rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-11-29 07:24:13 +01:00
Code Issues Releases Activity

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

Browse Source 
Conflicts:
	flight/targets/PipXtreme/System/inc/pios_config.h
	flight/targets/RevoMini/System/inc/pios_config.h
This commit is contained in:
Brian Webb 2013-03-29 17:17:55 -07:00
commit 1cac81b3e8
287 changed files with 5569 additions and 15163 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

104
.gitignore vendored
View File

@ -1,88 +1,54 @@
# Exclude temporary and system files
.DS_Store
# Ignore artifacts of top-level Makefile
/downloads
/tools
/build
# /flight/
# Exclude temporary and system files
Thumbs.db
.DS_Store
GPATH
GRTAGS
GSYMS
GTAGS
# flight
/flight/*.pnproj
/flight/*.pnps
/flight/.cproject
/flight/.metadata
/flight/.project
/flight/.settings
/flight/Build
# /flight/AHRS/
/flight/AHRS/Build
# /flight/Bootloaders/OpenPilot.old/
/flight/Bootloaders/OpenPilot.old/Build
# /flight/OpenPilot/
/flight/OpenPilot/Build
/flight/OpenPilot/Build.win32
#flight/Project/OpenPilotOSX
flight/Project/OpenPilotOSX/build
# /flight/PipBee/
/flight/PipBee/Build
# /flight/Project/OpenPilotOSX/
/flight/Project/OpenPilotOSX/build/
# /ground/
/ground/Build
/ground/openpilotgcs/share/openpilotgcs/models/Easystar/Thumbs.db
/ground/openpilotgcs/share/openpilotgcs/sounds/normalize.exe
/ground/openpilotgcs/share/openpilotgcs/sounds/default/normalize.exe
/ground/openpilotgcs/share/openpilotgcs/translations/extract-mimetypes.xq
/ground/openpilotgcs/src/experimental/OPMapWidget/core/header.h
/ground/openpilotgcs/src/experimental/tools/DocumentationHelper/ui_mainwindow.h
/ground/openpilotgcs/src/libs/qextserialport/.hg
/ground/openpilotgcs/src/libs/qextserialport/.hgtags
/ground/openpilotgcs/src/libs/qwt/qwt.prf
/ground/openpilotgcs/src/libs/qwt/designer
/ground/openpilotgcs/src/plugins/ipconnection/ui_ipconnectionoptionspage.h
# Ignore artifacts of top-level Makefile
/downloads
/tools
/build
/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/*.mode1v3
/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/*.pbxuser
# ground
openpilotgcs-build-desktop
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/*.mode1v3
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/*.pbxuser
# Ignore some of the .pro.user files
ground/openpilotgcs/openpilotgcs.pro.user
ground/uavobjgenerator/uavobjgenerator.pro.user
ground/uavobjects/uavobjects.pro.user
ground/ground.pro.user
/ground/openpilotgcs/openpilotgcs.pro.user
/ground/uavobjgenerator/uavobjgenerator.pro.user
/ground/uavobjects/uavobjects.pro.user
/ground/ground.pro.user
GPATH
GRTAGS
GSYMS
GTAGS
plane
quad
# Misc artifacts
/ground/openpilotgcs/share/openpilotgcs/sounds/normalize.exe
/ground/openpilotgcs/share/openpilotgcs/sounds/default/normalize.exe
/ground/openpilotgcs/share/openpilotgcs/translations/extract-mimetypes.xq
/ground/openpilotgcs/src/experimental/tools/DocumentationHelper/ui_mainwindow.h
/ground/openpilotgcs/src/libs/qextserialport/.hg
/ground/openpilotgcs/src/libs/qextserialport/.hgtags
/ground/openpilotgcs/src/libs/qwt/qwt.prf
/ground/openpilotgcs/src/libs/qwt/designer
/ground/openpilotgcs/src/plugins/ipconnection/ui_ipconnectionoptionspage.h
# Ignore intermediate files generated by command-line android builds
# Couldn't figure out how to force these files into the ./build directory
androidgcs/build.xml
androidgcs/local.properties
androidgcs/proguard-project.txt
/androidgcs/build.xml
/androidgcs/local.properties
/androidgcs/proguard-project.txt
# Ignore build output from Eclipse android builds
androidgcs/bin/
androidgcs/gen/
/androidgcs/bin/
/androidgcs/gen/
/.cproject
/.project

2
HISTORY.txt
View File

@ -172,7 +172,7 @@ By default a lot of diagnostic objects that were enabled by default are now
disabled in the build. This include TaskInfo (and all the FreeRTOS options
that provide that debugging information). Also MixerStatus, I2CStatus,
WatchdogStatus and RateDesired. These can be reenabled for debugging with
-DDIAGNOSTICS.
-DDIAG_ALL.
2011-08-04
Fixed packaging aesthetic issues. Also avoid runtime issues on OSX Lion by

