */
+	if (obj_size > 0) {
+		uintptr_t slot_addr = logfs_get_addr (logfs.active_arena_id, slot_id);
+		if (logfs.driver->read_data(logfs.flash_id,
+						slot_addr + sizeof(slot_hdr),
+						(uint8_t *)obj_data,
+						obj_size) != 0) {
+			/* Failed to read object data from the log */
+			rc = -4;
+			goto out_end_trans;
+		}
+	}
+
+	/* Object successfully loaded */
+	rc = 0;
+
+out_end_trans:
+	logfs.driver->end_transaction(logfs.flash_id);
+
+out_exit:
+	return rc;
+}
+
+/**
+ * @brief Delete one instance of an object from the filesystem
+ * @param[in] fs_id The filesystem to use for this action
+ * @param[in] obj UAVObject ID of the object to delete
+ * @param[in] obj_inst_id The instance of the object to delete
+ * @return 0 if success or error code
+ * @retval -1 if failed to start transaction
+ * @retval -2 if failed to delete the object from the filesystem
+ */
+int32_t PIOS_FLASHFS_ObjDelete(uint32_t fs_id, uint32_t obj_id, uint16_t obj_inst_id)
+{
+	int8_t rc;
+
+	if (logfs.driver->start_transaction(logfs.flash_id) != 0) {
+		rc = -1;
+		goto out_exit;
+	}
+
+	if (logfs_delete_object (obj_id, obj_inst_id) != 0) {
+		rc = -2;
+		goto out_end_trans;
+	}
+
+	/* Object successfully deleted from the log */
+	rc = 0;
+
+out_end_trans:
+	logfs.driver->end_transaction(logfs.flash_id);
+
+out_exit:
+	return rc;
+}
+
+/**
+ * @brief Erases all filesystem arenas and activate the first arena
+ * @param[in] fs_id The filesystem to use for this action
+ * @return 0 if success or error code
+ * @retval -1 if failed to start transaction
+ * @retval -2 if failed to erase all arenas
+ * @retval -3 if failed to activate arena 0
+ * @retval -4 if failed to mount arena 0
+ */
+int32_t PIOS_FLASHFS_Format(uint32_t fs_id)
+{
+	int32_t rc;
+
+	if (logfs.mounted) {
+		logfs_unmount_log();
+	}
+
+	if (logfs.driver->start_transaction(logfs.flash_id) != 0) {
+		rc = -1;
+		goto out_exit;
+	}
+
+	if (logfs_erase_all_arenas() != 0) {
+		rc = -2;
+		goto out_end_trans;
+	}
+
+	/* Reinitialize arena 0 */
+	if (logfs_activate_arena(0) != 0) {
+		rc = -3;
+		goto out_end_trans;
+	}
+
+	/* Mount arena 0 */
+	if (logfs_mount_log(0) != 0) {
+		rc = -4;
+		goto out_end_trans;
+	}
+
+	/* Chip erased and log remounted successfully */
+	rc = 0;
+
+out_end_trans:
+	logfs.driver->end_transaction(logfs.flash_id);
+
+out_exit:
+	return rc;
+}
+
+/**
+ * @}
+ * @}
+ */