1156
Makefile
View File

@ -1,11 +1,44 @@
#
# Top level Makefile for the OpenPilot project build system.
# Copyright (c) 2010-2013, The OpenPilot Team, http://www.openpilot.org
#
# 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
#
# This top level Makefile passes down some variables to sub-makes through
# the environment. They are explicitly exported using the export keyword.
# Lower level makefiles assume that these variables are defined. To ensure
# that a special magic variable is exported here. It must be checked for
# existance by each sub-make.
export OPENPILOT_IS_COOL := Fuck Yeah!
# Set up a default goal
.DEFAULT_GOAL := help
# Set up some macros for common directories within the tree
ROOT_DIR=$(CURDIR)
TOOLS_DIR=$(ROOT_DIR)/tools
BUILD_DIR=$(ROOT_DIR)/build
DL_DIR=$(ROOT_DIR)/downloads
export ROOT_DIR := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
export TOOLS_DIR := $(ROOT_DIR)/tools
export BUILD_DIR := $(ROOT_DIR)/build
export DL_DIR := $(ROOT_DIR)/downloads
export PACKAGE_DIR := $(ROOT_DIR)/build/package
# Set up default build configurations (debug | release)
GCS_BUILD_CONF := release
UAVOGEN_BUILD_CONF := release
ANDROIDGCS_BUILD_CONF := debug
GOOGLE_API_VERSION := 14
# Function for converting an absolute path to one relative
# to the top of the source tree.
@ -15,10 +48,10 @@ toprel = $(subst $(realpath $(ROOT_DIR))/,,$(abspath $(1)))
# to remove the chance that they will cause problems with our build
define SANITIZE_VAR
$(if $(filter-out undefined,$(origin $(1))),
$(info *NOTE* Sanitized $(2) variable '$(1)' from $(origin $(1)))
MAKEOVERRIDES = $(filter-out $(1)=%,$(MAKEOVERRIDES))
override $(1) :=
unexport $(1)
$(info *NOTE* Sanitized $(2) variable '$(1)' from $(origin $(1)))
MAKEOVERRIDES = $(filter-out $(1)=%,$(MAKEOVERRIDES))
override $(1) :=
unexport $(1)
)
endef
@ -31,144 +64,117 @@ $(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)
$(error You should not be running this as root)
# Make sure this isn't being run as root (no whoami on Windows, but that is ok here)
ifeq ($(shell whoami 2>/dev/null),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)
export V0 :=
export V1 := $(AT)
else ifeq ($(V), 0)
export V0 := $(AT)
export V1 := $(AT)
export V0 := $(AT)
export V1 := $(AT)
else ifeq ($(V), 1)
endif
# Make sure we know a few things about the architecture before including
# Make sure we know 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"
ifeq ($(UNAME), Linux)
QT_SPEC=linux-g++
UAVOBJGENERATOR="$(BUILD_DIR)/ground/uavobjgenerator/uavobjgenerator"
ARCH := $(shell uname -m)
# Here and everywhere if not Linux or OSX then assume Windows
ifeq ($(filter Linux Darwin, $(UNAME)), )
UNAME := Windows
endif
ifeq ($(UNAME), Darwin)
QT_SPEC=macx-g++
UAVOBJGENERATOR="$(BUILD_DIR)/ground/uavobjgenerator/uavobjgenerator"
endif
# OpenPilot GCS build configuration (debug | release)
GCS_BUILD_CONF ?= debug
# Set up misc host tools
RM=rm
export ECHO := echo
export MKDIR := mkdir
export CP := cp
export RM := rm
export LN := ln
export CAT := cat
export SED := sed
export TAR := tar
export ANT := ant
export JAVAC := javac
export JAR := jar
export GIT := git
export PYTHON := python
export INSTALL := install
.PHONY: help
help:
@echo
@echo " This Makefile is known to work on Linux and Mac in a standard shell environment."
@echo " It also works on Windows by following the instructions in make/winx86/README.txt."
@echo
@echo " Here is a summary of the available targets:"
@echo
@echo " [Tool Installers]"
@echo " qt_sdk_install - Install the QT v4.7.3 tools"
@echo " arm_sdk_install - Install the GNU ARM gcc toolchain"
@echo " openocd_install - Install the OpenOCD JTAG daemon"
@echo " stm32flash_install - Install the stm32flash tool for unbricking boards"
@echo " dfuutil_install - Install the dfu-util tool for unbricking F4-based boards"
@echo " android_sdk_install - Install the Android SDK tools"
@echo
@echo " [Big Hammer]"
@echo " all - Generate UAVObjects, build openpilot firmware and gcs"
@echo " all_flight - Build all firmware, bootloaders and bootloader updaters"
@echo " all_fw - Build only firmware for all boards"
@echo " all_bl - Build only bootloaders for all boards"
@echo " all_bu - Build only bootloader updaters for all boards"
@echo
@echo " all_clean - Remove your build directory ($(BUILD_DIR))"
@echo " all_flight_clean - Remove all firmware, bootloaders and bootloader updaters"
@echo " all_fw_clean - Remove firmware for all boards"
@echo " all_bl_clean - Remove bootlaoders for all boards"
@echo " all_bu_clean - Remove bootloader updaters for all boards"
@echo
@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 ($(ALL_BOARDS))"
@echo " fw_<board> - Build firmware for <board>"
@echo " supported boards are ($(FW_BOARDS))"
@echo " fw_<board>_clean - Remove firmware for <board>"
@echo " fw_<board>_program - Use OpenOCD + JTAG to write firmware to <board>"
@echo
@echo " [Bootloader]"
@echo " bl_<board> - Build bootloader for <board>"
@echo " supported boards are ($(BL_BOARDS))"
@echo " bl_<board>_clean - Remove bootloader for <board>"
@echo " bl_<board>_program - Use OpenOCD + JTAG to write bootloader to <board>"
@echo
@echo " [Bootloader Updater]"
@echo " bu_<board> - Build bootloader updater for <board>"
@echo " supported boards are ($(BU_BOARDS))"
@echo " bu_<board>_clean - Remove bootloader updater for <board>"
@echo
@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 ($(BL_BOARDS))"
@echo " [Unittests]"
@echo " ut_<test> - Build unit test <test>"
@echo " ut_<test>_tap - Run test and capture TAP output into a file"
@echo " ut_<test>_run - Run test and dump TAP output to console"
@echo
@echo " [Simulation]"
@echo " sim_osx - Build OpenPilot simulation firmware for OSX"
@echo " sim_osx_clean - Delete all build output for the osx simulation"
@echo " sim_win32 - Build OpenPilot simulation firmware for"
@echo " Windows using mingw and msys"
@echo " sim_win32_clean - Delete all build output for the win32 simulation"
@echo
@echo " [GCS]"
@echo " gcs - Build the Ground Control System (GCS) application"
@echo " gcs_clean - Remove the Ground Control System (GCS) application"
@echo
@echo " [UAVObjects]"
@echo " uavobjects - Generate source files from the UAVObject definition XML files"
@echo " uavobjects_test - parse xml-files - check for valid, duplicate ObjId's, ... "
@echo " uavobjects_<group> - Generate source files from a subset of the UAVObject definition XML files"
@echo " supported groups are ($(UAVOBJ_TARGETS))"
@echo
@echo " Hint: Add V=1 to your command line to see verbose build output."
@echo
@echo " Note: All tools will be installed into $(TOOLS_DIR)"
@echo " All build output will be placed in $(BUILD_DIR)"
@echo
# Command to extract version info data from the repository and source tree
export VERSION_INFO := $(PYTHON) "$(ROOT_DIR)/make/scripts/version-info.py" --path="$(ROOT_DIR)"
# Test if quotes are needed for the echo-command
ifeq (${shell $(ECHO) "test"}, test)
export QUOTE := '
# This line is just to clear out the single quote above '
else
export QUOTE :=
endif
# The tools.mk uses wget to fetch tarballs or packages
ifeq ($(shell [ -x "$(TOOLS_DIR)/bin/wget" ] && $(ECHO) "exists"), exists)
WGET := $(TOOLS_DIR)/bin/wget
else
# not installed, hope it's in the path...
WGET ?= wget
endif
# Include tools installers
include $(ROOT_DIR)/make/tools.mk
# Set up paths to tools
ifeq ($(shell [ -d "$(QT_SDK_DIR)" ] && $(ECHO) "exists"), exists)
QMAKE := $(QT_SDK_QMAKE_PATH)
else
# not installed, hope it's in the path...
QMAKE ?= qmake
endif
ifeq ($(shell [ -d "$(ARM_SDK_DIR)" ] && $(ECHO) "exists"), exists)
export ARM_SDK_PREFIX := $(ARM_SDK_DIR)/bin/arm-none-eabi-
else
# not installed, hope it's in the path...
export ARM_SDK_PREFIX ?= arm-none-eabi-
endif
ifeq ($(shell [ -d "$(OPENOCD_DIR)" ] && $(ECHO) "exists"), exists)
export OPENOCD := $(OPENOCD_DIR)/bin/openocd
else
# not installed, hope it's in the path...
export OPENOCD ?= openocd
endif
ifeq ($(shell [ -d "$(ANDROID_SDK_DIR)" ] && $(ECHO) "exists"), exists)
ANDROID := $(ANDROID_SDK_DIR)/tools/android
ANDROID_DX := $(ANDROID_SDK_DIR)/platform-tools/dx
else
# not installed, hope it's in the path...
ANDROID ?= android
ANDROID_DX ?= dx
endif
# We almost need to consider autoconf/automake instead of this
ifeq ($(UNAME), Linux)
QT_SPEC = linux-g++
UAVOBJGENERATOR = "$(BUILD_DIR)/ground/uavobjgenerator/uavobjgenerator"
else ifeq ($(UNAME), Darwin)
QT_SPEC = macx-g++
UAVOBJGENERATOR = "$(BUILD_DIR)/ground/uavobjgenerator/uavobjgenerator"
else
QT_SPEC = win32-g++
UAVOBJGENERATOR = "$(BUILD_DIR)/ground/uavobjgenerator/$(UAVOGEN_BUILD_CONF)/uavobjgenerator.exe"
endif
##############################
#
# All targets
#
##############################
.PHONY: all
all: uavobjects all_ground all_flight
@ -178,268 +184,57 @@ all_clean:
[ ! -d "$(BUILD_DIR)" ] || $(RM) -rf "$(BUILD_DIR)"
$(DL_DIR):
mkdir -p $@
$(MKDIR) -p $@
$(TOOLS_DIR):
mkdir -p $@
$(MKDIR) -p $@
$(BUILD_DIR):
mkdir -p $@
$(MKDIR) -p $@
##############################
#
# Set up paths to tools
# UAVObjects
#
##############################
ifeq ($(shell [ -d "$(QT_SDK_DIR)" ] && echo "exists"), exists)
QMAKE = $(QT_SDK_QMAKE_PATH)
else
# not installed, hope it's in the path...
QMAKE = qmake
endif
ifeq ($(shell [ -d "$(ARM_SDK_DIR)" ] && echo "exists"), exists)
ARM_SDK_PREFIX := $(ARM_SDK_DIR)/bin/arm-none-eabi-
else
# not installed, hope it's in the path...
ARM_SDK_PREFIX ?= arm-none-eabi-
endif
ifeq ($(shell [ -d "$(OPENOCD_DIR)" ] && echo "exists"), exists)
OPENOCD := $(OPENOCD_DIR)/bin/openocd
else
# not installed, hope it's in the path...
OPENOCD ?= openocd
endif
ifeq ($(shell [ -d "$(ANDROID_SDK_DIR)" ] && echo "exists"), exists)
ANDROID := $(ANDROID_SDK_DIR)/tools/android
ANDROID_DX := $(ANDROID_SDK_DIR)/platform-tools/dx
else
# not installed, hope it's in the path...
ANDROID ?= android
ANDROID_DX ?= dx
endif
##############################
#
# GCS related components
#
##############################
.PHONY: all_ground
all_ground: openpilotgcs
# Convenience target for the GCS
.PHONY: gcs gcs_clean
gcs: openpilotgcs
gcs_clean: openpilotgcs_clean
ifeq ($(V), 1)
GCS_SILENT :=
UAVOGEN_SILENT :=
else
GCS_SILENT := silent
endif
.PHONY: openpilotgcs
openpilotgcs: uavobjects_gcs
$(V1) mkdir -p $(BUILD_DIR)/ground/$@
$(V1) ( cd $(BUILD_DIR)/ground/$@ && \
$(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro -spec $(QT_SPEC) -r CONFIG+="$(GCS_BUILD_CONF) $(GCS_SILENT)" $(GCS_QMAKE_OPTS) && \
$(MAKE) -w ; \
)
.PHONY: openpilotgcs_clean
openpilotgcs_clean:
$(V0) @echo " CLEAN $@"
$(V1) [ ! -d "$(BUILD_DIR)/ground/openpilotgcs" ] || $(RM) -r "$(BUILD_DIR)/ground/openpilotgcs"
ifeq ($(V), 1)
UAVOGEN_SILENT :=
else
UAVOGEN_SILENT := silent
UAVOGEN_SILENT := silent
endif
.PHONY: uavobjgenerator
uavobjgenerator:
$(V1) mkdir -p $(BUILD_DIR)/ground/$@
$(V1) $(MKDIR) -p $(BUILD_DIR)/ground/$@
$(V1) ( cd $(BUILD_DIR)/ground/$@ && \
$(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro -spec $(QT_SPEC) -r CONFIG+="debug $(UAVOGEN_SILENT)" && \
$(MAKE) --no-print-directory -w ; \
$(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro -spec $(QT_SPEC) -r CONFIG+="$(UAVOGEN_BUILD_CONF) $(UAVOGEN_SILENT)" && \
$(MAKE) --no-print-directory -w ; \
)
UAVOBJ_TARGETS := gcs flight python matlab java wireshark
.PHONY:uavobjects
.PHONY: uavobjects
uavobjects: $(addprefix uavobjects_, $(UAVOBJ_TARGETS))
UAVOBJ_XML_DIR := $(ROOT_DIR)/shared/uavobjectdefinition
UAVOBJ_OUT_DIR := $(BUILD_DIR)/uavobject-synthetics
$(UAVOBJ_OUT_DIR):
$(V1) mkdir -p $@
$(V1) $(MKDIR) -p $@
uavobjects_%: $(UAVOBJ_OUT_DIR) uavobjgenerator
$(V1) ( cd $(UAVOBJ_OUT_DIR) && \
$(UAVOBJGENERATOR) -$* $(UAVOBJ_XML_DIR) $(ROOT_DIR) ; \
$(UAVOBJGENERATOR) -$* $(UAVOBJ_XML_DIR) $(ROOT_DIR) ; \
)
uavobjects_test: $(UAVOBJ_OUT_DIR) uavobjgenerator
$(V1) $(UAVOBJGENERATOR) -v -none $(UAVOBJ_XML_DIR) $(ROOT_DIR)
uavobjects_clean:
$(V0) @echo " CLEAN $@"
$(V0) @$(ECHO) " CLEAN $@"
$(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)"
################################
#
# Android GCS related components
#
################################
ANDROIDGCS_BUILD_CONF ?= debug
# Build the output directory for the Android GCS build
ANDROIDGCS_OUT_DIR := $(BUILD_DIR)/androidgcs
$(ANDROIDGCS_OUT_DIR):
$(V1) mkdir -p $@
# Build the asset directory for the android assets
ANDROIDGCS_ASSETS_DIR := $(ANDROIDGCS_OUT_DIR)/assets
$(ANDROIDGCS_ASSETS_DIR)/uavos:
$(V1) mkdir -p $@
ifeq ($(V), 1)
ANT_QUIET :=
ANDROID_SILENT :=
else
ANT_QUIET := -q
ANDROID_SILENT := -s
endif
.PHONY: androidgcs
androidgcs: uavo-collections_java
$(V0) @echo " ANDROID $(call toprel, $(ANDROIDGCS_OUT_DIR))"
$(V1) mkdir -p $(ANDROIDGCS_OUT_DIR)
$(V1) $(ANDROID) $(ANDROID_SILENT) update project --target 'Google Inc.:Google APIs:14' --name androidgcs --path ./androidgcs
$(V1) ant -f ./androidgcs/build.xml \
$(ANT_QUIET) \
-Dout.dir="../$(call toprel, $(ANDROIDGCS_OUT_DIR)/bin)" \
-Dgen.absolute.dir="$(ANDROIDGCS_OUT_DIR)/gen" \
$(ANDROIDGCS_BUILD_CONF)
.PHONY: androidgcs_clean
androidgcs_clean:
$(V0) @echo " CLEAN $@"
$(V1) [ ! -d "$(ANDROIDGCS_OUT_DIR)" ] || $(RM) -r "$(ANDROIDGCS_OUT_DIR)"
# We want to take snapshots of the UAVOs at each point that they change
# to allow the GCS to be compatible with as many versions as possible.
#
# Find the git hashes of each commit that changes uavobjects with:
# git log --format=%h -- shared/uavobjectdefinition/ | head -n 2
UAVO_GIT_VERSIONS := 5e14f53
# All versions includes a pseudo collection called "working" which represents
# the UAVOs in the source tree
UAVO_ALL_VERSIONS := $(UAVO_GIT_VERSIONS) srctree
# This is where the UAVO collections are stored
UAVO_COLLECTION_DIR := $(BUILD_DIR)/uavo-collections
# $(1) git hash of a UAVO snapshot
define UAVO_COLLECTION_GIT_TEMPLATE
# Make the output directory that will contain all of the synthetics for the
# uavo collection referenced by the git hash $(1)
$$(UAVO_COLLECTION_DIR)/$(1):
$$(V1) mkdir -p $$(UAVO_COLLECTION_DIR)/$(1)
# Extract the snapshot of shared/uavobjectdefinition from git hash $(1)
$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar: | $$(UAVO_COLLECTION_DIR)/$(1)
$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar:
$$(V0) @echo " UAVOTAR $(1)"
$$(V1) git archive $(1) -o $$@ -- shared/uavobjectdefinition/
# Extract the uavo xml files from our snapshot
$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar
$$(V0) @echo " UAVOUNTAR $(1)"
$$(V1) rm -rf $$@
$$(V1) mkdir -p $$@
$$(V1) tar -C $$(call toprel, $$@) -xf $$(call toprel, $$<) || rm -rf $$@
endef
# Map the current working directory into the set of UAVO collections
$(UAVO_COLLECTION_DIR)/srctree:
$(V1) mkdir -p $@
$(UAVO_COLLECTION_DIR)/srctree/uavo-xml: | $(UAVO_COLLECTION_DIR)/srctree
$(UAVO_COLLECTION_DIR)/srctree/uavo-xml: $(UAVOBJ_XML_DIR)
$(V1) ln -sf $(ROOT_DIR) $(UAVO_COLLECTION_DIR)/srctree/uavo-xml
# $(1) git hash (or symbolic name) of a UAVO snapshot
define UAVO_COLLECTION_BUILD_TEMPLATE
# This leaves us with a (broken) symlink that points to the full sha1sum of the collection
$$(UAVO_COLLECTION_DIR)/$(1)/uavohash: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml
# Compute the sha1 hash for this UAVO collection
# The sed bit truncates the UAVO hash to 16 hex digits
$$(V1) python $$(ROOT_DIR)/make/scripts/version-info.py \
--path=$$(ROOT_DIR) \
--uavodir=$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition \
--format='$$$${UAVOSHA1TXT}' | \
sed -e 's|\(................\).*|\1|' > $$@
$$(V0) @echo " UAVOHASH $(1) ->" $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
# Generate the java uavobjects for this UAVO collection
$$(UAVO_COLLECTION_DIR)/$(1)/java-build/java: $$(UAVO_COLLECTION_DIR)/$(1)/uavohash
$$(V0) @echo " UAVOJAVA $(1) " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
$$(V1) mkdir -p $$@
$$(V1) ( \
cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
$$(UAVOBJGENERATOR) -java $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition $$(ROOT_DIR) ; \
)
# Build a jar file for this UAVO collection
$$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: | $$(ANDROIDGCS_ASSETS_DIR)/uavos
$$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: $$(UAVO_COLLECTION_DIR)/$(1)/java-build/java
$$(V0) @echo " UAVOJAR $(1) " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
$$(V1) ( \
HASH=$$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash) && \
cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
javac java/*.java \
$$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java \
$$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVObject*.java \
$$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java \
-d . && \
find ./org/openpilot/uavtalk/uavobjects -type f -name '*.class' > classlist.txt && \
jar cf tmp_uavobjects.jar @classlist.txt && \
$$(ANDROID_DX) \
--dex \
--output $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar \
tmp_uavobjects.jar && \
ln -sf $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar uavobjects.jar \
)
endef
# One of these for each element of UAVO_GIT_VERSIONS so we can extract the UAVOs from git
$(foreach githash, $(UAVO_GIT_VERSIONS), $(eval $(call UAVO_COLLECTION_GIT_TEMPLATE,$(githash))))
# One of these for each UAVO_ALL_VERSIONS which includes the ones in the srctree
$(foreach githash, $(UAVO_ALL_VERSIONS), $(eval $(call UAVO_COLLECTION_BUILD_TEMPLATE,$(githash))))
.PHONY: uavo-collections_java
uavo-collections_java: $(foreach githash, $(UAVO_ALL_VERSIONS), $(UAVO_COLLECTION_DIR)/$(githash)/java-build/uavobjects.jar)
.PHONY: uavo-collections
uavo-collections: uavo-collections_java
.PHONY: uavo-collections_clean
uavo-collections_clean:
$(V0) @echo " CLEAN $(UAVO_COLLECTION_DIR)"
$(V1) [ ! -d "$(UAVO_COLLECTION_DIR)" ] || $(RM) -r $(UAVO_COLLECTION_DIR)
##############################
#
# Flight related components
@ -448,14 +243,75 @@ 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
export PIOS := $(ROOT_DIR)/flight/PiOS
export FLIGHTLIB := $(ROOT_DIR)/flight/Libraries
export OPMODULEDIR := $(ROOT_DIR)/flight/Modules
export OPUAVOBJ := $(ROOT_DIR)/flight/targets/UAVObjects
export OPUAVTALK := $(ROOT_DIR)/flight/targets/UAVTalk
export HWDEFS := $(ROOT_DIR)/flight/targets/board_hw_defs
export DOXYGENDIR := $(ROOT_DIR)/flight/Doc/Doxygen
export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
# Define supported board lists
ALL_BOARDS := coptercontrol pipxtreme revolution revomini osd simposix
ALL_BOARDS_BU := coptercontrol pipxtreme simposix
# Friendly names of each board (used to find source tree)
coptercontrol_friendly := CopterControl
pipxtreme_friendly := PipXtreme
revolution_friendly := Revolution
revomini_friendly := RevoMini
osd_friendly := OSD
simposix_friendly := SimPosix
# Short names of each board (used to display board name in parallel builds)
coptercontrol_short := 'cc '
pipxtreme_short := 'pipx'
revolution_short := 'revo'
revomini_short := 'rm '
osd_short := 'osd '
simposix_short := 'posx'
# SimPosix only builds on Linux so drop it from the list for
# all other platforms.
ifneq ($(UNAME), Linux)
ALL_BOARDS := $(filter-out simposix, $(ALL_BOARDS))
ALL_BOARDS_BU := $(filter-out simposix, $(ALL_BOARDS_BU))
endif
# Start out assuming that we'll build fw, bl and bu for all boards
FW_BOARDS := $(ALL_BOARDS)
BL_BOARDS := $(ALL_BOARDS)
BU_BOARDS := $(ALL_BOARDS_BU)
EF_BOARDS := $(ALL_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))
BU_TARGETS := $(addprefix bu_, $(BU_BOARDS))
EF_TARGETS := $(addprefix ef_, $(EF_BOARDS))
# When building any of the "all_*" targets, tell all sub makefiles to display
# additional details on each line of output to describe which build and target
# that each line applies to. The same applies also to all, opfw_resource,
# package and clean_package targets
ifneq ($(strip $(filter all_% all opfw_resource package clean_package,$(MAKECMDGOALS))),)
export ENABLE_MSG_EXTRA := yes
endif
# When building more than one goal in a single make invocation, also
# enable the extra context for each output line
ifneq ($(word 2,$(MAKECMDGOALS)),)
export ENABLE_MSG_EXTRA := yes
endif
# TEMPLATES (used to generate build rules)
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
# $(2) = Name of board used in source tree (e.g. CopterControl)
@ -466,33 +322,22 @@ $(1): fw_$(1)_opfw
fw_$(1): fw_$(1)_opfw
fw_$(1)_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/fw_$(1)/dep
$(V1) $(MKDIR) -p $(BUILD_DIR)/fw_$(1)/dep
$(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=$(OPUAVSYNTHDIR) \
\
TOPDIR=$(ROOT_DIR)/flight/targets/$(2) \
OUTDIR=$(BUILD_DIR)/fw_$(1) \
TARGET=fw_$(1) \
$$*
.PHONY: $(1)_clean
$(1)_clean: fw_$(1)_clean
fw_$(1)_clean:
$(V0) @echo " CLEAN $$@"
$(V0) @$(ECHO) " CLEAN $$@"
$(V1) $(RM) -fr $(BUILD_DIR)/fw_$(1)
endef
@ -504,46 +349,35 @@ bl_$(1): bl_$(1)_bin
bl_$(1)_bino: bl_$(1)_bin
bl_$(1)_%:
$(V1) mkdir -p $(BUILD_DIR)/bl_$(1)/dep
$(V1) $(MKDIR) -p $(BUILD_DIR)/bl_$(1)/dep
$(V1) cd $(ROOT_DIR)/flight/targets/Bootloaders/$(2) && \
$$(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=$(DOXYGENDIR) \
\
TOPDIR=$(ROOT_DIR)/flight/targets/Bootloaders/$(2) \
OUTDIR=$(BUILD_DIR)/bl_$(1) \
TARGET=bl_$(1) \
$$*
.PHONY: unbrick_$(1)
unbrick_$(1): bl_$(1)_hex
$(if $(filter-out undefined,$(origin UNBRICK_TTY)),
$(V0) @echo " UNBRICK $(1) via $$(UNBRICK_TTY)"
$(V0) @$(ECHO) " UNBRICK $(1) via $$(UNBRICK_TTY)"
$(V1) $(STM32FLASH_DIR)/stm32flash \
-w $(BUILD_DIR)/bl_$(1)/bl_$(1).hex \
-g 0x0 \
$$(UNBRICK_TTY)
,
$(V0) @echo
$(V0) @echo "ERROR: You must specify UNBRICK_TTY=<serial-device> to use for unbricking."
$(V0) @echo " eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0"
$(V0) @$(ECHO)
$(V0) @$(ECHO) "ERROR: You must specify UNBRICK_TTY=<serial-device> to use for unbricking."
$(V0) @$(ECHO) " eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0"
)
.PHONY: bl_$(1)_clean
bl_$(1)_clean:
$(V0) @echo " CLEAN $$@"
$(V0) @$(ECHO) " CLEAN $$@"
$(V1) $(RM) -fr $(BUILD_DIR)/bl_$(1)
endef
@ -553,32 +387,21 @@ define BU_TEMPLATE
bu_$(1): bu_$(1)_opfw
bu_$(1)_%: bl_$(1)_bino
$(V1) mkdir -p $(BUILD_DIR)/bu_$(1)/dep
$(V1) cd $(ROOT_DIR)/flight/targets/Bootloaders/BootloaderUpdater && \
$(V1) $(MKDIR) -p $(BUILD_DIR)/bu_$(1)/dep
$(V1) cd $(ROOT_DIR)/flight/targets/BootloaderUpdater && \