flight/PiOS/Common/pios_flashfs_objlist.c

@@ -1,402 +0,0 @@
-/**
- ******************************************************************************
- *
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup PIOS_FLASHFS_OBJLIST Object list based flash filesystem (low ram)
- * @{
- *
- * @file       pios_flashfs_objlist.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      A file system for storing UAVObject in flash chip
- * @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
- */
-
-
-#include "openpilot.h"
-#include "uavobjectmanager.h"
-
-// Private functions
-static int32_t PIOS_FLASHFS_ClearObjectTableHeader();
-static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId);
-static int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId);
-
-// Private variables
-static int32_t numObjects = -1;
-
-// Private structures
-// Header for objects in the file system table
-struct objectHeader {
-	uint32_t objMagic;
-	uint32_t objId;
-	uint32_t instId;
-	uint32_t address;
-} __attribute__((packed));;
-
-struct fileHeader {
-	uint32_t id;
-	uint16_t instId;
-	uint16_t size;
-} __attribute__((packed));
-
-
-#define MAX_BADMAGIC       1000
-
-static const struct flashfs_cfg * cfg;
-/**
- * @brief Initialize the flash object setting FS
- * @return 0 if success, -1 if failure
- */
-int32_t PIOS_FLASHFS_Init(const struct flashfs_cfg * new_cfg)
-{
-	cfg = new_cfg;
-	
-	// Check for valid object table or create one
-	uint32_t object_table_magic;
-	uint32_t magic_fail_count = 0;
-	bool magic_good = false;
-
-	while(!magic_good) {
-		if (PIOS_Flash_Jedec_ReadData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0)
-			return -1;
-		if(object_table_magic != new_cfg->table_magic) {
-			if(magic_fail_count++ > MAX_BADMAGIC) {
-				if(PIOS_FLASHFS_Format() != 0)
-					return -1;
-#if defined(PIOS_LED_HEARTBEAT)
-				PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
-#endif	/* PIOS_LED_HEARTBEAT */
-				magic_fail_count = 0;
-				magic_good = true;
-			} else {
-				PIOS_DELAY_WaituS(1000);
-			}
-		}
-		else {
-			magic_good = true;
-		}
-
-	}
-
-	int32_t addr = cfg->obj_table_start;
-	struct objectHeader header;
-	numObjects = 0;
-
-	// Loop through header area while objects detect to count how many saved
-	while(addr < cfg->obj_table_end) {
-		// Read the instance data
-		if (PIOS_Flash_Jedec_ReadData(addr, (uint8_t *)&header, sizeof(header)) != 0)
-			return -1;
-
-		// Counting number of valid headers
-		if(header.objMagic != cfg->obj_magic)
-			break;
-
-		numObjects++;
-		addr += sizeof(header);
-	}
-
-	return 0;
-}
-
-/**
- * @brief Erase the whole flash chip and create the file system
- * @return 0 if successful, -1 if not
- */
-int32_t PIOS_FLASHFS_Format() 
-{
-	if(PIOS_Flash_Jedec_EraseChip() != 0)
-		return -1;
-	if(PIOS_FLASHFS_ClearObjectTableHeader() != 0)
-		return -1;
-	return 0;
-}
-
-/**
- * @brief Erase the headers for all objects in the flash chip
- * @return 0 if successful, -1 if not
- */
-static int32_t PIOS_FLASHFS_ClearObjectTableHeader()
-{
-	if(PIOS_Flash_Jedec_EraseSector(0) != 0)
-		return -1;
-
-	if (PIOS_Flash_Jedec_WriteData(0, (uint8_t *)&cfg->table_magic, sizeof(cfg->table_magic)) != 0)
-		return -1;
-
-	uint32_t object_table_magic;
-	PIOS_Flash_Jedec_ReadData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic));
-	if(object_table_magic != cfg->table_magic)
-		return -1;
-
-	return 0;
-}
-
-/**
- * @brief Get the address of an object
- * @param obj UAVObjHandle for that object
- * @parma instId Instance id for that object
- * @return address if successful, -1 if not found
- */
-static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId)
-{
-	int32_t addr = cfg->obj_table_start;
-	struct objectHeader header;
-
-	// Loop through header area while objects detect to count how many saved
-	while(addr < cfg->obj_table_end) {
-		// Read the instance data
-		if (PIOS_Flash_Jedec_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0)
-			return -1;
-		if(header.objMagic != cfg->obj_magic)
-			break; // stop searching once hit first non-object header
-		else if (header.objId == objId && header.instId == instId)
-			break;
-		addr += sizeof(header);
-	}
-
-	if (header.objId == objId && header.instId == instId)
-		return header.address;
-
-	return -1;
-}
-
-/**
- * @brief Returns an address for a new object and creates entry into object table
- * @param[in] obj Object handle for object to be saved
- * @param[in] instId The instance id of object to be saved
- * @return 0 if success or error code
- * @retval -1 Object not found
- * @retval -2 No room in object table
- * @retval -3 Unable to write entry into object table
- * @retval -4 FS not initialized
- * @retval -5
- */
-int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId)
-{
-	struct objectHeader header;
-
-	if(numObjects < 0)
-		return -4;
-
-	// Don't worry about max size of flash chip here, other code will catch that
-	header.objMagic = cfg->obj_magic;
-	header.objId = objId;
-	header.instId = instId;
-	header.address = cfg->obj_table_end + cfg->sector_size * numObjects;
-
-	int32_t addr = cfg->obj_table_start + sizeof(header) * numObjects;
-
-	// No room for this header in object table
-	if((addr + sizeof(header)) > cfg->obj_table_end)
-		return -2;
-
-	// Verify the address is within the chip
-	if((addr + cfg->sector_size) > cfg->chip_size)
-		return -5;
-
-	if(PIOS_Flash_Jedec_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
-		return -3;
-
-	// This numObejcts value must stay consistent or there will be a break in the table
-	// and later the table will have bad values in it
-	numObjects++;
-	return header.address;
-}
-
-
-/**
- * @brief Saves one object instance per sector
- * @param[in] obj UAVObjHandle the object to save
- * @param[in] instId The instance of the object to save
- * @return 0 if success or -1 if failure
- * @note This uses one sector on the flash chip per object so that no buffering in ram
- * must be done when erasing the sector before a save
- */
-int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
-{
-	uint32_t objId = UAVObjGetID(obj);
-	uint8_t crc = 0;
-
-	if(PIOS_Flash_Jedec_StartTransaction() != 0)
-		return -1;
-
-	int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
-
-	// Object currently not saved
-	if(addr < 0)
-		addr = PIOS_FLASHFS_GetNewAddress(objId, instId);
-
-	// Could not allocate a sector
-	if(addr < 0) {
-		PIOS_Flash_Jedec_EndTransaction();
-		return -1;
-	}
-
-	struct fileHeader header = {
-		.id = objId,
-		.instId = instId,
-		.size = UAVObjGetNumBytes(obj)
-	};
-	
-	// Update CRC
-	crc = PIOS_CRC_updateCRC(0, (uint8_t *) &header, sizeof(header));
-	crc = PIOS_CRC_updateCRC(crc, (uint8_t *) data, UAVObjGetNumBytes(obj));
-
-	if(PIOS_Flash_Jedec_EraseSector(addr) != 0) {
-		PIOS_Flash_Jedec_EndTransaction();
-		return -2;
-	}
-
-	struct pios_flash_chunk chunks[3] = {
-		{
-			.addr = (uint8_t *) &header,
-			.len = sizeof(header),
-		},
-		{
-			.addr = (uint8_t *) data,
-			.len = UAVObjGetNumBytes(obj)
-		},
-		{
-			.addr = (uint8_t *) &crc,
-			.len = sizeof(crc)
-		}
-	};
-
-	if(PIOS_Flash_Jedec_WriteChunks(addr, chunks, NELEMENTS(chunks)) != 0) {
-		PIOS_Flash_Jedec_EndTransaction();
-	   return -1;
-	}
-	
-	if(PIOS_Flash_Jedec_EndTransaction() != 0) {
-		PIOS_Flash_Jedec_EndTransaction();
-		return -1;
-	}
-
-	return 0;
-}
-
-/**
- * @brief Load one object instance per sector
- * @param[in] obj UAVObjHandle the object to save
- * @param[in] instId The instance of the object to save
- * @return 0 if success or error code
- * @retval -1 if object not in file table
- * @retval -2 if unable to retrieve object header
- * @retval -3 if loaded data instId or objId don't match
- * @retval -4 if unable to retrieve instance data
- * @retval -5 if unable to read CRC
- * @retval -6 if CRC doesn't match
- * @note This uses one sector on the flash chip per object so that no buffering in ram
- * must be done when erasing the sector before a save
- */
-int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
-{
-	uint32_t objId = UAVObjGetID(obj);
-	uint16_t objSize = UAVObjGetNumBytes(obj);
-	uint8_t crc = 0;
-	uint8_t crcFlash = 0;
-	const uint8_t crc_read_step = 8;
-	uint8_t crc_read_buffer[crc_read_step];
-
-	if(PIOS_Flash_Jedec_StartTransaction() != 0)
-		return -1;
-
-	int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
-
-	// Object currently not saved
-	if(addr < 0) {
-		PIOS_Flash_Jedec_EndTransaction();
-		return -1;
-	}
-
-	struct fileHeader header;
-
-	// Load header
-	// This information IS redundant with the object table id.  Oh well.  Better safe than sorry.
-	if(PIOS_Flash_Jedec_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0) {
-		PIOS_Flash_Jedec_EndTransaction();
-		return -2;
-	}
-	
-	// Update CRC
-	crc = PIOS_CRC_updateCRC(0, (uint8_t *) &header, sizeof(header));
-
-	if((header.id != objId) || (header.instId != instId)) {
-		PIOS_Flash_Jedec_EndTransaction();
-		return -3;
-	}
-	
-	// To avoid having to allocate the RAM for a copy of the object, we read by chunks
-	// and compute the CRC
-	for(uint32_t i = 0; i < objSize; i += crc_read_step) {
-		PIOS_Flash_Jedec_ReadData(addr + sizeof(header) + i, crc_read_buffer, crc_read_step);
-		uint8_t valid_bytes = ((i + crc_read_step) >= objSize) ? objSize - i : crc_read_step;
-		crc = PIOS_CRC_updateCRC(crc, crc_read_buffer, valid_bytes);
-	}
-
-	// Read CRC (written so will work when CRC changes to uint16)
-	if(PIOS_Flash_Jedec_ReadData(addr + sizeof(header) + objSize, (uint8_t *) &crcFlash, sizeof(crcFlash)) != 0) {
-		PIOS_Flash_Jedec_EndTransaction();
-		return -5;
-	}
-
-	if(crc != crcFlash) {
-		PIOS_Flash_Jedec_EndTransaction();
-		return -6;
-	}
-
-	// Read the instance data
-	if (PIOS_Flash_Jedec_ReadData(addr + sizeof(header), data, objSize) != 0) {
-		PIOS_Flash_Jedec_EndTransaction();
-		return -4;
-	}
-
-	if(PIOS_Flash_Jedec_EndTransaction() != 0)
-		return -1;
-
-	return 0;
-}
-
-/**
- * @brief Delete object from flash
- * @param[in] obj UAVObjHandle the object to save
- * @param[in] instId The instance of the object to save
- * @return 0 if success or error code
- * @retval -1 if object not in file table
- * @retval -2 Erase failed
- * @note To avoid buffering the file table (1k ram!) the entry in the file table
- * remains but destination sector is erased.  This will make the load fail as the
- * file header won't match the object.  At next save it goes back there.
- */
-int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId)
-{
-	uint32_t objId = UAVObjGetID(obj);
-
-	int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
-
-	// Object currently not saved
-	if(addr < 0)
-		return -1;
-
-	if(PIOS_Flash_Jedec_EraseSector(addr) != 0)
-		return -2;
-
-	return 0;
-}

flight/PiOS/Common/pios_gcsrcvr.c

@@ -31,6 +31,8 @@
 /* Project Includes */
 #include "pios.h"
 
+#include "uavobjectmanager.h"
+
 #if defined(PIOS_INCLUDE_GCSRCVR)
 
 #include "pios_gcsrcvr_priv.h"

flight/PiOS/Common/pios_mpu6000.c

@@ -141,7 +141,7 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg)
 
 	// Reset chip
 	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, PIOS_MPU6000_PWRMGMT_IMU_RST) != 0);
-	PIOS_DELAY_WaitmS(300);
+	PIOS_DELAY_WaitmS(100);
 
 	// Reset chip and fifo
 	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG,

flight/PiOS/STM32F4xx/pios_flash_internal.c

@@ -0,0 +1,337 @@
+/**
+ ******************************************************************************
+ * @file       pios_flash_internal.c
+ * @author     PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
+ * @addtogroup 
+ * @{
+ * @addtogroup 
+ * @{
+ * @brief Provides a flash driver for the STM32 internal flash sectors
+ *****************************************************************************/
+/* 
+ * 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"
+
+#if defined(PIOS_INCLUDE_FLASH_INTERNAL)
+
+#include "stm32f4xx_flash.h"
+#include "pios_flash_internal_priv.h"
+#include "pios_flash.h"
+#include <stdbool.h>
+
+struct device_flash_sector {
+	uint32_t start;
+	uint32_t size;
+	uint16_t st_sector;
+};
+
+static struct device_flash_sector flash_sectors[] = {
+	[0] = {
+		.start = 0x08000000,
+		.size  = 16 * 1024,
+		.st_sector = FLASH_Sector_0,
+	},
+	[1] = {
+		.start = 0x08004000,
+		.size  = 16 * 1024,
+		.st_sector = FLASH_Sector_1,
+	},
+	[2] = {
+		.start = 0x08008000,
+		.size  = 16 * 1024,
+		.st_sector = FLASH_Sector_2,
+	},
+	[3] = {
+		.start = 0x0800C000,
+		.size  = 16 * 1024,
+		.st_sector = FLASH_Sector_3,
+	},
+	[4] = {
+		.start = 0x08010000,
+		.size  = 64 * 1024,
+		.st_sector = FLASH_Sector_4,
+	},
+	[5] = {
+		.start = 0x08020000,
+		.size  = 128 * 1024,
+		.st_sector = FLASH_Sector_5,
+	},
+	[6] = {
+		.start = 0x08040000,
+		.size  = 128 * 1024,
+		.st_sector = FLASH_Sector_6,
+	},
+	[7] = {
+		.start = 0x08060000,
+		.size  = 128 * 1024,
+		.st_sector = FLASH_Sector_7,
+	},
+	[8] = {
+		.start = 0x08080000,
+		.size  = 128 * 1024,
+		.st_sector = FLASH_Sector_8,
+	},
+	[9] = {
+		.start = 0x080A0000,
+		.size  = 128 * 1024,
+		.st_sector = FLASH_Sector_9,
+	},
+	[10] = {
+		.start = 0x080C0000,
+		.size  = 128 * 1024,
+		.st_sector = FLASH_Sector_10,
+	},
+	[11] = {
+		.start = 0x080E0000,
+		.size  = 128 * 1024,
+		.st_sector = FLASH_Sector_11,
+	},
+};
+
+static bool PIOS_Flash_Internal_GetSectorInfo(uint32_t address, uint8_t * sector_number, uint32_t *sector_start, uint32_t *sector_size)
+{
+	for (uint8_t i = 0; i < NELEMENTS(flash_sectors); i++) {
+		struct device_flash_sector * sector = &flash_sectors[i];
+		if ((address >= sector->start) &&
+			(address < (sector->start + sector->size))) {
+			/* address lies within this sector */
+			*sector_number = sector->st_sector;
+			*sector_start  = sector->start;
+			*sector_size   = sector->size;
+			return (true);
+		}
+	}
+
+	return (false);
+}
+
+enum pios_internal_flash_dev_magic {
+	PIOS_INTERNAL_FLASH_DEV_MAGIC = 0x33445902,
+};
+
+struct pios_internal_flash_dev {
+	enum pios_internal_flash_dev_magic magic;
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+	xSemaphoreHandle transaction_lock;
+#endif	/* defined(PIOS_INCLUDE_FREERTOS) */
+};
+
+static bool PIOS_Flash_Internal_Validate(struct pios_internal_flash_dev * flash_dev) {
+	return (flash_dev && (flash_dev->magic == PIOS_INTERNAL_FLASH_DEV_MAGIC));
+}
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+static struct pios_internal_flash_dev * PIOS_Flash_Internal_alloc(void)
+{
+	struct pios_internal_flash_dev * flash_dev;
+
+	flash_dev = (struct pios_internal_flash_dev *)pvPortMalloc(sizeof(* flash_dev));
+	if (!flash_dev) return (NULL);
+
+	flash_dev->magic = PIOS_INTERNAL_FLASH_DEV_MAGIC;
+
+	return(flash_dev);
+}
+#else
+static struct pios_internal_flash_dev pios_internal_flash_devs[PIOS_INTERNAL_FLASH_MAX_DEVS];
+static uint8_t pios_internal_flash_num_devs;
+static struct pios_internal_flash_dev * PIOS_Flash_Internal_alloc(void)
+{
+	struct pios_internal_flash_dev * flash_dev;
+
+	if (pios_internal_flash_num_devs >= PIOS_INTERNAL_FLASH_MAX_DEVS) {
+		return (NULL);
+	}
+
+	flash_dev = &pios_internal_flash_devs[pios_internal_flash_num_devs++];
+	flash_dev->magic = PIOS_INTERNAL_FLASH_DEV_MAGIC;
+
+	return (flash_dev);
+}
+
+#endif /* defined(PIOS_INCLUDE_FREERTOS) */
+
+int32_t PIOS_Flash_Internal_Init(uintptr_t * flash_id, const struct pios_flash_internal_cfg * cfg)
+{
+	struct pios_internal_flash_dev * flash_dev;
+
+	flash_dev = PIOS_Flash_Internal_alloc();
+	if (flash_dev == NULL)
+		return -1;
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+	flash_dev->transaction_lock = xSemaphoreCreateMutex();
+#endif	/* defined(PIOS_INCLUDE_FREERTOS) */
+
+	*flash_id = (uintptr_t) flash_dev;
+
+	return 0;
+}
+
+/**********************************
+ *
+ * Provide a PIOS flash driver API
+ *
+ *********************************/
+#include "pios_flash.h"
+
+static int32_t PIOS_Flash_Internal_StartTransaction(uintptr_t flash_id)
+{
+	struct pios_internal_flash_dev * flash_dev = (struct pios_internal_flash_dev *)flash_id;
+
+	if (!PIOS_Flash_Internal_Validate(flash_dev))
+		return -1;
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+	if (xSemaphoreTake(flash_dev->transaction_lock, portMAX_DELAY) != pdTRUE)
+		return -2;
+#endif	/* defined(PIOS_INCLUDE_FREERTOS) */
+
+	/* Unlock the internal flash so we can write to it */
+	FLASH_Unlock();
+	return 0;
+}
+
+static int32_t PIOS_Flash_Internal_EndTransaction(uintptr_t flash_id)
+{
+	struct pios_internal_flash_dev * flash_dev = (struct pios_internal_flash_dev *)flash_id;
+
+	if (!PIOS_Flash_Internal_Validate(flash_dev))
+		return -1;
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+	if (xSemaphoreGive(flash_dev->transaction_lock) != pdTRUE)
+		return -2;
+#endif	/* defined(PIOS_INCLUDE_FREERTOS) */
+
+	/* Lock the internal flash again so we can no longer write to it */
+	FLASH_Lock();
+
+	return 0;
+}
+
+static int32_t PIOS_Flash_Internal_EraseSector(uintptr_t flash_id, uint32_t addr)
+{
+	struct pios_internal_flash_dev * flash_dev = (struct pios_internal_flash_dev *)flash_id;
+
+	if (!PIOS_Flash_Internal_Validate(flash_dev))
+		return -1;
+
+	uint8_t sector_number;
+	uint32_t sector_start;
+	uint32_t sector_size;
+	if (!PIOS_Flash_Internal_GetSectorInfo(addr,
+						&sector_number,
+						&sector_start,
+						&sector_size)) {
+		/* We're asking for an invalid flash address */
+		return -2;
+	}
+
+	if (FLASH_EraseSector(sector_number, VoltageRange_3) != FLASH_COMPLETE)
+		return -3;
+
+	return 0;
+}
+
+static int32_t PIOS_Flash_Internal_WriteData(uintptr_t flash_id, uint32_t addr, uint8_t * data, uint16_t len)
+{
+	PIOS_Assert(data);
+
+	struct pios_internal_flash_dev * flash_dev = (struct pios_internal_flash_dev *)flash_id;
+
+	if (!PIOS_Flash_Internal_Validate(flash_dev))
+		return -1;
+
+	uint8_t sector_number;
+	uint32_t sector_start;
+	uint32_t sector_size;
+
+	/* Ensure that the base address is in a valid sector */
+	if (!PIOS_Flash_Internal_GetSectorInfo(addr,
+						&sector_number,
+						&sector_start,
+						&sector_size)) {
+		/* We're asking for an invalid flash address */
+		return -2;
+	}
+
+	/* Ensure that the entire write occurs within the same sector */
+	if ((uintptr_t)addr + len > sector_start + sector_size) {
+		/* Write crosses the end of the sector */
+		return -3;
+	}
+
+	/* Write the data */
+	for (uint16_t i = 0; i < len; i++) {
+		FLASH_Status status;
+		/*
+		 * This is inefficient.  Should try to do word writes.
+		 * Not sure if word writes need to be aligned though.
+		 */
+		status = FLASH_ProgramByte(addr + i, data[i]);
+		PIOS_Assert(status == FLASH_COMPLETE);
+	}
+
+	return 0;
+}
+
+static int32_t PIOS_Flash_Internal_ReadData(uintptr_t flash_id, uint32_t addr, uint8_t * data, uint16_t len)
+{
+	PIOS_Assert(data);
+
+	struct pios_internal_flash_dev * flash_dev = (struct pios_internal_flash_dev *)flash_id;
+
+	if (!PIOS_Flash_Internal_Validate(flash_dev))
+		return -1;
+
+	uint8_t sector_number;
+	uint32_t sector_start;
+	uint32_t sector_size;
+
+	/* Ensure that the base address is in a valid sector */
+	if (!PIOS_Flash_Internal_GetSectorInfo(addr,
+						&sector_number,
+						&sector_start,
+						&sector_size)) {
+		/* We're asking for an invalid flash address */
+		return -2;
+	}
+
+	/* Ensure that the entire read occurs within the same sector */
+	if ((uintptr_t)addr + len > sector_start + sector_size) {
+		/* Read crosses the end of the sector */
+		return -3;
+	}
+
+	/* Read the data into the buffer directly */
+	memcpy(data, (void *)addr, len);
+
+	return 0;
+}
+
+/* Provide a flash driver to external drivers */
+const struct pios_flash_driver pios_internal_flash_driver = {
+	.start_transaction = PIOS_Flash_Internal_StartTransaction,
+	.end_transaction   = PIOS_Flash_Internal_EndTransaction,
+	.erase_sector      = PIOS_Flash_Internal_EraseSector,
+	.write_data        = PIOS_Flash_Internal_WriteData,
+	.read_data         = PIOS_Flash_Internal_ReadData,
+};
+
+#endif	/* defined(PIOS_INCLUDE_FLASH_INTERNAL) */