$$(MAKE) -r --no-print-directory \
BOARD_NAME=$(1) \
BOARD_SHORT_NAME=$(3) \
BUILD_TYPE=bu \
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
\
TARGET=bu_$(1) \
OUTDIR=$(BUILD_DIR)/bu_$(1) \
\
PIOS=$(PIOS) \
FLIGHTLIB=$(FLIGHTLIB) \
OPMODULEDIR=$(OPMODULEDIR) \
OPUAVOBJ=$(OPUAVOBJ) \
OPUAVTALK=$(OPUAVTALK) \
HWDEFSINC=$(HWDEFS)/$(1) \
OPUAVSYNTHDIR=$(OPUAVSYNTHDIR) \
DOXYGENDIR=$(DOXYGENDIR) \
\
TOPDIR=$(ROOT_DIR)/flight/targets/BootloaderUpdater \
OUTDIR=$(BUILD_DIR)/bu_$(1) \
TARGET=bu_$(1) \
$$*
.PHONY: bu_$(1)_clean
bu_$(1)_clean:
$(V0) @echo " CLEAN $$@"
$(V0) @$(ECHO) " CLEAN $$@"
$(V1) $(RM) -fr $(BUILD_DIR)/bu_$(1)
endef
@ -588,39 +411,24 @@ define EF_TEMPLATE
ef_$(1): ef_$(1)_bin
ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
$(V1) mkdir -p $(BUILD_DIR)/ef_$(1)/dep
$(V1) $(MKDIR) -p $(BUILD_DIR)/ef_$(1)
$(V1) cd $(ROOT_DIR)/flight/targets/EntireFlash && \
$$(MAKE) -r --no-print-directory \
BOARD_NAME=$(1) \
BOARD_SHORT_NAME=$(3) \
BUILD_TYPE=ef \
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
\
TARGET=ef_$(1) \
TOPDIR=$(ROOT_DIR)/flight/targets/EntireFlash \
OUTDIR=$(BUILD_DIR)/ef_$(1) \
\
TARGET=ef_$(1) \
$$*
.PHONY: ef_$(1)_clean
ef_$(1)_clean:
$(V0) @echo " CLEAN $$@"
$(V0) @$(ECHO) " CLEAN $$@"
$(V1) $(RM) -fr $(BUILD_DIR)/ef_$(1)
endef
# When building any of the "all_*" targets, tell all sub makefiles to display
# additional details on each line of output to describe which build and target
# that each line applies to.
ifneq ($(strip $(filter all_%,$(MAKECMDGOALS))),)
export ENABLE_MSG_EXTRA := yes
endif
# When building more than one goal in a single make invocation, also
# enable the extra context for each output line
ifneq ($(word 2,$(MAKECMDGOALS)),)
export ENABLE_MSG_EXTRA := yes
endif
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
define BOARD_PHONY_TEMPLATE
.PHONY: all_$(1)
@ -636,54 +444,7 @@ all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
all_$(1)_clean: $$(addsuffix _clean, $$(filter ef_$(1), $$(EF_TARGETS)))
endef
ALL_BOARDS := coptercontrol pipxtreme revolution revomini simposix osd
ALL_BOARDS_BU := coptercontrol pipxtreme simposix
# SimPosix only builds on Linux so drop it from the list for
# all other platforms.
ifneq ($(UNAME), Linux)
ALL_BOARDS := $(filter-out simposix, $(ALL_BOARDS))
ALL_BOARDS_BU := $(filter-out simposix, $(ALL_BOARDS_BU))
endif
# Friendly names of each board (used to find source tree)
coptercontrol_friendly := CopterControl
pipxtreme_friendly := PipXtreme
revolution_friendly := Revolution
revomini_friendly := RevoMini
simposix_friendly := SimPosix
osd_friendly := OSD
# Short names of each board (used to display board name in parallel builds)
coptercontrol_short := 'cc '
pipxtreme_short := 'pipx'
revolution_short := 'revo'
revomini_short := 'rm '
simposix_short := 'posx'
osd_short := 'osd '
# Start out assuming that we'll build fw, bl and bu for all boards
FW_BOARDS := $(ALL_BOARDS)
BL_BOARDS := $(ALL_BOARDS)
BU_BOARDS := $(ALL_BOARDS_BU)
EF_BOARDS := $(ALL_BOARDS)
# FIXME: The BU image doesn't work for F4 boards so we need to
# filter them out to prevent errors.
BU_BOARDS := $(filter-out revolution osd, $(BU_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))
BU_TARGETS := $(addprefix bu_, $(BU_BOARDS))
EF_TARGETS := $(addprefix ef_, $(EF_BOARDS))
# Generate flight build rules
.PHONY: all_fw all_fw_clean
all_fw: $(addsuffix _opfw, $(FW_TARGETS))
all_fw_clean: $(addsuffix _clean, $(FW_TARGETS))
@ -707,15 +468,15 @@ all_flight_clean: all_fw_clean all_bl_clean all_bu_clean all_ef_clean
# Expand the groups of targets for each board
$(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
# Expand the bootloader updater rules
$(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short))))
# Expand the firmware rules
$(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short))))
# Expand the bootloader rules
$(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short))))
# Expand the bootloader updater rules
$(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short))))
# Expand the entire-flash rules
$(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short))))
@ -723,7 +484,7 @@ $(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_fr
sim_win32: sim_win32_exe
sim_win32_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/sitl_win32
$(V1) $(MKDIR) -p $(BUILD_DIR)/sitl_win32
$(V1) $(MAKE) --no-print-directory \
-C $(ROOT_DIR)/flight/targets/OpenPilot --file=$(ROOT_DIR)/flight/targets/OpenPilot/Makefile.win32 $*
@ -731,10 +492,202 @@ sim_win32_%: uavobjects_flight
sim_osx: sim_osx_elf
sim_osx_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/sim_osx
$(V1) $(MKDIR) -p $(BUILD_DIR)/sim_osx
$(V1) $(MAKE) --no-print-directory \
-C $(ROOT_DIR)/flight/targets/Revolution --file=$(ROOT_DIR)/flight/targets/Revolution/Makefile.osx $*
##############################
#
# GCS related components
#
##############################
.PHONY: all_ground
all_ground: openpilotgcs
# Convenience target for the GCS
.PHONY: gcs gcs_clean gcs_all_clean
gcs: openpilotgcs
gcs_clean: openpilotgcs_clean
gcs_all_clean: openpilotgcs_all_clean
ifeq ($(V), 1)
GCS_SILENT :=
else
GCS_SILENT := silent
endif
.PHONY: openpilotgcs
openpilotgcs: uavobjects_gcs
$(V1) $(MKDIR) -p $(BUILD_DIR)/ground/$@/$(GCS_BUILD_CONF)
$(V1) ( cd $(BUILD_DIR)/ground/$@/$(GCS_BUILD_CONF) && \
$(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro -spec $(QT_SPEC) -r CONFIG+="$(GCS_BUILD_CONF) $(GCS_SILENT)" $(GCS_QMAKE_OPTS) && \
$(MAKE) -w ; \
)
.PHONY: openpilotgcs_clean
openpilotgcs_clean:
$(V0) @$(ECHO) " CLEAN $@"
$(V1) [ ! -d "$(BUILD_DIR)/ground/openpilotgcs/$(GCS_BUILD_CONF)" ] || $(RM) -r "$(BUILD_DIR)/ground/openpilotgcs/$(GCS_BUILD_CONF)"
.PHONY: openpilotgcs_all_clean
openpilotgcs_all_clean:
$(V0) @$(ECHO) " CLEAN $@"
$(V1) [ ! -d "$(BUILD_DIR)/ground/openpilotgcs" ] || $(RM) -r "$(BUILD_DIR)/ground/openpilotgcs"
################################
#
# Android GCS related components
#
################################
# Build the output directory for the Android GCS build
ANDROIDGCS_OUT_DIR := $(BUILD_DIR)/androidgcs
$(ANDROIDGCS_OUT_DIR):
$(V1) $(MKDIR) -p $@
# Build the asset directory for the android assets
ANDROIDGCS_ASSETS_DIR := $(ANDROIDGCS_OUT_DIR)/assets
$(ANDROIDGCS_ASSETS_DIR)/uavos:
$(V1) $(MKDIR) -p $@
ifeq ($(V), 1)
ANT_QUIET :=
ANDROID_SILENT :=
else
ANT_QUIET := -q
ANDROID_SILENT := -s
endif
.PHONY: androidgcs
androidgcs: uavo-collections_java
$(V0) @$(ECHO) " ANDROID $(call toprel, $(ANDROIDGCS_OUT_DIR))"
$(V1) $(MKDIR) -p $(ANDROIDGCS_OUT_DIR)
$(V1) $(ANDROID) $(ANDROID_SILENT) update project \
--target "Google Inc.:Google APIs:$(GOOGLE_API_VERSION)" \
--name androidgcs \
--path ./androidgcs
$(V1) $(ANT) -f ./androidgcs/build.xml \
$(ANT_QUIET) \
-Dout.dir="../$(call toprel, $(ANDROIDGCS_OUT_DIR)/bin)" \
-Dgen.absolute.dir="$(ANDROIDGCS_OUT_DIR)/gen" \
$(ANDROIDGCS_BUILD_CONF)
.PHONY: androidgcs_clean
androidgcs_clean:
$(V0) @$(ECHO) " CLEAN $@"
$(V1) [ ! -d "$(ANDROIDGCS_OUT_DIR)" ] || $(RM) -r "$(ANDROIDGCS_OUT_DIR)"
# We want to take snapshots of the UAVOs at each point that they change
# to allow the GCS to be compatible with as many versions as possible.
# We always include a pseudo collection called "srctree" which represents
# the UAVOs in the source tree. So not necessary to add current tree UAVO
# hash here, it is always included.
# Find the git hashes of each commit that changes uavobjects with:
# git log --format=%h -- shared/uavobjectdefinition/ | head -n 2
# List only UAVO hashes of past releases, do not list current hash.
# Past compatible versions are so far: RELEASE-12.10.2
UAVO_GIT_VERSIONS := 5e14f53
# All versions includes also the current source tree UAVO hash
UAVO_ALL_VERSIONS := $(UAVO_GIT_VERSIONS) srctree
# This is where the UAVO collections are stored
UAVO_COLLECTION_DIR := $(BUILD_DIR)/uavo-collections
# $(1) git hash of a UAVO snapshot
define UAVO_COLLECTION_GIT_TEMPLATE
# Make the output directory that will contain all of the synthetics for the
# uavo collection referenced by the git hash $(1)
$$(UAVO_COLLECTION_DIR)/$(1):
$$(V1) $(MKDIR) -p $$(UAVO_COLLECTION_DIR)/$(1)
# Extract the snapshot of shared/uavobjectdefinition from git hash $(1)
$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar: | $$(UAVO_COLLECTION_DIR)/$(1)
$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar:
$$(V0) @$(ECHO) " UAVOTAR $(1)"
$$(V1) $(GIT) archive $(1) -o $$@ -- shared/uavobjectdefinition/
# Extract the uavo xml files from our snapshot
$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml.tar
$$(V0) @$(ECHO) " UAVOUNTAR $(1)"
$$(V1) $(RM) -rf $$@
$$(V1) $(MKDIR) -p $$@
$$(V1) $(TAR) -C $$(call toprel, $$@) -xf $$(call toprel, $$<) || $(RM) -rf $$@
endef
# Map the current working directory into the set of UAVO collections
$(UAVO_COLLECTION_DIR)/srctree:
$(V1) $(MKDIR) -p $@
$(UAVO_COLLECTION_DIR)/srctree/uavo-xml: | $(UAVO_COLLECTION_DIR)/srctree
$(UAVO_COLLECTION_DIR)/srctree/uavo-xml: $(UAVOBJ_XML_DIR)
$(V1) $(LN) -sf $(ROOT_DIR) $(UAVO_COLLECTION_DIR)/srctree/uavo-xml
# $(1) git hash (or symbolic name) of a UAVO snapshot
define UAVO_COLLECTION_BUILD_TEMPLATE
# This leaves us with a (broken) symlink that points to the full sha1sum of the collection
$$(UAVO_COLLECTION_DIR)/$(1)/uavohash: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml
# Compute the sha1 hash for this UAVO collection
# The sed bit truncates the UAVO hash to 16 hex digits
$$(V1) $$(VERSION_INFO) \
--uavodir=$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition \
--format='$$$${UAVOSHA1TXT}' | \
$(SED) -e 's|\(................\).*|\1|' > $$@
$$(V0) @$(ECHO) " UAVOHASH $(1) ->" $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
# Generate the java uavobjects for this UAVO collection
$$(UAVO_COLLECTION_DIR)/$(1)/java-build/java: $$(UAVO_COLLECTION_DIR)/$(1)/uavohash
$$(V0) @$(ECHO) " UAVOJAVA $(1) " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
$$(V1) $(MKDIR) -p $$@
$$(V1) ( \
cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
$$(UAVOBJGENERATOR) -java $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition $$(ROOT_DIR) ; \
)
# Build a jar file for this UAVO collection
$$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: | $$(ANDROIDGCS_ASSETS_DIR)/uavos
$$(UAVO_COLLECTION_DIR)/$(1)/java-build/uavobjects.jar: $$(UAVO_COLLECTION_DIR)/$(1)/java-build/java
$$(V0) @$(ECHO) " UAVOJAR $(1) " $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
$$(V1) ( \
HASH=$$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash) && \
cd $$(UAVO_COLLECTION_DIR)/$(1)/java-build && \
$(JAVAC) java/*.java \
$$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java \
$$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVObject*.java \
$$(ROOT_DIR)/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java \
-d . && \
find ./org/openpilot/uavtalk/uavobjects -type f -name '*.class' > classlist.txt && \
$(JAR) cf tmp_uavobjects.jar @classlist.txt && \
$$(ANDROID_DX) \
--dex \
--output $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar \
tmp_uavobjects.jar && \
$(LN) -sf $$(ANDROIDGCS_ASSETS_DIR)/uavos/$$$${HASH}.jar uavobjects.jar \
)
endef
# One of these for each element of UAVO_GIT_VERSIONS so we can extract the UAVOs from git
$(foreach githash, $(UAVO_GIT_VERSIONS), $(eval $(call UAVO_COLLECTION_GIT_TEMPLATE,$(githash))))
# One of these for each UAVO_ALL_VERSIONS which includes the ones in the srctree
$(foreach githash, $(UAVO_ALL_VERSIONS), $(eval $(call UAVO_COLLECTION_BUILD_TEMPLATE,$(githash))))
.PHONY: uavo-collections_java
uavo-collections_java: $(foreach githash, $(UAVO_ALL_VERSIONS), $(UAVO_COLLECTION_DIR)/$(githash)/java-build/uavobjects.jar)
.PHONY: uavo-collections
uavo-collections: uavo-collections_java
.PHONY: uavo-collections_clean
uavo-collections_clean:
$(V0) @$(ECHO) " CLEAN $(UAVO_COLLECTION_DIR)"
$(V1) [ ! -d "$(UAVO_COLLECTION_DIR)" ] || $(RM) -r $(UAVO_COLLECTION_DIR)
##############################
#
@ -744,10 +697,10 @@ sim_osx_%: uavobjects_flight
ALL_UNITTESTS := logfs
# Build the directory for the unit tests
UT_OUT_DIR := $(BUILD_DIR)/unit_tests
$(UT_OUT_DIR):
$(V1) mkdir -p $@
$(V1) $(MKDIR) -p $@
.PHONY: all_ut
all_ut: $(addsuffix _elf, $(addprefix ut_, $(ALL_UNITTESTS)))
@ -760,7 +713,7 @@ all_ut_run: $(addsuffix _run, $(addprefix ut_, $(ALL_UNITTESTS)))
.PHONY: all_ut_clean
all_ut_clean:
$(V0) @echo " CLEAN $@"
$(V0) @$(ECHO) " CLEAN $@"
$(V1) [ ! -d "$(UT_OUT_DIR)" ] || $(RM) -r "$(UT_OUT_DIR)"
# $(1) = Unit test name
@ -769,7 +722,7 @@ define UT_TEMPLATE
ut_$(1): ut_$(1)_run
ut_$(1)_%: $$(UT_OUT_DIR)
$(V1) mkdir -p $(UT_OUT_DIR)/$(1)
$(V1) $(MKDIR) -p $(UT_OUT_DIR)/$(1)
$(V1) cd $(ROOT_DIR)/flight/tests/$(1) && \
$$(MAKE) -r --no-print-directory \
BUILD_TYPE=ut \
@ -791,9 +744,8 @@ ut_$(1)_%: $$(UT_OUT_DIR)
.PHONY: ut_$(1)_clean
ut_$(1)_clean:
$(V0) @echo " CLEAN $(1)"
$(V0) @$(ECHO) " CLEAN $(1)"
$(V1) [ ! -d "$(UT_OUT_DIR)/$(1)" ] || $(RM) -r "$(UT_OUT_DIR)/$(1)"
endef
# Expand the unittest rules
@ -803,7 +755,7 @@ $(foreach ut, $(ALL_UNITTESTS), $(eval $(call UT_TEMPLATE,$(ut))))
# 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)
$(info *NOTE* Parallel make disabled by all_ut_run target so we have sane console output)
endif
##############################
@ -812,19 +764,213 @@ endif
#
##############################
.PHONY: package
package:
$(V1) cd $@ && $(MAKE) --no-print-directory $@
# Firmware files to package
PACKAGE_FW_TARGETS := $(filter-out fw_simposix, $(FW_TARGETS))
PACKAGE_ELF_TARGETS := $(filter fw_simposix, $(FW_TARGETS))
.PHONY: package_resources
package_resources:
$(V1) cd package && $(MAKE) --no-print-directory opfw_resource
# Rules to generate GCS resources used to embed firmware binaries into the GCS.
# They are used later by the vehicle setup wizard to update board firmware.
# To open a firmware image use ":/firmware/fw_coptercontrol.opfw"
OPFW_RESOURCE := $(BUILD_DIR)/ground/opfw_resource/opfw_resource.qrc
OPFW_RESOURCE_PREFIX := ../../../
OPFW_FILES := $(foreach fw_targ, $(PACKAGE_FW_TARGETS), $(call toprel, $(BUILD_DIR)/$(fw_targ)/$(fw_targ).opfw))
OPFW_CONTENTS := \
<!DOCTYPE RCC><RCC version="1.0"> \
<qresource prefix="/firmware"> \
$(foreach fw_file, $(OPFW_FILES), <file alias="$(notdir $(fw_file))">$(OPFW_RESOURCE_PREFIX)$(fw_file)</file>) \
</qresource> \
</RCC>
.PHONY: opfw_resource
opfw_resource: $(OPFW_RESOURCE)
$(OPFW_RESOURCE): $(FW_TARGETS)
@$(ECHO) Generating OPFW resource file $(call toprel, $@)
$(V1) $(MKDIR) -p $(dir $@)
$(V1) $(ECHO) $(QUOTE)$(OPFW_CONTENTS)$(QUOTE) > $@
# If opfw_resource is requested, GCS should depend on it
ifneq ($(strip $(filter opfw_resource,$(MAKECMDGOALS))),)
$(eval openpilotgcs: | opfw_resource)
endif
# Packaging targets: package, clean_package
# - removes build directory (clean_package only)
# - builds all firmware, opfw_resource, gcs
# - copies firmware into a package directory
# - calls paltform-specific packaging script
# Do some checks and define some values if package is requested
ifneq ($(strip $(filter package clean_package,$(MAKECMDGOALS))),)
# Define some variables
export PACKAGE_LBL := $(shell $(VERSION_INFO) --format=\$${LABEL})
export PACKAGE_NAME := OpenPilot
export PACKAGE_SEP := -
# We can only package release builds
ifneq ($(GCS_BUILD_CONF),release)
$(error Packaging is currently supported for release builds only)
endif
# Packaged GCS should depend on opfw_resource
ifneq ($(strip $(filter package clean_package,$(MAKECMDGOALS))),)
$(eval openpilotgcs: | opfw_resource)
endif
# Clean the build directory if clean_package is requested
ifneq ($(strip $(filter clean_package,$(MAKECMDGOALS))),)
$(info Cleaning build directory before packaging...)
ifneq ($(shell $(MAKE) all_clean >/dev/null 2>&1 && $(ECHO) "clean"), clean)
$(error Cannot clean build directory)
endif
.PHONY: clean_package
clean_package: package
endif
endif
# Copy file template. Empty line before the endef is required, do not remove
# $(1) = copy file name without extension
# $(2) = source file extension
# $(3) = destination file extension
define COPY_FW_FILES
$(V1) $(CP) "$(BUILD_DIR)/$(1)/$(1)$(2)" "$(PACKAGE_DIR)/firmware/$(1)$(PACKAGE_SEP)$(PACKAGE_LBL)$(3)"
endef
# Build and copy package files into the package directory
# and call platform-specific packaging script
.PHONY: package
package: all_fw all_ground uavobjects_matlab
@$(ECHO) "Packaging for $(UNAME) $(ARCH) into $(call toprel, $(PACKAGE_DIR)) directory"
$(V1) [ ! -d "$(PACKAGE_DIR)" ] || $(RM) -rf "$(PACKAGE_DIR)"
$(V1) $(MKDIR) -p "$(PACKAGE_DIR)/firmware"
$(foreach fw_targ, $(PACKAGE_FW_TARGETS), $(call COPY_FW_FILES,$(fw_targ),.opfw,.opfw))
$(foreach fw_targ, $(PACKAGE_ELF_TARGETS), $(call COPY_FW_FILES,$(fw_targ),.elf,))
$(MAKE) --no-print-directory -C $(ROOT_DIR)/package --file=$(UNAME).mk $@
##############################
#
# Build info
#
##############################
.PHONY: build-info
build-info:
$(V1) mkdir -p $(BUILD_DIR)
$(V1) python $(ROOT_DIR)/make/scripts/version-info.py \
--path=$(ROOT_DIR) \
$(V1) $(MKDIR) -p $(BUILD_DIR)
$(V1) $(VERSION_INFO) \
--uavodir=$(ROOT_DIR)/shared/uavobjectdefinition \
--template="make/templates/$@.txt" \
--outfile="$(BUILD_DIR)/$@.txt"
##############################
#
# Help message, the default Makefile goal
#
##############################
.PHONY: help
help:
@$(ECHO)
@$(ECHO) " This Makefile is known to work on Linux and Mac in a standard shell environment."
@$(ECHO) " It also works on Windows by following the instructions in make/winx86/README.txt."
@$(ECHO)
@$(ECHO) " Here is a summary of the available targets:"
@$(ECHO)
@$(ECHO) " [Tool Installers]"
@$(ECHO) " qt_sdk_install - Install the QT development tools"
@$(ECHO) " arm_sdk_install - Install the GNU ARM gcc toolchain"
@$(ECHO) " openocd_install - Install the OpenOCD JTAG daemon"
@$(ECHO) " stm32flash_install - Install the stm32flash tool for unbricking F1-based boards"
@$(ECHO) " dfuutil_install - Install the dfu-util tool for unbricking F4-based boards"
@$(ECHO) " android_sdk_install - Install the Android SDK tools"
@$(ECHO)
@$(ECHO) " [Big Hammer]"
@$(ECHO) " all - Generate UAVObjects, build openpilot firmware and gcs"
@$(ECHO) " all_flight - Build all firmware, bootloaders and bootloader updaters"
@$(ECHO) " all_fw - Build only firmware for all boards"
@$(ECHO) " all_bl - Build only bootloaders for all boards"
@$(ECHO) " all_bu - Build only bootloader updaters for all boards"
@$(ECHO)
@$(ECHO) " all_clean - Remove your build directory ($(BUILD_DIR))"
@$(ECHO) " all_flight_clean - Remove all firmware, bootloaders and bootloader updaters"
@$(ECHO) " all_fw_clean - Remove firmware for all boards"
@$(ECHO) " all_bl_clean - Remove bootlaoders for all boards"
@$(ECHO) " all_bu_clean - Remove bootloader updaters for all boards"
@$(ECHO)
@$(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))"
@$(ECHO) " fw_<board> - Build firmware for <board>"
@$(ECHO) " supported boards are ($(FW_BOARDS))"
@$(ECHO) " fw_<board>_clean - Remove firmware for <board>"
@$(ECHO) " fw_<board>_program - Use OpenOCD + JTAG to write firmware to <board>"
@$(ECHO)
@$(ECHO) " [Bootloader]"
@$(ECHO) " bl_<board> - Build bootloader for <board>"
@$(ECHO) " supported boards are ($(BL_BOARDS))"
@$(ECHO) " bl_<board>_clean - Remove bootloader for <board>"
@$(ECHO) " bl_<board>_program - Use OpenOCD + JTAG to write bootloader to <board>"
@$(ECHO)
@$(ECHO) " [Entire Flash]"
@$(ECHO) " ef_<board> - Build entire flash image for <board>"
@$(ECHO) " supported boards are ($(EF_BOARDS))"
@$(ECHO) " ef_<board>_clean - Remove entire flash image for <board>"
@$(ECHO) " ef_<board>_program - Use OpenOCD + JTAG to write entire flash image to <board>"
@$(ECHO)
@$(ECHO) " [Bootloader Updater]"
@$(ECHO) " bu_<board> - Build bootloader updater for <board>"
@$(ECHO) " supported boards are ($(BU_BOARDS))"
@$(ECHO) " bu_<board>_clean - Remove bootloader updater for <board>"
@$(ECHO)
@$(ECHO) " [Unbrick a board]"
@$(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>"
@$(ECHO) " ut_<test>_xml - Run test and capture XML output into a file"
@$(ECHO) " ut_<test>_run - Run test and dump output to console"
@$(ECHO)
@$(ECHO) " [Simulation]"
@$(ECHO) " sim_osx - Build OpenPilot simulation firmware for OSX"
@$(ECHO) " sim_osx_clean - Delete all build output for the osx simulation"
@$(ECHO) " sim_win32 - Build OpenPilot simulation firmware for"
@$(ECHO) " Windows using mingw and msys"
@$(ECHO) " sim_win32_clean - Delete all build output for the win32 simulation"
@$(ECHO)
@$(ECHO) " [GCS]"
@$(ECHO) " gcs - Build the Ground Control System (GCS) application (debug|release)"
@$(ECHO) " gcs_clean - Remove the Ground Control System (GCS) application (debug|release)"
@$(ECHO) " supported build configurations: GCS_BUILD_CONF=debug|release (default is $(GCS_BUILD_CONF))"
@$(ECHO) " gcs_all_clean - Remove the Ground Control System (GCS) application (all build confgurations)"
@$(ECHO)
@$(ECHO) " [AndroidGCS]"
@$(ECHO) " androidgcs - Build the Android Ground Control System (GCS) application"
@$(ECHO) " androidgcs_install - Use ADB to install the Android GCS application"
@$(ECHO) " androidgcs_run - Run the Android GCS application"
@$(ECHO) " androidgcs_clean - Remove the Android GCS application"
@$(ECHO)
@$(ECHO) " [UAVObjects]"
@$(ECHO) " uavobjects - Generate source files from the UAVObject definition XML files"
@$(ECHO) " uavobjects_test - parse xml-files - check for valid, duplicate ObjId's, ... "
@$(ECHO) " uavobjects_<group> - Generate source files from a subset of the UAVObject definition XML files"
@$(ECHO) " supported groups are ($(UAVOBJ_TARGETS))"
@$(ECHO)
@$(ECHO) " [Packaging]"
@$(ECHO) " opfw_resource - Generate resources to embed firmware binaries into the GCS"
@$(ECHO) " clean_package - Clean, build and package the OpenPilot platform-dependent package"
@$(ECHO) " package - Build and package the OpenPilot platform-dependent package"
@$(ECHO)
@$(ECHO) " Hint: Add V=1 to your command line to see verbose build output."
@$(ECHO)
@$(ECHO) " Note: All tools will be installed into $(TOOLS_DIR)"
@$(ECHO) " All build output will be placed in $(BUILD_DIR)"
@$(ECHO) " Package will be placed into $(PACKAGE_DIR)"
@$(ECHO)