flight/PiOS/inc/pios_debug.h

@@ -33,9 +33,13 @@
 
 extern const char *PIOS_DEBUG_AssertMsg;
 
+#ifdef USE_SIM_POSIX
+void PIOS_DEBUG_Init(void);
+#else
 #include <pios_tim_priv.h>
 
 void PIOS_DEBUG_Init(const struct pios_tim_channel * channels, uint8_t num_channels);
+#endif
 void PIOS_DEBUG_PinHigh(uint8_t pin);
 void PIOS_DEBUG_PinLow(uint8_t pin);
 void PIOS_DEBUG_PinValue8Bit(uint8_t value);

flight/PiOS/inc/pios_flash.h

@@ -0,0 +1,47 @@
+/**
+ ******************************************************************************
+ * @file       pios_flash.h
+ * @author     PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_FLASH Flash Driver API Definition
+ * @{
+ * @brief Flash Driver API Definition
+ *****************************************************************************/
+/*
+ * 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_FLASH_H_
+#define PIOS_FLASH_H_
+
+#include <stdint.h>
+
+struct pios_flash_chunk {
+	uint8_t * addr;
+	uint32_t len;
+};
+
+struct pios_flash_driver {
+	int32_t (*start_transaction)(uintptr_t flash_id);
+	int32_t (*end_transaction)(uintptr_t flash_id);
+	int32_t (*erase_chip)(uintptr_t flash_id);
+	int32_t (*erase_sector)(uintptr_t flash_id, uint32_t addr);
+	int32_t (*write_data)(uintptr_t flash_id, uint32_t addr, uint8_t * data, uint16_t len);
+	int32_t (*write_chunks)(uintptr_t flash_id, uint32_t addr, struct pios_flash_chunk chunks[], uint32_t num_chunks);
+	int32_t (*read_data)(uintptr_t flash_id, uint32_t addr, uint8_t * data, uint16_t len);
+};
+
+#endif	/* PIOS_FLASH_H_ */

flight/PiOS/inc/pios_flash_internal_priv.h

@@ -1,15 +1,12 @@
 /**
  ******************************************************************************
- * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @file       pios_flash_internal_priv.h
+ * @author     PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
+ * @addtogroup 
  * @{
- * @addtogroup   PIOS_SERVO RC Servo Functions
+ * @addtogroup 
  * @{
- *
+ * @brief Provides a flash driver for the STM32 internal flash sectors
- * @file       pios_servo.h  
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      RC Servo functions header.
- * @see        The GNU Public License (GPL) Version 3
- *
  *****************************************************************************/
 /* 
  * This program is free software; you can redistribute it and/or modify 
@@ -27,17 +24,17 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#ifndef PIOS_SERVO_H
+#ifndef PIOS_FLASH_INTERNAL_H_
-#define PIOS_SERVO_H
+#define PIOS_FLASH_INTERNAL_H_
 
-/* Public Functions */
+#include "pios_flash.h"		/* API definition for flash drivers */
-extern void PIOS_Servo_Init(void);
-extern void PIOS_Servo_SetHz(const uint16_t * speeds, uint8_t num_banks);
-extern void PIOS_Servo_Set(uint8_t Servo, uint16_t Position);
 
-#endif /* PIOS_SERVO_H */
+extern const struct pios_flash_driver pios_internal_flash_driver;
 
-/**
+struct pios_flash_internal_cfg {
-  * @}
+	;
-  * @}
+};
-  */
+
+extern int32_t PIOS_Flash_Internal_Init(uintptr_t * flash_id, const struct pios_flash_internal_cfg * cfg);
+
+#endif	/* PIOS_FLASH_INTERNAL_H_ */

flight/PiOS/inc/pios_flash_jedec.h

@@ -1,50 +0,0 @@
-/**
- ******************************************************************************
- *
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup PIOS_FLASH Flash device handler
- * @{
- *
- * @file       pios_flash_w25x.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Driver for talking to W25X flash chip (and most JEDEC chips)
- * @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
- */
-
-struct pios_flash_jedec_cfg {
-	uint32_t sector_erase;
-	uint32_t chip_erase;
-};
-
-struct pios_flash_chunk {
-	uint8_t * addr;
-	uint32_t len;
-};
-
-int32_t PIOS_Flash_Jedec_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_flash_jedec_cfg * cfg);
-int32_t PIOS_Flash_Jedec_ReadStatus();
-int32_t PIOS_Flash_Jedec_ReadID();
-int32_t PIOS_Flash_Jedec_EraseChip();
-int32_t PIOS_Flash_Jedec_EraseSector(uint32_t add);
-int32_t PIOS_Flash_Jedec_WriteData(uint32_t addr, uint8_t * data, uint16_t len);
-int32_t PIOS_Flash_Jedec_ReadData(uint32_t addr, uint8_t * data, uint16_t len);
-int32_t PIOS_Flash_Jedec_WriteChunks(uint32_t addr, struct pios_flash_chunk * p_chunk, uint32_t num);
-int32_t PIOS_Flash_Jedec_StartTransaction();
-int32_t PIOS_Flash_Jedec_EndTransaction();

flight/PiOS/inc/pios_flash_jedec_priv.h

@@ -1,15 +1,14 @@
 /**
  ******************************************************************************
+ *
  * @addtogroup PIOS PIOS Core hardware abstraction layer
  * @{
- * @addtogroup   PIOS_RCVR RCVR Functions
+ * @addtogroup PIOS_FLASH Flash device handler
- * @brief PIOS interface for RCVR drivers
  * @{
  *
- * @file       pios_rcvr_priv.h
+ * @file       pios_flash_jedec_priv.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * 	       Parts by Thorsten Klose (tk@midibox.org)
+ * @brief      Driver for talking to most JEDEC flash chips
- * @brief      USART private definitions.
  * @see        The GNU Public License (GPL) Version 3
  *
  *****************************************************************************/
@@ -29,20 +28,25 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#ifndef PIOS_RCVR_PRIV_H
+#ifndef PIOS_FLASH_JEDEC_H_
-#define PIOS_RCVR_PRIV_H
+#define PIOS_FLASH_JEDEC_H_
 
-#include <pios.h>
+#include "pios_flash.h"		/* API definition for flash drivers */
 
-extern uint32_t pios_rcvr_max_channel;
+extern const struct pios_flash_driver pios_jedec_flash_driver;
 
-extern int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, const uint32_t lower_id);
+#define JEDEC_MANUFACTURER_ST       0x20
+#define JEDEC_MANUFACTURER_MACRONIX 0xC2
+#define JEDEC_MANUFACTURER_WINBOND  0xEF
 
-extern void PIOS_RCVR_IRQ_Handler(uint32_t rcvr_id);
+struct pios_flash_jedec_cfg {
+	uint8_t expect_manufacturer;
+	uint8_t expect_memorytype;
+	uint8_t expect_capacity;
+	uint32_t sector_erase;
+	uint32_t chip_erase;
+};
 
-#endif /* PIOS_RCVR_PRIV_H */
+int32_t PIOS_Flash_Jedec_Init(uintptr_t * flash_id, uint32_t spi_id, uint32_t slave_num, const struct pios_flash_jedec_cfg * cfg);
 
-/**
+#endif	/* PIOS_FLASH_JEDEC_H_ */
-  * @}
-  * @}
-  */

flight/PiOS/inc/pios_flashfs.h

@@ -1,17 +1,12 @@
 /**
  ******************************************************************************
+ * @file       pios_flashfs.h
+ * @author     PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
  * @addtogroup PIOS PIOS Core hardware abstraction layer
  * @{
- * @addtogroup PIOS_COM COM layer functions
+ * @addtogroup PIOS_FLASHFS Flash Filesystem API Definition
- * @brief Hardware communication layer
  * @{
- *
+ * @brief Flash Filesystem API Definition
- * @file       pios_com_priv.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * 	       Parts by Thorsten Klose (tk@midibox.org)
- * @brief      COM private definitions.
- * @see        The GNU Public License (GPL) Version 3
- *
  *****************************************************************************/
 /*
  * This program is free software; you can redistribute it and/or modify
@@ -29,16 +24,14 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#ifndef PIOS_COM_PRIV_H
+#ifndef PIOS_FLASHFS_H_
-#define PIOS_COM_PRIV_H
+#define PIOS_FLASHFS_H_
 
-#include <pios.h>
+#include <stdint.h>
 
-extern int32_t PIOS_COM_ReceiveHandler(uint32_t com_id);
+int32_t PIOS_FLASHFS_Format(uint32_t fs_id);
+int32_t PIOS_FLASHFS_ObjSave(uint32_t fs_id, uint32_t obj_id, uint16_t obj_inst_id, uint8_t * obj_data, uint16_t obj_size);
+int32_t PIOS_FLASHFS_ObjLoad(uint32_t fs_id, uint32_t obj_id, uint16_t obj_inst_id, uint8_t * obj_data, uint16_t obj_size);
+int32_t PIOS_FLASHFS_ObjDelete(uint32_t fs_id, uint32_t obj_id, uint16_t obj_inst_id);
 
-#endif /* PIOS_COM_PRIV_H */
+#endif	/* PIOS_FLASHFS_H_ */
-
-/**
-  * @}
-  * @}
-  */

flight/PiOS/inc/pios_flashfs_logfs_priv.h

@@ -0,0 +1,46 @@
+/**
+ ******************************************************************************
+ * @file       pios_flashfs_logfs_priv.h
+ * @author     PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_FLASHFS Flash Filesystem Function
+ * @{
+ * @brief Log Structured Filesystem for internal or external NOR Flash
+ *****************************************************************************/
+/*
+ * 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_FLASHFS_LOGFS_PRIV_H_
+#define PIOS_FLASHFS_LOGFS_PRIV_H_
+
+#include <stdint.h>
+#include "pios_flash.h"		/* struct pios_flash_driver */
+
+struct flashfs_logfs_cfg {
+	uint32_t fs_magic;
+	uint32_t total_fs_size;	/* Total size of all generations of the filesystem */
+	uint32_t arena_size;	/* Max size of one generation of the filesystem */
+	uint32_t slot_size;	/* Max size of a "file" */
+
+	uint32_t start_offset;	/* Offset into flash where this filesystem starts */
+	uint32_t sector_size;	/* Size of a flash erase block */
+	uint32_t page_size;	/* Maximum flash burst write size */
+};
+
+int32_t PIOS_FLASHFS_Logfs_Init(uintptr_t * fs_id, const struct flashfs_logfs_cfg * cfg, const struct pios_flash_driver * driver, uintptr_t flash_id);
+
+#endif	/* PIOS_FLASHFS_LOGFS_PRIV_H_ */