90
flight/Doc/Architecture/ahrs_spi_link_fsm.dot
View File

@ -1,90 +0,0 @@
// Regenerate using graphviz/dotty with this command
// dot -Tjpg ./flight/Doc/Architecture/ahrs_spi_link_fsm.dot > ./flight/Doc/Architecture/ahrs_spi_link_fsm.jpg
digraph ahrs_spi_protocol {
label="AHRS SPI Link State Machine"
labelloc=t
labeljust = l
// Stopped -- Undefined Wire State
{
node [ style=filled,color=lightgray ]
stopped [ shape="doublecircle" ]
stopping
}
// Wire State Inactive
{
node [ style=filled,color=lightblue ]
inactive
}
// Wire State Busy
{
node [ style=filled,color=red ]
user_busy
user_busy_tx_pending
user_busy_rx_pending
user_busy_rxtx_pending
}
{
node [ style=filled,color=yellow ]
user_tx_pending
user_rx_pending
user_rxtx_pending
}
// Wire State Ready
{
node [ style=filled,color=green ]
user_rx_active
user_tx_active
user_rxtx_active
}
//
// State transitions driven by the user
//
stopped -> inactive [ label="init link" ]
inactive -> stopping [ label="stop" ]
inactive -> user_busy_rx_pending [ label="user set rx" ]
inactive -> user_busy_tx_pending [ label="user set tx" ]
user_busy -> user_busy_tx_pending [ label="user set tx" ]
user_busy -> user_busy_rx_pending [ label="user set rx" ]
user_busy -> inactive [ label="user done" ]
user_busy -> stopping [ label="stop" ]
user_busy_tx_pending -> user_busy_rxtx_pending [ label="user set rx" ]
user_busy_tx_pending -> user_tx_pending [ label="user done" ]
user_busy_rx_pending -> user_busy_rxtx_pending [ label="user set tx" ]
user_busy_rx_pending -> user_rx_pending [ label="user done" ]
user_busy_rxtx_pending -> user_rxtx_pending [ label="user done" ]
//
// State transitions driven by messaging from the OP board
//
stopping -> stopped [ label="rx any" ]
user_tx_pending -> user_tx_active [ label="rx any" ]
user_rx_pending -> user_rx_active [ label="rx any" ]
user_rxtx_pending -> user_rxtx_active [ label="rx any" ]
// Active -> Busy
user_rx_active -> user_busy [ label="rx user" ]
user_tx_active -> inactive [ label="rx any" ]
user_rxtx_active -> user_busy [ label="rx user" ]
user_rxtx_active -> user_rx_active [ label="rx link" ]
user_rxtx_active -> user_rx_active [ label="rx unknown" ]
}

BIN
flight/Doc/Architecture/ahrs_spi_link_fsm.jpg
View File

Binary file not shown.
Side by Side

Before

Width:  |  Height:  |  Size: 104 KiB

94
flight/Libraries/PyMite/pymite.mk
View File

@ -1,41 +1,75 @@
#
# Rules to add PYMite to a PiOS target
# Rules to add PyMite flight plan interpreter
#
PYMITE = $(FLIGHTLIB)/PyMite
PYMITELIB = $(PYMITE)/lib
PYMITEPLAT = $(PYMITE)/platform/openpilot
PYMITETOOLS = $(PYMITE)/tools
PYMITEVM = $(PYMITE)/vm
PYMITEINC = $(PYMITEVM)
PYMITEINC += $(PYMITEPLAT)
PYMITEINC += $(OUTDIR)
# Paths
PYMITE := $(FLIGHTLIB)/PyMite
PYMITELIB := $(PYMITE)/lib
PYMITEPLAT := $(PYMITE)/platform/openpilot
PYMITETOOLS := $(PYMITE)/tools
PYMITEVM := $(PYMITE)/vm
PYMITEINC := $(PYMITEVM)
PYMITEINC += $(PYMITEPLAT)
PYMITEINC += $(OUTDIR)
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files
# Flight plans
FLIGHTPLANLIB ?= $(OPMODULEDIR)/FlightPlan/lib
FLIGHTPLANS ?= $(OPMODULEDIR)/FlightPlan/flightplans
## PyMite files and modules
SRC += $(OUTDIR)/pmlib_img.c
SRC += $(OUTDIR)/pmlib_nat.c
SRC += $(OUTDIR)/pmlibusr_img.c
SRC += $(OUTDIR)/pmlibusr_nat.c
PYSRC += $(wildcard ${PYMITEVM}/*.c)
PYSRC += $(wildcard ${PYMITEPLAT}/*.c)
PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
SRC += $(PYSRC)
# Extra modules
PYMODULES ?= FlightPlan
EXTRAINCDIRS += $(PYMITEINC)
# Modules
PYSRC += $(foreach mod, $(PYMODULES), $(wildcard $(OPMODULEDIR)/$(mod)/*.c))
# Generate intermediate code
gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h
# PyMite virtual machine and platform files
PYSRC += $(wildcard $(PYMITEVM)/*.c)
PYSRC += $(wildcard $(PYMITEPLAT)/*.c)
$(PYSRC): gencode
# Autogenerated files
PYLIB += $(addprefix $(OUTDIR)/, pmlib_img.c pmlib_nat.c)
PYLIB += $(addprefix $(OUTDIR)/, pmlibusr_img.c pmlibusr_nat.c)
PYTHON = python
# Scripts
PYSCRIPTS += $(wildcard $(PYMITELIB)/*.py)
PYSCRIPTS += $(wildcard $(PYMITEPLAT)/*.py)
PYSCRIPTS += $(wildcard $(FLIGHTPLANLIB)/*.py)
PYSCRIPTS += $(wildcard $(FLIGHTPLANS)/*.py)
# Generate code for PyMite
${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py)
@echo $(MSG_PYMITEINIT) $(call toprel, $@)
@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
$(PYSRC): | $(PYLIB) $(OUTDIR)/pmfeatures.h
$(OUTDIR)/pmfeatures.h: $(PYSCRIPTS)
@$(ECHO) $(MSG_PYMITEINIT) $(call toprel, $@)
$(V1) $(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $@
$(OUTDIR)/pmlib_img.c: | $(OUTDIR)/pmlib_nat.c
$(OUTDIR)/pmlib_nat.c: $(PYSCRIPTS)
@$(ECHO) $(MSG_PYMITEINIT) $(call toprel, $@)
$(V1) $(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -c -s --memspace=flash \
-f $(PYMITEPLAT)/pmfeatures.py \
-o $(OUTDIR)/pmlib_img.c \
--native-file=$(OUTDIR)/pmlib_nat.c \
$(PYMITELIB)/list.py \
$(PYMITELIB)/dict.py \
$(PYMITELIB)/__bi.py \
$(PYMITELIB)/sys.py \
$(PYMITELIB)/string.py \
$(wildcard $(FLIGHTPLANLIB)/*.py)
$(OUTDIR)/pmlibusr_img.c: | $(OUTDIR)/pmlibusr_nat.c
$(OUTDIR)/pmlibusr_nat.c: $(PYSCRIPTS)
@$(ECHO) $(MSG_PYMITEINIT) $(call toprel, $@)
$(V1) $(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -c -u \
-f $(PYMITEPLAT)/pmfeatures.py \
-o $(OUTDIR)/pmlibusr_img.c \
--native-file=$(OUTDIR)/pmlibusr_nat.c \
$(FLIGHTPLANS)/test.py
# Add to the source and include lists
SRC += $(PYSRC)
SRC += $(PYLIB)
EXTRAINCDIRS += $(PYMITEINC)
EXTRAINCDIRS += $(foreach mod, $(PYMODULES), $(OPMODULEDIR)/$(mod)/inc)