flight/PiOS/inc/pios_flashfs_objlist.h

@@ -1,47 +0,0 @@
-/**
- ******************************************************************************
- *
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup PIOS_FLASHFS_OBJLIST Object list based flash filesystem (low ram)
- * @{
- *
- * @file       pios_flashfs_objlist.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      A file system for storing UAVObject in flash chip
- * @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
- */
-
-#include "openpilot.h"
-#include "uavobjectmanager.h"
-
-struct flashfs_cfg {
-	uint32_t table_magic;
-	uint32_t obj_magic;
-	uint32_t obj_table_start;
-	uint32_t obj_table_end;
-	uint32_t sector_size;
-	uint32_t chip_size;
-};
-
-int32_t PIOS_FLASHFS_Init(const struct flashfs_cfg * cfg);
-int32_t PIOS_FLASHFS_Format();
-int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data);
-int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data);
-int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId);

flight/PiOS/inc/pios_initcall.h

@@ -51,6 +51,26 @@ typedef struct {
 /* Init module section */
 extern initmodule_t __module_initcall_start[], __module_initcall_end[];
 
+#ifdef USE_SIM_POSIX
+
+extern void InitModules();
+extern void StartModules();
+
+#define MODULE_INITCALL(ifn, sfn)
+
+#define MODULE_TASKCREATE_ALL { \
+	/* Start all module threads */ \
+	StartModules(); \
+	}
+
+#define MODULE_INITIALISE_ALL { \
+	/* Initialize modules */ \
+	InitModules(); \
+	/* Initialize the system thread */ \
+	SystemModInitialize();}
+
+#else
+
 /* initcalls are now grouped by functionality into separate 
  * subsections. Ordering inside the subsections is determined
  * by link order.
@@ -77,6 +97,7 @@ extern initmodule_t __module_initcall_start[], __module_initcall_end[];
 									if (fn->fn_tinit) \
 									   (fn->fn_tinit)(); }
 
+#endif /* USE_SIM_POSIX */
 #endif	/* PIOS_INITCALL_H */
 
 /**

flight/PiOS/inc/pios_sdcard.h

@@ -80,17 +80,17 @@ typedef struct {
 	uint16_t OEM_AppliID;	/* OEM/Application ID */
 	char ProdName[6];	/* Product Name */
 	uint8_t ProdRev;	/* Product Revision */
-	u32 ProdSN;		/* Product Serial Number */
+	uint32_t ProdSN;		/* Product Serial Number */
 	uint8_t Reserved1;	/* Reserved1 */
 	uint16_t ManufactDate;	/* Manufacturing Date */
 	uint8_t msd_CRC;	/* CRC */
 	uint8_t Reserved2;	/* always 1 */
 } SDCARDCidTypeDef;
-
+#ifndef USE_SIM_POSIX
 /* Global Variables */
 extern VOLINFO PIOS_SDCARD_VolInfo;
 extern uint8_t PIOS_SDCARD_Sector[SECTOR_SIZE];
-
+#endif
 /* Prototypes */
 extern int32_t PIOS_SDCARD_Init(uint32_t spi_id);
 extern int32_t PIOS_SDCARD_PowerOn(void);
@@ -106,9 +106,10 @@ extern int32_t PIOS_SDCARD_StartupLog(void);
 extern int32_t PIOS_SDCARD_IsMounted();
 extern int32_t PIOS_SDCARD_MountFS(uint32_t StartupLog);
 extern int32_t PIOS_SDCARD_GetFree(void);
-
+#ifndef USE_SIM_POSIX
 extern int32_t PIOS_SDCARD_ReadBuffer(PFILEINFO fileinfo, uint8_t * buffer, uint32_t len);
 extern int32_t PIOS_SDCARD_ReadLine(PFILEINFO fileinfo, uint8_t * buffer, uint32_t max_len);
+#endif
 extern int32_t PIOS_SDCARD_FileCopy(char *Source, char *Destination);
 extern int32_t PIOS_SDCARD_FileDelete(char *Filename);
 

flight/PiOS/pios.h

@@ -3,6 +3,7 @@
  *
  * @file       pios.h  
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
  * @brief      Main PiOS header. 
  *                 - Central header for the project.
  * @see        The GNU Public License (GPL) Version 3
@@ -27,7 +28,9 @@
 
 #ifndef PIOS_H
 #define PIOS_H
-
+#ifdef USE_SIM_POSIX
+#include <pios_sim_posix.h>
+#else
 /* PIOS Feature Selection */
 #include "pios_config.h"
 
@@ -154,8 +157,8 @@
 #endif
 
 #if defined(PIOS_INCLUDE_FLASH)
-#include <pios_flash_jedec.h>
+#include <pios_flash.h>
-#include <pios_flashfs_objlist.h>
+#include <pios_flashfs.h>
 #endif
 
 #if defined(PIOS_INCLUDE_BL_HELPER)
@@ -179,5 +182,5 @@
 #include <pios_crc.h>
 
 #define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
-
+#endif /* USE_SIMPOSIX */
 #endif /* PIOS_H */

flight/PiOS/pios_sim_posix.h

@@ -25,8 +25,8 @@
  */
 
 
-#ifndef PIOS_H
+#ifndef PIOS_SIM_POSIX_H
-#define PIOS_H
+#define PIOS_SIM_POSIX_H
 
 /* PIOS Feature Selection */
 #include "pios_config.h"
@@ -49,7 +49,7 @@
 #include <unistd.h>
 
 /* Generic initcall infrastructure */
-#include "pios_initcall.h"
+#include <pios_initcall.h>
 
 /* PIOS Board Specific Device Configuration */
 #include "pios_board.h"
@@ -68,6 +68,13 @@
 #include <pios_crc.h>
 #include <pios_rcvr.h>
 
+#if defined(PIOS_INCLUDE_IAP)
+#include <pios_iap.h>
+#endif
+#if defined(PIOS_INCLUDE_BL_HELPER)
+#include <pios_bl_helper.h>
+#endif
+
 #define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
 
-#endif /* PIOS_H */
+#endif /* PIOS_POSIX_H */

flight/PiOS/posix/pios_bl_helper.c

@@ -2,13 +2,13 @@
  ******************************************************************************
  * @addtogroup PIOS PIOS Core hardware abstraction layer
  * @{
- * @addtogroup   PIOS_WDG Watchdog Functions
+ * @addtogroup PIOS_BOOTLOADER Functions
+ * @brief HAL code to interface to the OpenPilot AHRS module
  * @{
  *
- * @file       pios_wdg.h
+ * @file       pios_bl_helper.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * 	       Parts by Thorsten Klose (tk@midibox.org)
+ * @brief      Bootloader Helper Functions
- * @brief      SPI functions header.
  * @see        The GNU Public License (GPL) Version 3
  *
  *****************************************************************************/
@@ -28,18 +28,26 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#ifndef PIOS_WDG
+/* Project Includes */
-#define PIOS_WDG
+#include "pios.h"
+#if defined(PIOS_INCLUDE_BL_HELPER)
+#include <pios_board_info.h>
 
-void PIOS_WDG_Init();
+uint32_t PIOS_BL_HELPER_CRC_Memory_Calc()
-bool PIOS_WDG_RegisterFlag(uint16_t flag_requested);
+{
-bool PIOS_WDG_UpdateFlag(uint16_t flag);
+	return 0;
-uint16_t PIOS_WDG_GetBootupFlags();
+}
-uint16_t PIOS_WDG_GetActiveFlags();
-void PIOS_WDG_Clear(void);
 