164
flight/Libraries/ahrs_comm_objects.c
View File

@ -1,164 +0,0 @@
/**
******************************************************************************
*
* @file ahrs_comm_objects.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief AHRS comms AUVObjects. This file defined teh objects to be used.
*
* @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.h"
#include "ahrs_spi_comm.h"
#include "pios_debug.h"
static AttitudeRawData AttitudeRaw;
static AttitudeActualData AttitudeActual;
static BaroAltitudeData BaroAltitude;
static GPSPositionData GPSPosition;
static HomeLocationData HomeLocation;
static InsStatusData InsStatus;
static InsSettingsData InsSettings;
static FirmwareIAPObjData FirmwareIAPObj;
static PositionActualData PositionActual;
static VelocityActualData VelocityActual;
static GPSSatellitesData GPSSatellites;
static GPSTimeData GPSTime;
AhrsSharedObject objectHandles[MAX_AHRS_OBJECTS];
#ifndef NULL
#define NULL ((void *)0)
#endif
#ifdef IN_AHRS
//slightly hacky - implement our own version of the xxxHandle() functions
#define CREATEHANDLE(n,obj) \
void * obj##Handle() {return (&objectHandles[n]);}
CREATEHANDLE(0, AttitudeRaw);
CREATEHANDLE(1, AttitudeActual);
CREATEHANDLE(2, InsSettings);
CREATEHANDLE(3, InsStatus);
CREATEHANDLE(4, BaroAltitude);
CREATEHANDLE(5, GPSPosition);
CREATEHANDLE(6, PositionActual);
CREATEHANDLE(7, VelocityActual);
CREATEHANDLE(8, HomeLocation);
CREATEHANDLE(9, FirmwareIAPObj);
CREATEHANDLE(10, GPSSatellites);
CREATEHANDLE(11, GPSTime);
#if 12 != MAX_AHRS_OBJECTS //sanity check
#error We did not create the correct number of xxxHandle() functions
#endif
#define ADDHANDLE(idx,obj) {\
int n = idx;\
objectHandles[n].data = &obj;\
objectHandles[n].size = sizeof(obj);\
objectHandles[n].index = n;\
}
#else
static void ObjectUpdatedCb(UAVObjEvent * ev);
#define ADDHANDLE(idx,obj) {\
obj##Initialize();\
int n = idx;\
objectHandles[n].data = &obj;\
objectHandles[n].uavHandle = obj##Handle();\
objectHandles[n].size = sizeof(obj);\
objectHandles[n].index = n;\
}
#endif
void AhrsInitHandles(void)
{
int idx = 0;
//Note: the first item in this list has the highest priority
//the last has the lowest priority
ADDHANDLE(idx++, AttitudeRaw);
ADDHANDLE(idx++, AttitudeActual);
ADDHANDLE(idx++, InsSettings);
ADDHANDLE(idx++, InsStatus);
ADDHANDLE(idx++, BaroAltitude);
ADDHANDLE(idx++, GPSPosition);
ADDHANDLE(idx++, PositionActual);
ADDHANDLE(idx++, VelocityActual);
ADDHANDLE(idx++, HomeLocation);
ADDHANDLE(idx++, FirmwareIAPObj);
ADDHANDLE(idx++, GPSSatellites);
ADDHANDLE(idx++, GPSTime);
if (idx != MAX_AHRS_OBJECTS) {
PIOS_DEBUG_Assert(0);
}
//Note: Only connect objects that the AHRS needs to read
//When the AHRS writes to these the data does a round trip
//AHRS->OP->AHRS due to these events
#ifndef IN_AHRS
InsSettingsConnectCallback(ObjectUpdatedCb);
HomeLocationConnectCallback(ObjectUpdatedCb);
FirmwareIAPObjConnectCallback(ObjectUpdatedCb);
#endif
}
AhrsObjHandle AhrsFromIndex(uint8_t index)
{
if (index >= MAX_AHRS_OBJECTS) {
return (NULL);
}
return (&objectHandles[index]);
}
#ifndef IN_AHRS
AhrsObjHandle AhrsFromUAV(UAVObjHandle obj)
{
if (objectHandles[0].uavHandle == NULL) { //Oops - we haven't been initialised!
PIOS_DEBUG_Assert(0);
}
for (int ct = 0; ct < MAX_AHRS_OBJECTS; ct++) {
if (objectHandles[ct].uavHandle == obj) {
return (&objectHandles[ct]);
}
}
return (NULL);
}
/** Callback to update AHRS from UAVObjects
*/
static void ObjectUpdatedCb(UAVObjEvent * ev)
{
if (!(ev->event & EV_MASK_ALL_UPDATES)) {
return;
}
AhrsObjHandle hdl = AhrsFromUAV(ev->obj);
if (hdl) {
AhrsSharedData data; //this is guaranteed to be big enough
UAVObjGetData(ev->obj, &data);
AhrsSetData(hdl, &data);
}
}
#endif

452
flight/Libraries/ahrs_spi_comm.c
View File

@ -1,452 +0,0 @@
/**
******************************************************************************
*
* @file ahrs_spi_comm.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief AHRS SPI communications.
*
* @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.h>
#include "ahrs_spi_comm.h"
#include "ahrs_spi_program.h"
#ifdef IN_AHRS
#include <string.h>
#include "pios_debug.h"
#include "pios_spi.h"
#include "pios_irq.h"
#include "ahrs_spi_program_slave.h"
//#include "STM32103CB_AHRS.h"
#endif
/*transmit and receive packet magic numbers.
These numbers are chosen to be very unlikely to occur due to noise.
CRC8 does not always catch noise from cross-coupling between data lines.
*/
#ifdef IN_AHRS
#define TXMAGIC 0xA55AF0C3
#define RXMAGIC 0x3C5AA50F
#else
#define RXMAGIC 0xA55AF0C3
#define TXMAGIC 0x3C5AA50F
#endif
//packet types
typedef enum { COMMS_NULL, COMMS_OBJECT } COMMSCOMMAND;
//The maximum number of objects that can be updated in one cycle.
//Currently the link is capable of sending 3 packets per cycle but 2 is enough
#define MAX_UPDATE_OBJECTS 2
//Number of transmissions + 1 before we expect to see the data acknowledge
//This is controlled by the SPI hardware.
#define ACK_LATENCY 4
/** All data for one object
*/
typedef struct {
uint8_t done;
uint8_t index;
AhrsSharedData object;
} ObjectPacketData;
/** One complete packet.
Other packet types are allowed for. The frame size will be the size of this
structure.
*/
typedef struct {
uint32_t magicNumber;
COMMSCOMMAND command;
AhrsEndStatus status;
union { //allow for expansion to other packet types.
ObjectPacketData objects[MAX_UPDATE_OBJECTS];
};
uint8_t dummy; //For some reason comms trashes the last byte
} CommsDataPacket;
static void FillObjectPacket();
static void CommsCallback(uint8_t crc_ok, uint8_t crc_val);
static void SetObjectDirty(const int idx);
static void HandleObjectPacket();
static void HandleRxPacket();
static void PollEvents();
#ifndef IN_AHRS
static void SendPacket(void);
static void AhrsUpdatedCb(AhrsObjHandle handle);
#endif
/** Receive data buffer
*/
static CommsDataPacket rxPacket;
/** Transmit data buffer
*/
static CommsDataPacket txPacket;
/** Objects that have changed and so should be transmitted
*/
static unsigned int dirtyObjects[MAX_AHRS_OBJECTS];
/** Objects that have been updated at startup
*/
static bool readyObjects[MAX_AHRS_OBJECTS];
/** List of event callbacks
*/
static AhrsEventCallback objCallbacks[MAX_AHRS_OBJECTS];
/** True for objects for which new data is received and callback needs to be called
*/
static bool callbackPending[MAX_AHRS_OBJECTS];
//More than this number of errors in a row will indicate the link is down
#define MAX_CRC_ERRORS 50
//At least this number of good frames are needed to indicate the link is up.
#define MIN_OK_FRAMES 50
//At least this number of empty objects are needed before the initial flood of events is over.
#define MIN_EMPTY_OBJECTS 10
static uint8_t linkOk = false;
static int okCount = MIN_OK_FRAMES;
static int emptyCount = MIN_EMPTY_OBJECTS;
static bool programReceive = false;
void AhrsInitComms(void)
{
programReceive = false;
AhrsInitHandles();
memset(objCallbacks, 0, sizeof(AhrsEventCallback) * MAX_AHRS_OBJECTS);
memset(callbackPending, 0, sizeof(bool) * MAX_AHRS_OBJECTS);
memset(dirtyObjects, 0, sizeof(unsigned int) * MAX_AHRS_OBJECTS);
memset(&txPacket, 0, sizeof(txPacket));
memset(&rxPacket, 0, sizeof(rxPacket));
memset(&readyObjects, 0, sizeof(bool) * MAX_AHRS_OBJECTS);
txPacket.command = COMMS_NULL;
rxPacket.command = COMMS_NULL;
}
static uint32_t opahrs_spi_id;
void AhrsConnect(uint32_t spi_id)
{
/* Bind this comms layer to the appropriate SPI id */
opahrs_spi_id = spi_id;
#ifndef IN_AHRS
/* Comms already init in OP code */
for (int ct = 0; ct < MAX_AHRS_OBJECTS; ct++) {
AhrsObjHandle hdl = AhrsFromIndex(ct);
if (hdl) {
AhrsConnectCallBack(hdl, AhrsUpdatedCb);
}
}
#endif
}
int32_t AhrsSetData(AhrsObjHandle obj, const void *dataIn)
{
if (obj == NULL || dataIn == NULL || obj->data == NULL) {
return (-1);
}
if (memcmp(obj->data, dataIn, obj->size) == 0) { //nothing to do, don't generate an event
return (0);
}
memcpy(obj->data, dataIn, obj->size);
SetObjectDirty(obj->index);
return (0);
}
int32_t AhrsGetData(AhrsObjHandle obj, void *dataOut)
{
if (obj == NULL || dataOut == NULL || obj->data == NULL) {
return (-1);
}
memcpy(dataOut, obj->data, obj->size);
return (0);
}
/** Mark an object to be sent
*/
void SetObjectDirty(const int idx)
{
if (idx < 0 || idx >= MAX_AHRS_OBJECTS) {
return;
}
dirtyObjects[idx] = ACK_LATENCY;
}
/** Work out what data needs to be sent.
If an object was not sent it will be retried 4 frames later
*/
static void FillObjectPacket()
{
txPacket.command = COMMS_OBJECT;
txPacket.magicNumber = TXMAGIC;
int idx = 0;
for (int ct = 0; ct < MAX_UPDATE_OBJECTS; ct++) {
txPacket.objects[ct].index = AHRS_NO_OBJECT;
for (; idx < MAX_AHRS_OBJECTS; idx++) {
if (dirtyObjects[idx] > 0) {
if (dirtyObjects[idx] == ACK_LATENCY) {
dirtyObjects[idx]--;
txPacket.objects[ct].index = idx;
AhrsObjHandle hdl = AhrsFromIndex(idx);
if (hdl) {
memcpy(&txPacket.objects[ct].object, hdl->data, hdl->size);
break;
}
} else {
dirtyObjects[idx]--;
if (dirtyObjects[idx] == 0) { //timed out
dirtyObjects[idx] = ACK_LATENCY;
txPacket.status.retries++;
}
}
}
}
}
for (; idx < MAX_AHRS_OBJECTS; idx++) {
if (dirtyObjects[idx] > 0 && dirtyObjects[idx] != ACK_LATENCY) {
dirtyObjects[idx]--;
if (dirtyObjects[idx] == 0) { //timed out
dirtyObjects[idx] = ACK_LATENCY;
txPacket.status.retries++;
}
}
}
}
/** Process a received packet
*/
static void HandleRxPacket()
{
switch (rxPacket.command) {
case COMMS_NULL:
// Empty packet, nothing to do
break;
case COMMS_OBJECT:
HandleObjectPacket();
break;
default:
txPacket.status.invalidPacket++;
}
}
/** Process a received UAVObject packet
*/
static void HandleObjectPacket()
{
for (int ct = 0; ct < MAX_UPDATE_OBJECTS; ct++) {
uint8_t idx;
// Flag objects that have been successfully received at the other end
idx = rxPacket.objects[ct].done;
txPacket.objects[ct].done = AHRS_NO_OBJECT;
if (idx < MAX_AHRS_OBJECTS) {
if (dirtyObjects[idx] == 1) { //this ack is the correct one for the last send
dirtyObjects[idx] = 0;
}
}
// Handle received object if there is one in this packet
idx = rxPacket.objects[ct].index;
if (idx == AHRS_NO_OBJECT) {
if (emptyCount > 0) {
emptyCount--;
}
continue;
}
AhrsObjHandle obj = AhrsFromIndex(idx);
if (obj) {
memcpy(obj->data, &rxPacket.objects[ct].object, obj->size);
txPacket.objects[ct].done = idx;
callbackPending[idx] = true; // New data available, call callback
readyObjects[idx] = true;
} else {
txPacket.status.invalidPacket++;
}
}
#ifdef IN_AHRS
FillObjectPacket(); //ready for the next frame
#endif
}
int32_t AhrsConnectCallBack(AhrsObjHandle obj, AhrsEventCallback cb)
{
if (obj == NULL || obj->data == NULL) {
return (-1);
}
objCallbacks[obj->index] = cb;
return (0);
}
void AhrsGetStatus(AhrsCommStatus * status)
{
status->remote = rxPacket.status;
status->local = txPacket.status;
status->linkOk = linkOk;
}
/** Function called after an SPI transfer
*/
static void CommsCallback(uint8_t crc_ok, uint8_t crc_val)
{
#ifndef IN_AHRS
PIOS_SPI_RC_PinSet(opahrs_spi_id, 1); //signal the end of the transfer
#endif
txPacket.command = COMMS_NULL; //we must send something so default to null
// While the crc is ok, there is a magic value in the received data for extra security
if (rxPacket.magicNumber != RXMAGIC) {
crc_ok = false;
}
if (crc_ok) {
// The received data is OK, update link state and handle data
if (!linkOk && okCount > 0) {
okCount--;
if (okCount == 0) {
linkOk = true;
okCount = MAX_CRC_ERRORS;
emptyCount = MIN_EMPTY_OBJECTS;
}
}
HandleRxPacket();
} else {
// The received data is incorrect, update state
#ifdef IN_AHRS //AHRS - do we neeed to enter program mode?
if (memcmp(&rxPacket, SPI_PROGRAM_REQUEST, SPI_PROGRAM_REQUEST_LENGTH) == 0)
{
rxPacket.magicNumber = 0;
programReceive = true; //flag it to be executed in program space
return;
}
#endif
txPacket.status.crcErrors++;
if (linkOk && okCount > 0) {
okCount--;
if (okCount == 0) {
linkOk = false;
okCount = MIN_OK_FRAMES;
}
}
}
rxPacket.magicNumber = 0;
#ifdef IN_AHRS
/*queue next frame
If PIOS_SPI_TransferBlock() fails for any reason, comms will stop working.
In that case, AhrsPoll() should kick start things again.
*/
PIOS_SPI_TransferBlock(opahrs_spi_id, (uint8_t *) & txPacket, (uint8_t *) & rxPacket, sizeof(CommsDataPacket), &CommsCallback);
#endif
}
/** Call callbacks for object where new data is received
*/
static void PollEvents(void)
{
for (int idx = 0; idx < MAX_AHRS_OBJECTS; idx++) {
if (objCallbacks[idx]) {
PIOS_IRQ_Disable();
if (callbackPending[idx]) {
callbackPending[idx] = false;
PIOS_IRQ_Enable();
objCallbacks[idx] (AhrsFromIndex(idx));
} else {
PIOS_IRQ_Enable();
}
}
}
}
#ifdef IN_AHRS
void AhrsPoll()
{
if(programReceive)
{
AhrsProgramReceive(opahrs_spi_id);
programReceive = false;
}
PollEvents();
if (PIOS_SPI_Busy(opahrs_spi_id) != 0) { //Everything is working correctly
return;
}
txPacket.status.kickStarts++;
//comms have broken down - try kick starting it.
txPacket.command = COMMS_NULL; //we must send something so default to null
PIOS_SPI_TransferBlock(opahrs_spi_id, (uint8_t *) & txPacket, (uint8_t *) & rxPacket, sizeof(CommsDataPacket), &CommsCallback);
}
bool AhrsLinkReady(void)
{
for (int ct = 0; ct < MAX_AHRS_OBJECTS; ct++) {
if (!readyObjects[ct]) {
return (false);
}
}
return (linkOk);
}
#else
void AhrsSendObjects(void)
{
static bool oldLink = false;
PollEvents();
if (oldLink != linkOk) {
oldLink = linkOk;
if (linkOk) {
for (int ct = 0; ct < MAX_AHRS_OBJECTS; ct++) {
AhrsObjHandle hdl = AhrsFromIndex(ct);
if (!hdl) { //paranoid - shouldn't ever happen
continue;
}
AhrsSharedData data;
UAVObjGetData(hdl->uavHandle, &data);
AhrsSetData(hdl, &data);
SetObjectDirty(ct); //force even unchanged data to be sent
}
}
}
FillObjectPacket();
SendPacket();
}
void SendPacket(void)
{
#ifndef IN_AHRS
PIOS_SPI_RC_PinSet(opahrs_spi_id, 0);
#endif
//no point checking if this failed. There isn't much we could do about it if it did fail
PIOS_SPI_TransferBlock(opahrs_spi_id, (uint8_t *) & txPacket, (uint8_t *) & rxPacket, sizeof(CommsDataPacket), &CommsCallback);
}
static void AhrsUpdatedCb(AhrsObjHandle handle)
{
UAVObjSetData(handle->uavHandle, handle->data);
return;
}
#endif

95
flight/Libraries/inc/ahrs_comm_objects.h
View File

@ -1,95 +0,0 @@
/**
******************************************************************************
*
* @file ahrs_comm_objects.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief AHRS SPI comms UAVObject definitions.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef AHRS_COMM_OBJECTS_H
#define AHRS_COMM_OBJECTS_H
#include "attitudeactual.h"
#include "attituderaw.h"
#include "baroaltitude.h"
#include "gpsposition.h"
#include "homelocation.h"
#include "insstatus.h"
#include "inssettings.h"
#include "positionactual.h"
#include "velocityactual.h"
#include "firmwareiapobj.h"
#include "gpsposition.h"
#include "gpssatellites.h"
#include "gpstime.h"
/** union that will fit any UAVObject.
*/
typedef union {
AttitudeRawData AttitudeRaw;
AttitudeActualData AttitudeActual;
InsStatusData AhrsStatus;
BaroAltitudeData BaroAltitude;
GPSPositionData GPSPosition;
PositionActualData PositionActual;
VelocityActualData VelocityActual;
HomeLocationData HomeLocation;
InsSettingsData InsSettings;
FirmwareIAPObjData FirmwareIAPObj;
GPSSatellitesData GPSSatellites;
GPSTimeData GPSTime;
} __attribute__ ((packed)) AhrsSharedData;
/** The number of UAVObjects we will be dealing with.
*/
#define MAX_AHRS_OBJECTS 12
/** Our own version of a UAVObject.
*/
typedef struct {
void *data;
int size;
uint8_t index;
#ifndef IN_AHRS
UAVObjHandle uavHandle;
#endif
} AhrsSharedObject;
typedef AhrsSharedObject *AhrsObjHandle;
/** Initialise the object mapping.
It is important that this is called before any of the following functions.
*/
void AhrsInitHandles(void);
/** the AHRS object related to the given index.
Returns the AHRS object or NULL if not found
*/
AhrsObjHandle AhrsFromIndex(uint8_t index);
#ifndef IN_AHRS
/** Get the AHRS object associated with the UAVObject.
Returns the AHRS object or NULL if not found
*/
AhrsObjHandle AhrsFromUAV(UAVObjHandle obj);
#endif
#endif //#ifndef AHRS_COMMS_OBJECTS_H

136
flight/Libraries/inc/ahrs_spi_comm.h
View File

@ -1,136 +0,0 @@
/**
******************************************************************************
*
* @file ahrs_spi_comm.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Include file of the AHRS SPI comms exposed functionality.
*
* @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 AHRS_SPI_COMM_H_INCLUDED
#define AHRS_SPI_COMM_H_INCLUDED
#ifdef IN_AHRS //AHRS only
#include <stdint.h>
#include <stdbool.h>
/** Redirect UAVObjGetData call
*/
#define UAVObjGetData(obj, data) AhrsGetData(obj, data)
/** Redirect UAVObjSetData call
*/
#define UAVObjSetData(obj, data) AhrsSetData(obj, data)
/** Redirect UAVObjConnectCallback call
Note: in AHRS, mask is unused because there is only one event type
*/
#define UAVObjConnectCallback(obj, callback, mask) AhrsConnectCallBack(obj,callback)
/** define our own UAVObjHandle
*/
typedef void *UAVObjHandle;
#else
#include "openpilot.h"
#include "uavobjectmanager.h"
#endif
#define AHRS_NO_OBJECT 0xff
#include "ahrs_comm_objects.h"
/** Status of each end of the link
*/
typedef struct { //try to keep this short and in multiples of 4 bytes
uint8_t kickStarts; //AHRS end only
uint8_t crcErrors;
uint8_t retries;
uint8_t invalidPacket;
} AhrsEndStatus;
/** AHRS comms status
*/
typedef struct {
uint8_t linkOk;
AhrsEndStatus remote;
AhrsEndStatus local;
} AhrsCommStatus;
/** Event callback, this function is called when an object changes.
*/
typedef void (*AhrsEventCallback) (AhrsObjHandle obj);
/** Initialise comms.
Note: this must be called before you do anything else.
Comms will not start until the first call to AhrsPoll() or
AhrsSendObjects()
*/
void AhrsInitComms(void);
/** Connect Comms to a specific SPI interface instance.
*/
void AhrsConnect(uint32_t spi_id);
/** AHRS version of UAVObject xxxSetData.
Returns: 0 if ok, -1 if an error
*/
int32_t AhrsSetData(AhrsObjHandle obj, const void *dataIn);
/** AHRS version of UAVObject xxxGetData.
Returns: 0 if ok, -1 if an error
*/
int32_t AhrsGetData(AhrsObjHandle obj, void *dataOut);
/** Connect a callback for any changes to AHRS data.
Returns: 0 if ok, -1 if an error
*/
int32_t AhrsConnectCallBack(AhrsObjHandle obj, AhrsEventCallback cb);
/** Get the current link status.
Returns: the status.
Note: the remote status will only be valid if the link is up and running
*/
void AhrsGetStatus(AhrsCommStatus * status);
#ifdef IN_AHRS //slave only
/** Send the latest objects to the OP
This also polls any pending events and kick starts the DMA
if needed
*/
void AhrsPoll();
/** Check if the link is up and we have received the first batch of updates
Returns: True if the link is up and all objects are up to date
*/
bool AhrsLinkReady();
#else //master only
/** Send the latest objects to the AHRS
This also polls any pending events
*/
void AhrsSendObjects(void);
#endif
#endif //#ifndef AHRS_SPI_COMM_H_INCLUDED

2
flight/Libraries/inc/insgps.h
View File

@ -80,7 +80,7 @@ void VelBaroCorrection(float Vel[3], float BaroAlt);
uint16_t ins_get_num_states();
// Nav structure containing current solution
struct NavStruct {
extern struct NavStruct {
float Pos[3]; // Position in meters and relative to a local NED frame
float Vel[3]; // Velocity in meters and in NED
float q[4]; // unit quaternion rotation relative to NED

3
flight/Libraries/insgps13state.c
View File

@ -66,6 +66,9 @@ float P[NUMX][NUMX], X[NUMX]; // covariance matrix and state vector
float Q[NUMW], R[NUMV]; // input noise and measurement noise variances
float K[NUMX][NUMV]; // feedback gain matrix
// Global variables
struct NavStruct Nav;
// ************* Exposed Functions ****************
// *************************************************

24
flight/PiOS/Common/printf-stdarg.c → flight/Libraries/printf-stdarg.c
View File

@ -3,26 +3,26 @@
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
*
* @file printf-stdarg.c
* @file printf-stdarg.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief Formatted print functions
* @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
/*
* 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
*
* 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.,
*
* 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
*/

0
flight/PiOS/Common/printf2.c → flight/Libraries/printf2.c
View File

9
flight/Libraries/rscode/library.mk Normal file
View File

@ -0,0 +1,9 @@
#
# Rules to add RSCODE to a PiOS target
#
RSCODE_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
RSCODE_SRC := berlekamp.c crcgen.c galois.c rs.c
SRC += $(addprefix $(RSCODE_DIR),$(RSCODE_SRC))
EXTRAINCDIRS += $(RSCODE_DIR)

4
flight/Libraries/taskmonitor.c
View File

@ -47,7 +47,7 @@ int32_t TaskMonitorInitialize(void)
lock = xSemaphoreCreateRecursiveMutex();
memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM);
lastMonitorTime = 0;
#if defined(DIAG_TASKS)
#ifdef DIAG_TASKS
lastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
#endif
return 0;
@ -104,7 +104,7 @@ bool TaskMonitorQueryRunning(TaskInfoRunningElem task)
*/
void TaskMonitorUpdateAll(void)
{
#if defined(DIAG_TASKS)
#ifdef DIAG_TASKS
TaskInfoData data;
int n;

143
flight/Modules/AHRSComms/ahrs_comms.c
View File

@ -1,143 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup AHRSCommsModule AHRSComms Module
* @brief Handles communication with AHRS and updating position
* Specifically updates the the @ref AttitudeActual "AttitudeActual" and @ref AttitudeRaw "AttitudeRaw" settings objects
* @{
*
* @file ahrs_comms.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Module to handle all comms to the AHRS on a periodic basis.
*
* @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
*/
/**
* Input objects: As defined in PiOS/inc/pios_ahrs_comms.h
* Output objects: As defined in PiOS/inc/pios_ahrs_comms.h
*
* This module will periodically update the values of latest attitude solution
* and other objects that are transferred to and from the AHRS
* The module settings can configure how often AHRS is polled for a new solution.
*
* The module executes in its own thread.
*
* UAVObjects are automatically generated by the UAVObjectGenerator from
* the object definition XML file.
*
* Modules have no API, all communication to other modules is done through UAVObjects.
* However modules may use the API exposed by shared libraries.
* See the OpenPilot wiki for more details.
* http://www.openpilot.org/OpenPilot_Application_Architecture
*
*/
#include "ahrs_comms.h"
#include "ahrs_spi_comm.h"
#include "insstatus.h"
// Private constants
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
// Private types
// Private variables
static xTaskHandle taskHandle;
// Private functions
static void ahrscommsTask(void *parameters);
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AHRSCommsStart(void)
{
// Start main task
xTaskCreate(ahrscommsTask, (signed char *)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_AHRSCOMMS, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_AHRS);
return 0;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AHRSCommsInitialize(void)
{
InsStatusInitialize();
InsSettingsInitialize();
AttitudeRawInitialize();
AttitudeActualInitialize();
VelocityActualInitialize();
PositionActualInitialize();
return 0;
}
MODULE_INITCALL(AHRSCommsInitialize, AHRSCommsStart)
/**
* Module thread, should not return.
*/
static void ahrscommsTask(void *parameters)
{
portTickType lastSysTime;
AlarmsSet(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_CRITICAL);
// Main task loop
while (1) {
PIOS_WDG_UpdateFlag(PIOS_WDG_AHRS);
AhrsCommStatus stat;
AhrsSendObjects();
AhrsGetStatus(&stat);
if (stat.linkOk) {
AlarmsClear(SYSTEMALARMS_ALARM_AHRSCOMMS);
} else {
AlarmsSet(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_WARNING);
}
InsStatusData sData;
InsStatusGet(&sData);
sData.LinkRunning = stat.linkOk;
sData.AhrsKickstarts = stat.remote.kickStarts;
sData.AhrsCrcErrors = stat.remote.crcErrors;
sData.AhrsRetries = stat.remote.retries;
sData.AhrsInvalidPackets = stat.remote.invalidPacket;
sData.OpCrcErrors = stat.local.crcErrors;
sData.OpRetries = stat.local.retries;
sData.OpInvalidPackets = stat.local.invalidPacket;
InsStatusSet(&sData);
/* Wait for the next update interval */
vTaskDelayUntil(&lastSysTime, 2 / portTICK_RATE_MS);
}
}
/**
* @}
* @}
*/

37
flight/Modules/AHRSComms/inc/ahrs_comms.h
View File

@ -1,37 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup AHRSCommsModule AHRSComms Module
* @{
*
* @file ahrs_comms.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Module to handle all comms to the AHRS on a periodic basis.
*
* @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 AHRS_COMMS_H
#define AHRS_COMMS_H
#include "openpilot.h"
int32_t AHRSCommsInitialize(void);
#endif // AHRS_COMMS_H

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

@ -128,7 +128,7 @@ int32_t ActuatorInitialize()
// Primary output of this module
ActuatorCommandInitialize();
#if defined(MIXERSTATUS_DIAGNOSTICS)
#ifdef DIAG_MIXERSTATUS
// UAVO only used for inspecting the internal status of the mixer during debug
MixerStatusInitialize();
#endif
@ -218,7 +218,7 @@ static void actuatorTask(void* parameters)
ActuatorDesiredGet(&desired);
ActuatorCommandGet(&command);
#if defined(MIXERSTATUS_DIAGNOSTICS)
#ifdef DIAG_MIXERSTATUS
MixerStatusGet(&mixerStatus);
#endif
int nMixers = 0;
@ -379,7 +379,7 @@ static void actuatorTask(void* parameters)
// Update in case read only (eg. during servo configuration)
ActuatorCommandGet(&command);
#if defined(MIXERSTATUS_DIAGNOSTICS)
#ifdef DIAG_MIXERSTATUS
MixerStatusSet(&mixerStatus);
#endif

2
flight/Modules/Altitude/altitude.c
View File

@ -92,7 +92,7 @@ int32_t AltitudeStart()
*/
int32_t AltitudeInitialize()
{
#ifdef MODULE_Altitude_BUILTIN
#ifdef MODULE_ALTITUDE_BUILTIN
altitudeEnabled = 1;
#else
HwSettingsInitialize();

2
flight/Modules/CameraStab/camerastab.c
View File

@ -94,7 +94,7 @@ int32_t CameraStabInitialize(void)
{
bool cameraStabEnabled;
#ifdef MODULE_CameraStab_BUILTIN
#ifdef MODULE_CAMERASTAB_BUILTIN
cameraStabEnabled = true;
#else
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];

2
flight/Modules/ComUsbBridge/ComUsbBridge.c
View File

@ -94,7 +94,7 @@ static int32_t comUsbBridgeInitialize(void)
usart_port = PIOS_COM_BRIDGE;
vcp_port = PIOS_COM_VCP;
#ifdef MODULE_ComUsbBridge_BUILTIN
#ifdef MODULE_COMUSBBRIDGE_BUILTIN
bridge_enabled = true;
#else
HwSettingsInitialize();

2
flight/Modules/Extensions/MagBaro/magbaro.c
View File

@ -87,7 +87,7 @@ int32_t MagBaroStart()
*/
int32_t MagBaroInitialize()
{
#ifdef MODULE_MagBaro_BUILTIN
#ifdef MODULE_MAGBARO_BUILTIN
magbaroEnabled = 1;
#else
HwSettingsInitialize();

2
flight/Modules/Fault/Fault.c
View File

@ -40,7 +40,7 @@ static uint8_t active_fault;
static int32_t fault_initialize(void)
{
#ifdef MODULE_Fault_BUILTIN
#ifdef MODULE_FAULT_BUILTIN
module_enabled = true;
#else
HwSettingsInitialize();

2
flight/Modules/OveroSync/overosync.c
View File

@ -75,7 +75,7 @@ struct overosync *overosync;
int32_t OveroSyncInitialize(void)
{
#ifdef MODULE_OVERO_BUILTIN
#ifdef MODULE_OVEROSYNC_BUILTIN
overoEnabled = true;
#else

6
flight/Modules/Stabilization/stabilization.c
View File

@ -120,7 +120,7 @@ int32_t StabilizationInitialize()
// Initialize variables
StabilizationSettingsInitialize();
ActuatorDesiredInitialize();
#if defined(RATEDESIRED_DIAGNOSTICS)
#ifdef DIAG_RATEDESIRED
RateDesiredInitialize();
#endif
@ -173,7 +173,7 @@ static void stabilizationTask(void* parameters)
StabilizationDesiredGet(&stabDesired);
AttitudeActualGet(&attitudeActual);
GyrosGet(&gyrosData);
#if defined(RATEDESIRED_DIAGNOSTICS)
#ifdef DIAG_RATEDESIRED
RateDesiredGet(&rateDesired);
#endif
@ -350,7 +350,7 @@ static void stabilizationTask(void* parameters)
if (settings.VbarPiroComp == STABILIZATIONSETTINGS_VBARPIROCOMP_TRUE)
stabilization_virtual_flybar_pirocomp(gyro_filtered[2], dT);
#if defined(RATEDESIRED_DIAGNOSTICS)
#ifdef DIAG_RATEDESIRED
RateDesiredSet(&rateDesired);
#endif