-#define PIOS_WDG_ACTUATOR        0x0001
+extern const struct fw_version_info fw_version_blob;
-#define PIOS_WDG_STABILIZATION   0x0002
+void PIOS_BL_HELPER_FLASH_Read_Description(uint8_t * array, uint8_t size)
-#define PIOS_WDG_MANUAL          0x0008
+{
+	uint8_t * desc = (uint8_t *) &fw_version_blob;
+	for (uint32_t i = 0;  i < size; i++) {
+		array[i] = desc[i];
+	}
+}
 
+void PIOS_BL_HELPER_CRC_Ini()
+{
+}
 #endif

flight/PiOS/posix/pios_board_info.c

@@ -0,0 +1,20 @@
+#include <pios.h>
+#include <pios_board.h>
+
+#include "pios_board_info.h"
+
+const struct pios_board_info pios_board_info_blob = {
+  .magic      = PIOS_BOARD_INFO_BLOB_MAGIC,
+  .board_type = BOARD_TYPE,
+  .board_rev  = BOARD_REVISION,
+  .bl_rev     = BOOTLOADER_VERSION,
+  .hw_type    = HW_TYPE,
+  .fw_base    = FW_BANK_BASE,
+  .fw_size    = FW_BANK_SIZE - FW_DESC_SIZE,
+  .desc_base  = FW_BANK_BASE + FW_BANK_SIZE - FW_DESC_SIZE,
+  .desc_size  = FW_DESC_SIZE,
+#ifdef EE_BANK_BASE
+  .ee_base    = EE_BANK_BASE,
+  .ee_size    = EE_BANK_SIZE,
+#endif
+};

flight/PiOS/posix/pios_iap.c

@@ -0,0 +1,69 @@
+/*!
+ * 	@File iap.c
+ *	@Brief	
+ *
+ *  Created on: Sep 6, 2010
+ *      Author: joe
+ */
+
+
+/****************************************************************************************
+ *  Header files
+ ****************************************************************************************/
+#include <pios.h>
+
+/*!
+ * \brief	PIOS_IAP_Init - performs required initializations for iap module.
+ * \param   none.
+ * \return	none.
+ * \retval	none.
+ *
+ *	Created: Sep 8, 2010 10:10:48 PM by joe
+ */
+void PIOS_IAP_Init( void )
+{
+
+}
+
+/*!
+ * \brief     Determines if an In-Application-Programming request has been made.
+ * \param   *comm - Which communication stream to use for the IAP (USB, Telemetry, I2C, SPI, etc)
+ * \return    TRUE - if correct sequence found, along with 'comm' updated.
+ * 			FALSE - Note that 'comm' will have an invalid comm identifier.
+ * \retval
+ *
+ */
+uint32_t	PIOS_IAP_CheckRequest( void )
+{
+
+	return false;
+}
+
+
+
+/*!
+ * \brief   Sets the 1st word of the request sequence.
+ * \param   n/a
+ * \return  n/a
+ * \retval
+ */
+void	PIOS_IAP_SetRequest1(void)
+{
+}
+
+void	PIOS_IAP_SetRequest2(void)
+{
+}
+
+void	PIOS_IAP_ClearRequest(void)
+{
+}
+
+uint16_t PIOS_IAP_ReadBootCount(void)
+{
+	return 0;
+}
+
+void PIOS_IAP_WriteBootCount (uint16_t boot_count)
+{
+}

flight/PiOS/posix/pios_sdcard.c

@@ -38,7 +38,7 @@
 * \param[in] mode currently only mode 0 supported
 * \return < 0 if initialisation failed
 */
-int32_t PIOS_SDCARD_Init(void)
+int32_t PIOS_SDCARD_Init(uint32_t spi_id)
 {
 	/* No error */
 	return 0;

flight/PiOS/posix/pios_sys.c

@@ -110,6 +110,23 @@ int32_t PIOS_SYS_Reset(void)
 	return -1;
 }
 
+/**
+* Returns the serial number as a string
+* param[out] uint8_t pointer to a string which can store at least 12 bytes
+* (12 bytes returned for STM32)
+* return < 0 if feature not supported
+*/
+int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array)
+{
+	/* Stored in the so called "electronic signature" */
+	for (int i = 0; i < PIOS_SYS_SERIAL_NUM_BINARY_LEN; ++i) {
+		array[i] = 0xff;
+	}
+
+	/* No error */
+	return 0;
+}
+
 /**
 * Returns the serial number as a string
 * param[out] str pointer to a string which can store at least 32 digits + zero terminator!
@@ -118,19 +135,12 @@ int32_t PIOS_SYS_Reset(void)
 */
 int32_t PIOS_SYS_SerialNumberGet(char *str)
 {
-	int i;
-
 	/* Stored in the so called "electronic signature" */
-	for(i=0; i<24; ++i) {
+	int i;
-		//uint8_t b = MEM8(0x1ffff7e8 + (i/2));
+	for (i = 0; i < PIOS_SYS_SERIAL_NUM_ASCII_LEN; ++i) {
-		//if( !(i & 1) )
+		str[i] = 'F';
-		//b >>= 4;
-		//b &= 0x0f;
-
-		//str[i] = ((b > 9) ? ('A'-10) : '0') + b;
-		str[i]='6';
 	}
-	str[i] = 0;
+	str[i] = '\0';
 
 	/* No error */
 	return 0;

flight/PiOS/posix/pios_wdg.c

@@ -51,8 +51,9 @@
  * @param[in] delayMs The delay period in ms
  * @returns Maximum recommended delay between updates
  */
-void PIOS_WDG_Init()
+uint16_t PIOS_WDG_Init()
 {
+	return 0;
 }
 
 /**

flight/Project/OpenOCD/stlink-v2.cfg

@@ -6,11 +6,12 @@ interface stlink
 stlink_layout usb
 stlink_device_desc "ST-LINK/V2"
 stlink_vid_pid 0x0483 0x3748
-#
+
-# dummy values, not really needed
+# unused but set to disable warnings
-#
+adapter_khz 1000
-adapter_khz 1
+
-reset_config trst_and_srst
+#reset_config trst_and_srst
+reset_config srst_only srst_nogate
 
 gdb_port 3333
 tcl_port 6666

flight/Project/OpenOCD/stm32f4xx.stlink.cfg

@@ -1,27 +1,60 @@
 #
+# STM32f4x stlink pseudo target
 #
+
+if { [info exists CHIPNAME] == 0 } {
+   set CHIPNAME stm32f4x
+}
+
+if { [info exists CPUTAPID] == 0 } {
+   set CPUTAPID 0x2ba01477
+}
+
+if { [info exists WORKAREASIZE] == 0 } {
+   set WORKAREASIZE 0x10000
+}
+
 #
+# stm32 stlink pseudo target
+#
+
 if { [info exists CHIPNAME] } {
    set _CHIPNAME $CHIPNAME
 } else {
-   set _CHIPNAME stm32f4x
+   set _CHIPNAME stm32f1x
 }
 
 # Work-area is a space in RAM used for flash programming
-# By default use 64kB
+# By default use 16kB
 if { [info exists WORKAREASIZE] } {
    set _WORKAREASIZE $WORKAREASIZE
 } else {
-   set _WORKAREASIZE 0x10000
+   set _WORKAREASIZE 0x4000
 }
 
 if { [info exists CPUTAPID] } {
    set _CPUTAPID $CPUTAPID
 } else {
-   set _CPUTAPID 0x2ba01477
+   # this is the SW-DP tap id not the jtag tap id
+   set _CPUTAPID 0x1ba01477
 }
 
-transport select stlink_swd
+if { [info exists TRANSPORT] } {
+   set _TRANSPORT $TRANSPORT
+   if { $TRANSPORT == "stlink_jtag" } {
+      if { [info exists CPUTAPID] == 0 } {
+         # jtag requires us to use the jtag tap id
+         set _CPUTAPID 0x3ba00477
+      }
+   }
+} else {
+   set _TRANSPORT stlink_swd
+}
+
+#
+# possibles value are stlink_swd or stlink_jtag
+#
+transport select $_TRANSPORT
 
 stlink newtap $_CHIPNAME cpu -expected-id $_CPUTAPID
 
@@ -30,5 +63,7 @@ target create $_TARGETNAME stm32_stlink -chain-position $_TARGETNAME -rtos auto
 
 $_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
 
+# stm32f4x family uses stm32f2x driver
 set _FLASHNAME $_CHIPNAME.flash
-flash bank $_FLASHNAME stm32f2x 0x08000000 0 0 0 $_TARGETNAME
+flash bank $_FLASHNAME stm32f2x 0 0 0 0 $_TARGETNAME
+

flight/RemoteSystemsTempFiles/.project

@@ -1,12 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<projectDescription>
-	<name>RemoteSystemsTempFiles</name>
-	<comment></comment>
-	<projects>
-	</projects>
-	<buildSpec>
-	</buildSpec>
-	<natures>
-		<nature>org.eclipse.rse.ui.remoteSystemsTempNature</nature>
-	</natures>
-</projectDescription>

flight/targets/Bootloaders/BootloaderUpdater/Makefile

@@ -23,16 +23,10 @@
  #####
 
 WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
-TOP      := $(realpath $(WHEREAMI)/../../../)
+TOP      := $(realpath $(WHEREAMI)/../../../../)
 include $(TOP)/make/firmware-defs.mk
 include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
 
-# Target file name (without extension).
-TARGET = bu_$(BOARD_NAME)
-
-# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
-OUTDIR := $(TOP)/build/$(TARGET)
-
 # Set developer code and compile options
 # Set to YES to compile for debugging
 DEBUG ?= NO
@@ -61,15 +55,6 @@ FLASH_TOOL = OPENOCD
 # Paths
 OPSYSTEM = .
 OPSYSTEMINC = $(OPSYSTEM)/inc
-OPUAVTALK = ./UAVTalk
-OPUAVTALKINC = $(OPUAVTALK)/inc
-OPUAVOBJ = ./UAVObjects
-OPUAVOBJINC = $(OPUAVOBJ)/inc
-OPTESTS  = ./Tests
-OPMODULEDIR = ./Modules
-FLIGHTLIB = ../../Libraries
-FLIGHTLIBINC = ../../Libraries/inc
-PIOS = ../../PiOS
 PIOSINC = $(PIOS)/inc
 PIOSSTM32F10X = $(PIOS)/STM32F10x
 PIOSCOMMON = $(PIOS)/Common
@@ -89,8 +74,6 @@ MSDDIR  = $(APPLIBDIR)/msd
 RTOSDIR = $(APPLIBDIR)/FreeRTOS
 RTOSSRCDIR = $(RTOSDIR)/Source
 RTOSINCDIR = $(RTOSSRCDIR)/include
-DOXYGENDIR = ../Doc/Doxygen
-HWDEFSINC = $(TOP)/flight/board_hw_defs/$(BOARD_NAME)
 
 # List C source files here. (C dependencies are automatically generated.)
 # use file-extension c for "c-only"-files

flight/targets/Bootloaders/CopterControl/Makefile

@@ -23,16 +23,10 @@
  #####
 
 WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
-TOP      := $(realpath $(WHEREAMI)/../../../)
+TOP      := $(realpath $(WHEREAMI)/../../../../)
 include $(TOP)/make/firmware-defs.mk
 include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
 
-# Target file name (without extension).
-TARGET := bl_$(BOARD_NAME)
-
-# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
-OUTDIR := $(TOP)/build/$(TARGET)
-
 # Set developer code and compile options
 # Set to YES to compile for debugging
 DEBUG ?= NO
@@ -58,15 +52,7 @@ FLASH_TOOL = OPENOCD
 # Paths
 OPSYSTEM = .
 OPSYSTEMINC = $(OPSYSTEM)/inc
-OPUAVTALK = ./UAVTalk
+FLIGHTLIBINC = $(FLIGHTLIB)/inc
-OPUAVTALKINC = $(OPUAVTALK)/inc
-OPUAVOBJ = ./UAVObjects
-OPUAVOBJINC = $(OPUAVOBJ)/inc
-OPTESTS  = ./Tests
-OPMODULEDIR = ./Modules
-FLIGHTLIB = ../../Libraries
-FLIGHTLIBINC = ../../Libraries/inc
-PIOS = ../../PiOS
 PIOSINC = $(PIOS)/inc
 PIOSSTM32F10X = $(PIOS)/STM32F10x
 PIOSCOMMON = $(PIOS)/Common
@@ -86,8 +72,6 @@ MSDDIR  = $(APPLIBDIR)/msd
 RTOSDIR = $(APPLIBDIR)/FreeRTOS
 RTOSSRCDIR = $(RTOSDIR)/Source
 RTOSINCDIR = $(RTOSSRCDIR)/include
-DOXYGENDIR = ../Doc/Doxygen
-HWDEFSINC = ../../board_hw_defs/$(BOARD_NAME)
 
 # List C source files here. (C dependencies are automatically generated.)
 # use file-extension c for "c-only"-files

flight/targets/Bootloaders/OSD/Makefile

@@ -23,16 +23,10 @@
  #####
 
 WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
-TOP      := $(realpath $(WHEREAMI)/../../../)
+TOP      := $(realpath $(WHEREAMI)/../../../../)
 include $(TOP)/make/firmware-defs.mk
 include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
 
-# Target file name (without extension).
-TARGET := bl_$(BOARD_NAME)
-
-# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
-OUTDIR := $(TOP)/build/$(TARGET)
-
 # Set developer code and compile options
 # Set to YES for debugging
 DEBUG ?= NO
@@ -49,10 +43,8 @@ endif
 # Paths
 OSD_BL = $(WHEREAMI)
 OSD_BLINC = $(OSD_BL)/inc
-PIOS = ../../PiOS
 PIOSINC = $(PIOS)/inc
-FLIGHTLIB = ../../Libraries
+FLIGHTLIBINC = $(FLIGHTLIB)/inc
-FLIGHTLIBINC = ../../Libraries/inc
 PIOSSTM32F4XX = $(PIOS)/STM32F4xx
 PIOSCOMMON = $(PIOS)/Common
 PIOSBOARDS = $(PIOS)/Boards
@@ -62,7 +54,6 @@ STMLIBDIR = $(APPLIBDIR)
 STMSPDDIR = $(STMLIBDIR)/STM32F4xx_StdPeriph_Driver
 STMSPDSRCDIR = $(STMSPDDIR)/src
 STMSPDINCDIR = $(STMSPDDIR)/inc
-HWDEFSINC = ../../board_hw_defs/$(BOARD_NAME)
 
 # List C source files here. (C dependencies are automatically generated.)
 # use file-extension c for "c-only"-files