12
flight/Modules/System/systemmod.c
View File

@ -92,7 +92,7 @@ static void hwSettingsUpdatedCb(UAVObjEvent * ev);
static void updateStats();
static void updateSystemAlarms();
static void systemTask(void *parameters);
#if defined(I2C_WDG_STATS_DIAGNOSTICS)
#ifdef DIAG_I2C_WDG_STATS
static void updateI2Cstats();
static void updateWDGstats();
#endif
@ -125,10 +125,10 @@ int32_t SystemModInitialize(void)
SystemStatsInitialize();
FlightStatusInitialize();
ObjectPersistenceInitialize();
#if defined(DIAG_TASKS)
#ifdef DIAG_TASKS
TaskInfoInitialize();
#endif
#if defined(I2C_WDG_STATS_DIAGNOSTICS)
#ifdef DIAG_I2C_WDG_STATS
I2CStatsInitialize();
WatchdogStatusInitialize();
#endif
@ -181,12 +181,12 @@ static void systemTask(void *parameters)
// Update the system alarms
updateSystemAlarms();
#if defined(I2C_WDG_STATS_DIAGNOSTICS)
#ifdef DIAG_I2C_WDG_STATS
updateI2Cstats();
updateWDGstats();
#endif
#if defined(DIAG_TASKS)
#ifdef DIAG_TASKS
// Update the task status object
TaskMonitorUpdateAll();
#endif
@ -334,7 +334,7 @@ static void hwSettingsUpdatedCb(UAVObjEvent * ev)
/**
* Called periodically to update the I2C statistics
*/
#if defined(I2C_WDG_STATS_DIAGNOSTICS)
#ifdef DIAG_I2C_WDG_STATS
static void updateI2Cstats()
{
#if defined(PIOS_INCLUDE_I2C)

243
flight/PiOS/Boards/STM32103CB_AHRS.h
View File

@ -1,243 +0,0 @@
/**
******************************************************************************
*
* @file pios_board.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Defines board hardware for the OpenPilot Version 1.1 hardware.
* @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 STM32103CB_AHRS_H_
#define STM32103CB_AHRS_H_
//------------------------
// Timers and Channels Used
//------------------------
/*
Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
------+-----------+-----------+-----------+----------
TIM1 | | | |
TIM2 | --------------- PIOS_DELAY -----------------
TIM3 | | | |
TIM4 | | | |
TIM5 | | | |
TIM6 | | | |
TIM7 | | | |
TIM8 | | | |
------+-----------+-----------+-----------+----------
*/
//------------------------
// DMA Channels Used
//------------------------
/* Channel 1 - */
/* Channel 2 - */
/* Channel 3 - */
/* Channel 4 - */
/* Channel 5 - */
/* Channel 6 - */
/* Channel 7 - */
/* Channel 8 - */
/* Channel 9 - */
/* Channel 10 - */
/* Channel 11 - */
/* Channel 12 - */
//------------------------
// BOOTLOADER_SETTINGS
//------------------------
#define BOARD_READABLE TRUE
#define BOARD_WRITABLE TRUE
#define MAX_DEL_RETRYS 3
//------------------------
// PIOS_LED
//------------------------
#define PIOS_LED_HEARTBEAT 0
//-------------------------
// System Settings
//-------------------------
#define PIOS_MASTER_CLOCK 72000000
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
//-------------------------
// Interrupt Priorities
//-------------------------
#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS
#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS
#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
//------------------------
// PIOS_I2C
// See also pios_board.c
//------------------------
#define PIOS_I2C_MAX_DEVS 1
extern uint32_t pios_i2c_main_adapter_id;
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_main_adapter_id)
//-------------------------
// SPI
//
// See also pios_board.c
//-------------------------
#define PIOS_SPI_MAX_DEVS 1
//-------------------------
// PIOS_USART
//-------------------------
#define PIOS_USART_MAX_DEVS 2
//-------------------------
// PIOS_COM
//
// See also pios_board.c
//-------------------------
#define PIOS_COM_MAX_DEVS 2
extern uint32_t pios_com_aux_id;
#define PIOS_COM_AUX (pios_com_aux_id)
#define PIOS_COM_DEBUG PIOS_COM_AUX
//-------------------------
// ADC
// PIOS_ADC_PinGet(0) = Accel Z
// PIOS_ADC_PinGet(2) = Accel Y
// PIOS_ADC_PinGet(4) = Accel X
// PIOS_ADC_PinGet(1) = Gyro X
// PIOS_ADC_PinGet(3) = Gyro Y
// PIOS_ADC_PinGet(5) = Gyro Z
// PIOS_ADC_PinGet(6) = XY Temp
// PIOS_ADC_PinGet(7) = Z Temp
//-------------------------
//#define PIOS_ADC_OVERSAMPLING_RATE 1
#define PIOS_ADC_USE_TEMP_SENSOR 0
#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
#define PIOS_ADC_PIN1_GPIO_PORT GPIOA // PA2 (Accel X)
#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_2 // ADC12_IN2
#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_2
#define PIOS_ADC_PIN1_ADC ADC1
#define PIOS_ADC_PIN1_ADC_NUMBER 1
#define PIOS_ADC_PIN2_GPIO_PORT GPIOA // PA1 (Accel Y)
#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_1 // ADC123_IN1
#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_1
#define PIOS_ADC_PIN2_ADC ADC1
#define PIOS_ADC_PIN2_ADC_NUMBER 2
#define PIOS_ADC_PIN3_GPIO_PORT GPIOA // PA0 (Accel Z)
#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_0 // ADC12_IN0
#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_0
#define PIOS_ADC_PIN3_ADC ADC1
#define PIOS_ADC_PIN3_ADC_NUMBER 3
#define PIOS_ADC_PIN4_GPIO_PORT GPIOA // PA6 (Temp_XY)
#define PIOS_ADC_PIN4_GPIO_PIN GPIO_Pin_6 // ADC12_IN6
#define PIOS_ADC_PIN4_GPIO_CHANNEL ADC_Channel_6
#define PIOS_ADC_PIN4_ADC ADC1
#define PIOS_ADC_PIN4_ADC_NUMBER 4
#define PIOS_ADC_PIN5_GPIO_PORT GPIOA // PA4 (Gyro X)
#define PIOS_ADC_PIN5_GPIO_PIN GPIO_Pin_4 // ADC12_IN4
#define PIOS_ADC_PIN5_GPIO_CHANNEL ADC_Channel_4
#define PIOS_ADC_PIN5_ADC ADC2
#define PIOS_ADC_PIN5_ADC_NUMBER 1
#define PIOS_ADC_PIN6_GPIO_PORT GPIOA // PA5 (Gyro Y)
#define PIOS_ADC_PIN6_GPIO_PIN GPIO_Pin_5 // ADC12_IN5
#define PIOS_ADC_PIN6_GPIO_CHANNEL ADC_Channel_5
#define PIOS_ADC_PIN6_ADC ADC2
#define PIOS_ADC_PIN6_ADC_NUMBER 2
#define PIOS_ADC_PIN7_GPIO_PORT GPIOA // PA7 (Gyro Z)
#define PIOS_ADC_PIN7_GPIO_PIN GPIO_Pin_7 // ADC12_IN7
#define PIOS_ADC_PIN7_GPIO_CHANNEL ADC_Channel_7
#define PIOS_ADC_PIN7_ADC ADC2
#define PIOS_ADC_PIN7_ADC_NUMBER 3
#define PIOS_ADC_PIN8_GPIO_PORT GPIOB // PB1 (Z Temp)
#define PIOS_ADC_PIN8_GPIO_PIN GPIO_Pin_1 // ADC12_IN9
#define PIOS_ADC_PIN8_GPIO_CHANNEL ADC_Channel_9
#define PIOS_ADC_PIN8_ADC ADC2
#define PIOS_ADC_PIN8_ADC_NUMBER 4
#define PIOS_ADC_NUM_PINS 8
#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT, PIOS_ADC_PIN4_GPIO_PORT, PIOS_ADC_PIN5_GPIO_PORT, PIOS_ADC_PIN6_GPIO_PORT, PIOS_ADC_PIN7_GPIO_PORT, PIOS_ADC_PIN8_GPIO_PORT }
#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN, PIOS_ADC_PIN4_GPIO_PIN, PIOS_ADC_PIN5_GPIO_PIN, PIOS_ADC_PIN6_GPIO_PIN, PIOS_ADC_PIN7_GPIO_PIN, PIOS_ADC_PIN8_GPIO_PIN }
#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL, PIOS_ADC_PIN4_GPIO_CHANNEL, PIOS_ADC_PIN5_GPIO_CHANNEL, PIOS_ADC_PIN6_GPIO_CHANNEL, PIOS_ADC_PIN7_GPIO_CHANNEL, PIOS_ADC_PIN8_GPIO_CHANNEL }
#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC, PIOS_ADC_PIN4_ADC, PIOS_ADC_PIN5_ADC, PIOS_ADC_PIN6_ADC, PIOS_ADC_PIN7_ADC, PIOS_ADC_PIN8_ADC }
#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER, PIOS_ADC_PIN4_ADC_NUMBER, PIOS_ADC_PIN5_ADC_NUMBER, PIOS_ADC_PIN6_ADC_NUMBER, PIOS_ADC_PIN7_ADC_NUMBER, PIOS_ADC_PIN8_ADC_NUMBER }
#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
#define PIOS_ADC_NUM_ADC_CHANNELS 2
#define PIOS_ADC_USE_ADC2 1
#define PIOS_ADC_ADCCLK RCC_PCLK2_Div2
#define PIOS_ADC_PCLK2 RCC_HCLK_Div16
#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE); RCC_PCLK2Config(PIOS_ADC_PCLK2);
/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
/* Sample time: */
/* With an ADCCLK = 14 MHz and a sampling time of 239.5 cycles: */
/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_LOW
// Currently analog acquistion hard coded at 480 Hz
// PCKL2 = HCLK / 16
// ADCCLK = PCLK2 / 2
#define PIOS_ADC_RATE (72.0e6 / 16 / 2 / 252 / (PIOS_ADC_NUM_PINS / 2))
#define EKF_RATE (PIOS_ADC_RATE / adc_oversampling / 2)
#define PIOS_ADC_MAX_OVERSAMPLING 50
//-------------------------
// GPIO
//-------------------------
#define PIOS_GPIO_1_PORT GPIOB
#define PIOS_GPIO_1_PIN GPIO_Pin_9
#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOB
#define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT }
#define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN }
#define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK }
#define PIOS_GPIO_NUM 1
#define SET_ACCEL_2G PIOS_GPIO_On(0);
#define SET_ACCEL_6G PIOS_GPIO_Off(0)
//------------------------
// PIOS_HMC5843
//------------------------
#define PIOS_HMC5843_DRDY_GPIO_PORT GPIOB
#define PIOS_HMC5843_DRDY_GPIO_PIN GPIO_Pin_8
#define PIOS_HMC5843_DRDY_PORT_SOURCE GPIO_PortSourceGPIOB
#define PIOS_HMC5843_DRDY_PIN_SOURCE GPIO_PinSource8
#define PIOS_HMC5843_DRDY_CLK RCC_APB2Periph_GPIOB
#define PIOS_HMC5843_DRDY_EXTI_LINE EXTI_Line8
#define PIOS_HMC5843_DRDY_IRQn EXTI9_5_IRQn
#define PIOS_HMC5843_DRDY_PRIO PIOS_IRQ_PRIO_HIGH
#endif /* STM32103CB_AHRS_H_ */

2
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
View File

@ -275,4 +275,4 @@ extern uint32_t pios_com_debug_id;
#define PIOS_USB_DETECT_GPIO_PORT GPIOC
#define PIOS_USB_MAX_DEVS 1
#define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_15
#endif /* STM32103CB_AHRS_H_ */
#endif /* STM32103CB_CC_H_ */

20
flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
View File

@ -193,12 +193,6 @@ extern uint32_t pios_ppm_out_id;
#define PIOS_PPM_RECEIVER (pios_ppm_rcvr_id)
#define PIOS_PPM_OUTPUT (pios_ppm_out_id)
#define DEBUG_LEVEL 2
#if DEBUG_LEVEL > 1000
#define DEBUG_PRINTF(level, ...) {if(level <= DEBUG_LEVEL && PIOS_COM_DEBUG > 0) { PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_DEBUG, __VA_ARGS__); }}
#else
#define DEBUG_PRINTF(...)
#endif
#define RFM22_DEBUG 1
//-------------------------
@ -296,26 +290,12 @@ extern uint32_t pios_rfm22b_id;
//-------------------------
// Packet Handler
//-------------------------
#if defined(PIOS_INCLUDE_PACKET_HANDLER)
extern uint32_t pios_packet_handler;
#define PIOS_PACKET_HANDLER (pios_packet_handler)
#define PIOS_PH_MAX_PACKET 255
#define PIOS_PH_WIN_SIZE 3
#define PIOS_PH_MAX_CONNECTIONS 1
#define RS_ECC_NPARITY 4
#endif /* PIOS_INCLUDE_PACKET_HANDLER */
//-------------------------
// Packet Handler
//-------------------------
#if defined(PIOS_INCLUDE_PACKET_HANDLER)
uint32_t pios_packet_handler;
#define PIOS_PACKET_HANDLER (pios_packet_handler)
#define PIOS_PH_MAX_PACKET 255
#define PIOS_PH_WIN_SIZE 3
#define PIOS_PH_MAX_CONNECTIONS 1
#endif /* PIOS_INCLUDE_PACKET_HANDLER */
//-------------------------
// Reed-Solomon ECC

9
flight/PiOS/Boards/STM32F4xx_OSD.h
View File

@ -186,7 +186,7 @@ extern uint32_t pios_com_telem_usb_id;
#define PIOS_COM_GPS (pios_com_gps_id)
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
#define PIOS_COM_DEBUG PIOS_COM_AUX
#define PIOS_COM_DEBUG (PIOS_COM_AUX)
#define PIOS_COM_OSD (pios_com_aux_id)
//extern uint32_t pios_com_serial_id;
@ -202,13 +202,6 @@ extern uint32_t pios_com_telem_usb_id;
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#endif
#if defined(PIOS_COM_DEBUG)
// #define DEBUG_PRINTF(...) PIOS_COM_SendFormattedString(PIOS_COM_DEBUG, __VA_ARGS__)
#define DEBUG_PRINTF(...) PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_DEBUG, __VA_ARGS__)
#else
#define DEBUG_PRINTF(...)
#endif
// *****************************************************************
// ADC

7
flight/PiOS/Boards/STM32F4xx_RevoMini.h
View File

@ -31,13 +31,6 @@
#include <stdbool.h>
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
#define DEBUG_LEVEL 0
#define DEBUG_PRINTF(level, ...) {if(level <= DEBUG_LEVEL && pios_com_debug_id > 0) { PIOS_COM_SendFormattedStringNonBlocking(pios_com_debug_id, __VA_ARGS__); }}
#else
#define DEBUG_PRINTF(level, ...)
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
//------------------------
// Timers and Channels Used
//------------------------

4
flight/PiOS/Boards/pios_board.h
View File

@ -1,9 +1,7 @@
#ifndef PIOS_BOARD_H_
#define PIOS_BOARD_H_
#ifdef USE_STM32103CB_AHRS
#include "STM32103CB_AHRS.h"
#elif USE_STM3210E_OP
#ifdef USE_STM3210E_OP
#include "STM3210E_OP.h"
#elif USE_STM32103CB_PIPXTREME
#include "STM32103CB_PIPXTREME_Rev1.h"

32
flight/PiOS/Common/Libraries/CMSIS2/library.mk
View File

@ -2,28 +2,26 @@
# Rules to add CMSIS2 to a PiOS target
#
CMSIS2_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
EXTRAINCDIRS += $(CMSIS2_DIR)/Include
CMSIS2_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
EXTRAINCDIRS += $(CMSIS2_DIR)Include
# Rules to build the ARM DSP library
ifeq ($(USE_DSP_LIB), YES)
DSPLIB_NAME := dsp
CMSIS_DSPLIB := $(CMSIS2_DIR)DSP_Lib/Source
DSPLIB_NAME := dsp
CMSIS_DSPLIB := $(CMSIS2_DIR)/DSP_Lib/Source
# Compile all files into output directory
DSPLIB_SRC := $(wildcard $(CMSIS_DSPLIB)/*/*.c)
DSPLIB_SRCBASE := $(notdir $(basename $(DSPLIB_SRC)))
$(foreach src, $(DSPLIB_SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
# Compile all files into output directory
DSPLIB_SRC := $(wildcard $(CMSIS_DSPLIB)/*/*.c)
DSPLIB_SRCBASE := $(notdir $(basename $(DSPLIB_SRC)))
$(foreach src, $(DSPLIB_SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
# Define the object files directory and a list of object files for the library
DSPLIB_OBJDIR = $(OUTDIR)
DSPLIB_OBJ = $(addprefix $(DSPLIB_OBJDIR)/, $(addsuffix .o, $(DSPLIB_SRCBASE)))
# Define the object files directory and a list of object files for the library
DSPLIB_OBJDIR = $(OUTDIR)
DSPLIB_OBJ = $(addprefix $(DSPLIB_OBJDIR)/, $(addsuffix .o, $(DSPLIB_SRCBASE)))
# Create a library file
$(eval $(call ARCHIVE_TEMPLATE, $(OUTDIR)/lib$(DSPLIB_NAME).a, $(DSPLIB_OBJ), $(DSPLIB_OBJDIR)))
# Add library to the list of linked objects
ALLLIB += $(OUTDIR)/lib$(DSPLIB_NAME).a
# Create a library file
$(eval $(call ARCHIVE_TEMPLATE, $(OUTDIR)/lib$(DSPLIB_NAME).a, $(DSPLIB_OBJ), $(DSPLIB_OBJDIR)))
# Add library to the list of linked objects
ALLLIB += $(OUTDIR)/lib$(DSPLIB_NAME).a
endif

7
flight/PiOS/Common/Libraries/FreeRTOS/library.mk
View File

@ -5,7 +5,6 @@
# has been defined and add in the target-specific pieces separately.
#
FREERTOS_DIR := $(dir $(lastword $(MAKEFILE_LIST)))/Source
SRC += $(wildcard $(FREERTOS_DIR)/*.c)
EXTRAINCDIRS += $(FREERTOS_DIR)/include
FREERTOS_DIR := $(dir $(lastword $(MAKEFILE_LIST)))/Source
SRC += $(wildcard $(FREERTOS_DIR)/*.c)
EXTRAINCDIRS += $(FREERTOS_DIR)/include

7
flight/PiOS/Common/Libraries/dosfs/library.mk
View File

@ -2,7 +2,6 @@
# Rules to add DOSFS to a PiOS target
#
DOSFS_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
SRC += $(wildcard $(DOSFS_DIR)*.c)
EXTRAINCDIRS += $(DOSFS_DIR)
DOSFS_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
SRC += $(wildcard $(DOSFS_DIR)*.c)
EXTRAINCDIRS += $(DOSFS_DIR)

7
flight/PiOS/Common/Libraries/msheap/library.mk
View File

@ -2,7 +2,6 @@
# Rules to add the MSHeap allocator to a PiOS target
#
MSHEAP_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
SRC += $(wildcard $(MSHEAP_DIR)*.c)
EXTRAINCDIRS += $(MSHEAP_DIR)
MSHEAP_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
SRC += $(wildcard $(MSHEAP_DIR)*.c)
EXTRAINCDIRS += $(MSHEAP_DIR)

4
flight/PiOS/Common/pios_adxl345.c
View File

@ -30,6 +30,8 @@
#include "pios.h"
#ifdef PIOS_INCLUDE_ADXL345
enum pios_adxl345_dev_magic {
PIOS_ADXL345_DEV_MAGIC = 0xcb55aa55,
};
@ -306,3 +308,5 @@ uint8_t PIOS_ADXL345_Read(struct pios_adxl345_data * data)
return rec[8] & 0x7F; // return number of remaining entries
}
#endif /* PIOS_INCLUDE_ADXL345 */

3
flight/PiOS/Common/pios_bma180.c
View File

@ -31,7 +31,7 @@
#include "pios.h"
#if defined(PIOS_INCLUDE_BMA180)
#ifdef PIOS_INCLUDE_BMA180
#include "fifo_buffer.h"
@ -475,6 +475,7 @@ bool PIOS_BMA180_IRQHandler(void)
}
#endif /* PIOS_INCLUDE_BMA180 */
/**
* @}
* @}

10
flight/PiOS/Common/pios_bmp085.c
View File

@ -28,15 +28,13 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_BMP085)
#if !defined(PIOS_INCLUDE_EXTI)
#error PIOS_EXTI Must be included in the project!
#endif /* PIOS_INCLUDE_EXTI */
#ifdef PIOS_INCLUDE_BMP085
#include <pios_exti.h>
#ifndef PIOS_INCLUDE_EXTI
#error PIOS_EXTI must be included in the project
#endif /* PIOS_INCLUDE_EXTI */
/* Glocal Variables */
ConversionTypeTypeDef CurrentRead;

1
flight/PiOS/Common/pios_board_info.c
View File

@ -1,6 +1,5 @@
#include <pios.h>
#include <pios_board.h>
#include "pios_board_info.h"
const struct pios_board_info __attribute__((__used__)) __attribute__((__section__(".boardinfo"))) pios_board_info_blob = {

7
flight/PiOS/Common/pios_com.c
View File

@ -28,15 +28,14 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_COM)
#ifdef PIOS_INCLUDE_COM
#include "fifo_buffer.h"
#include <pios_com_priv.h>
#if !defined(PIOS_INCLUDE_FREERTOS)
#ifndef PIOS_INCLUDE_FREERTOS
#include "pios_delay.h" /* PIOS_DELAY_WaitmS */
#endif
@ -524,7 +523,7 @@ bool PIOS_COM_Available(uint32_t com_id)
return (com_dev->driver->available)(com_dev->lower_id);
}
#endif
#endif /* PIOS_INCLUDE_COM */
/**
* @}

3
flight/PiOS/Common/pios_com_msg.c
View File

@ -28,10 +28,9 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_COM_MSG)
#ifdef PIOS_INCLUDE_COM_MSG
#include "pios_com.h"

5
flight/PiOS/Common/pios_etasv3.c
View File

@ -28,12 +28,9 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_ETASV3)
#include "pios_etasv3.h"
#ifdef PIOS_INCLUDE_ETASV3
static bool PIOS_ETASV3_Read(uint8_t * buffer, uint8_t len)
{

5
flight/PiOS/Common/pios_flash_jedec.c
View File

@ -28,7 +28,11 @@
* 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"
#ifdef PIOS_INCLUDE_FLASH
#include "pios_flash_jedec_priv.h"
#define JEDEC_WRITE_ENABLE 0x06
@ -562,3 +566,4 @@ const struct pios_flash_driver pios_jedec_flash_driver = {
.read_data = PIOS_Flash_Jedec_ReadData,
};
#endif /* PIOS_INCLUDE_FLASH */

7
flight/PiOS/Common/pios_flashfs_logfs.c
View File

@ -24,6 +24,11 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_FLASH
#include "openpilot.h"
#include "pios_flashfs_logfs_priv.h"
@ -1020,6 +1025,8 @@ out_exit:
return rc;
}
#endif /* PIOS_INCLUDE_FLASH */
/**
* @}
* @}

7
flight/PiOS/Common/pios_gcsrcvr.c
View File

@ -28,12 +28,11 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#include "uavobjectmanager.h"
#ifdef PIOS_INCLUDE_GCSRCVR
#if defined(PIOS_INCLUDE_GCSRCVR)
#include "uavobjectmanager.h"
#include "pios_gcsrcvr_priv.h"
@ -168,7 +167,7 @@ static void PIOS_gcsrcvr_Supervisor(uint32_t gcsrcvr_id) {
gcsrcvr_dev->Fresh = false;
}
#endif /* PIOS_INCLUDE_GCSRCVR */
#endif /* PIOS_INCLUDE_GCSRCVR */
/**
* @}

8
flight/PiOS/Common/pios_hcsr04.c
View File

@ -28,12 +28,12 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_HCSR04)
#ifdef PIOS_INCLUDE_HCSR04
#if !(defined(PIOS_INCLUDE_DSM) || defined(PIOS_INCLUDE_SBUS))
#error Only supported with Spektrum/JR DSM or S.Bus interface!
#error Only supported with Spektrum/JR DSM or S.Bus interface
#endif
/* Local Variables */
@ -206,5 +206,5 @@ void TIM3_IRQHandler(void)
}
}
#endif /* PIOS_INCLUDE_HCSR04 */
#endif

5
flight/PiOS/Common/pios_hmc5843.c
View File

@ -29,10 +29,9 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_HMC5843)
#ifdef PIOS_INCLUDE_HMC5843
#include <pios_exti.h>
@ -376,7 +375,7 @@ static bool PIOS_HMC5843_Write(uint8_t address, uint8_t buffer)
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
}
#endif
#endif /* PIOS_INCLUDE_HMC5843 */
/**
* @}

3
flight/PiOS/Common/pios_hmc5883.c
View File

@ -28,10 +28,9 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_HMC5883)
#ifdef PIOS_INCLUDE_HMC5883
/* Global Variables */

7
flight/PiOS/Common/pios_i2c_esc.c
View File

@ -29,12 +29,11 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_I2C_ESC)
#ifdef PIOS_INCLUDE_I2C_ESC
/* HMC5843 Addresses */
/* Known i2c ESC addresses */
#define MK_I2C_ADDR 0x29
#define ASTEC4_I2C_ADDR 0x02
@ -164,7 +163,7 @@ bool PIOS_SetAstec4Speed(uint8_t motornum, uint8_t speed) {
return PIOS_I2C_Transfer(PIOS_I2C_ESC_ADAPTER, txn_list, NELEMENTS(txn_list));
}
#endif
#endif /* PIOS_INCLUDE_I2C_ESC */
/**
* @}

5
flight/PiOS/Common/pios_l3gd20.c
View File

@ -29,10 +29,9 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_L3GD20)
#ifdef PIOS_INCLUDE_L3GD20
#include "fifo_buffer.h"
@ -381,7 +380,7 @@ bool PIOS_L3GD20_IRQHandler(void)
return xHigherPriorityTaskWoken == pdTRUE;
}
#endif /* L3GD20 */
#endif /* PIOS_INCLUDE_L3GD20 */
/**
* @}

6
flight/PiOS/Common/pios_mpu6000.c
View File

@ -29,9 +29,9 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_MPU6000)
#ifdef PIOS_INCLUDE_MPU6000
#include "fifo_buffer.h"
@ -551,7 +551,7 @@ bool PIOS_MPU6000_IRQHandler(void)
return xHigherPriorityTaskWoken == pdTRUE;
}
#endif
#endif /* PIOS_INCLUDE_MPU6000 */
/**
* @}

3
flight/PiOS/Common/pios_mpxv.c
View File

@ -30,10 +30,9 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_MPXV)
#ifdef PIOS_INCLUDE_MPXV
#define A0 340.27f //speed of sound at standard sea level in [m/s]
#define P0 101.325f //static air pressure at standard sea level in kPa

11
flight/PiOS/Common/pios_ms5611.c
View File

@ -28,13 +28,14 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#ifdef PIOS_INCLUDE_MS5611
// TODO: Clean this up. Getting around old constant.
#define PIOS_MS5611_OVERSAMPLING oversampling
#include "pios.h"
#if defined(PIOS_INCLUDE_MS5611)
/* Glocal Variables */
ConversionTypeTypeDef CurrentRead;
@ -261,7 +262,7 @@ int32_t PIOS_MS5611_Test()
return 0;
}
#endif
#endif /* PIOS_INCLUDE_MS5611 */
/**
* @}

343
flight/PiOS/Common/pios_opahrs.c
View File

@ -1,343 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_OPAHRS OPAHRS Functions
* @brief HAL code to interface to the OpenPilot AHRS module
* @{
*
* @file pios_opahrs.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Hardware commands to communicate with the AHRS
* @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
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_OPAHRS)
#include "pios_opahrs_proto.h"
#include "pios_opahrs.h"
/**
* Initialise the OpenPilot AHRS
*/
void PIOS_OPAHRS_Init(void)
{
PIOS_SPI_SetClockSpeed(PIOS_OPAHRS_SPI, PIOS_SPI_PRESCALER_8);
}
static int32_t opahrs_msg_txrx(const uint8_t * tx, uint8_t * rx, uint32_t len)
{
int32_t rc;
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(1 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(20);
#endif
rc = PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, tx, rx, len, NULL);
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
return (rc);
}
static enum opahrs_result opahrs_msg_v1_send_req(const struct opahrs_msg_v1 *req)
{
int32_t rc;
struct opahrs_msg_v1 link_rx;
for (uint8_t retries = 0; retries < 20; retries++) {
struct opahrs_msg_v1 *rsp = &link_rx;
if ((rc = opahrs_msg_txrx((const uint8_t *)req, (uint8_t *) rsp, sizeof(*rsp))) < 0) {
return OPAHRS_RESULT_FAILED;
}
/* Make sure we got a sane response by checking the magic */
if ((rsp->head.magic != OPAHRS_MSG_MAGIC_HEAD) || (rsp->tail.magic != OPAHRS_MSG_MAGIC_TAIL)) {
return OPAHRS_RESULT_FAILED;
}
switch (rsp->head.type) {
case OPAHRS_MSG_TYPE_LINK:
switch (rsp->payload.link.state) {
case OPAHRS_MSG_LINK_STATE_BUSY:
case OPAHRS_MSG_LINK_STATE_INACTIVE:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(1 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(20);
#endif
continue;
case OPAHRS_MSG_LINK_STATE_READY:
/* Peer was ready when we Tx'd so they have now Rx'd our message */
return OPAHRS_RESULT_OK;
}
break;
case OPAHRS_MSG_TYPE_USER_V0:
case OPAHRS_MSG_TYPE_USER_V1:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(1 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(50);
#endif
continue;
}
}
return OPAHRS_RESULT_TIMEOUT;
}
static enum opahrs_result opahrs_msg_v1_recv_rsp(enum opahrs_msg_v1_tag tag, struct opahrs_msg_v1 *rsp)
{
struct opahrs_msg_v1 link_tx;
opahrs_msg_v1_init_link_tx(&link_tx, OPAHRS_MSG_LINK_TAG_NOP);
for (uint8_t retries = 0; retries < 20; retries++) {
if (opahrs_msg_txrx((const uint8_t *)&link_tx, (uint8_t *) rsp, sizeof(*rsp)) < 0) {
return OPAHRS_RESULT_FAILED;
}
/* Make sure we got a sane response by checking the magic */
if ((rsp->head.magic != OPAHRS_MSG_MAGIC_HEAD) || (rsp->tail.magic != OPAHRS_MSG_MAGIC_TAIL)) {
return OPAHRS_RESULT_FAILED;
}
switch (rsp->head.type) {
case OPAHRS_MSG_TYPE_LINK:
switch (rsp->payload.link.state) {
case OPAHRS_MSG_LINK_STATE_BUSY:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(1 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(20);
#endif
continue;
case OPAHRS_MSG_LINK_STATE_INACTIVE:
case OPAHRS_MSG_LINK_STATE_READY:
/* somehow, we've missed our response */
return OPAHRS_RESULT_FAILED;
}
break;
case OPAHRS_MSG_TYPE_USER_V0:
/* This isn't the type we expected */
return OPAHRS_RESULT_FAILED;
break;
case OPAHRS_MSG_TYPE_USER_V1:
if (rsp->payload.user.t == tag) {
return OPAHRS_RESULT_OK;
} else {
return OPAHRS_RESULT_FAILED;
}
break;
}
}
return OPAHRS_RESULT_TIMEOUT;
}
static enum opahrs_result PIOS_OPAHRS_v1_simple_req(enum opahrs_msg_v1_tag req_type, struct opahrs_msg_v1 *rsp, enum opahrs_msg_v1_tag rsp_type)
{
struct opahrs_msg_v1 req;
enum opahrs_result rc;
/* Make up an empty request */
opahrs_msg_v1_init_user_tx(&req, req_type);
/* Send the message until it is received */
rc = opahrs_msg_v1_send_req(&req);
if ((rc == OPAHRS_RESULT_OK) && rsp) {
/* We need a specific kind of reply, go get it */
return opahrs_msg_v1_recv_rsp(rsp_type, rsp);
}
return rc;
}
enum opahrs_result PIOS_OPAHRS_GetSerial(struct opahrs_msg_v1 *rsp)
{
if (!rsp)
return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v1_simple_req(OPAHRS_MSG_V1_REQ_SERIAL, rsp, OPAHRS_MSG_V1_RSP_SERIAL));
}
enum opahrs_result PIOS_OPAHRS_resync(void)
{
struct opahrs_msg_v1 req;
struct opahrs_msg_v1 rsp;
enum opahrs_result rc = OPAHRS_RESULT_FAILED;
opahrs_msg_v1_init_link_tx(&req, OPAHRS_MSG_LINK_TAG_NOP);
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(1 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(20);
#endif
for (uint32_t i = 0; i < sizeof(req); i++) {
/* Tx a shortened (by one byte) message to walk through all byte positions */
opahrs_msg_v1_init_rx(&rsp);
PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, (uint8_t *) & req, (uint8_t *) & rsp, sizeof(req) - 1, NULL);
/* Good magic means we're sync'd */
if ((rsp.head.magic == OPAHRS_MSG_MAGIC_HEAD) && (rsp.tail.magic == OPAHRS_MSG_MAGIC_TAIL)) {
/* We need to shift out one more byte to compensate for the short tx */
PIOS_SPI_TransferByte(PIOS_OPAHRS_SPI, 0x00);
rc = OPAHRS_RESULT_OK;
break;
}
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(1 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(10);
#endif
}
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
//vTaskDelay(5 / portTICK_RATE_MS);
return rc;
}
enum opahrs_result PIOS_OPAHRS_GetAttitudeRaw(struct opahrs_msg_v1 *rsp)
{
if (!rsp)
return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v1_simple_req(OPAHRS_MSG_V1_REQ_ATTITUDERAW, rsp, OPAHRS_MSG_V1_RSP_ATTITUDERAW));
}
extern enum opahrs_result PIOS_OPAHRS_SetAlgorithm(struct opahrs_msg_v1 *req)
{
struct opahrs_msg_v1 rsp;
enum opahrs_result rc;
if (!req)
return OPAHRS_RESULT_FAILED;
/* Make up an attituderaw request */
opahrs_msg_v1_init_user_tx(req, OPAHRS_MSG_V1_REQ_ALGORITHM);
/* Send the message until it is received */
rc = opahrs_msg_v1_send_req(req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v1_recv_rsp(OPAHRS_MSG_V1_RSP_ALGORITHM, &rsp);
}
enum opahrs_result PIOS_OPAHRS_SetMagNorth(struct opahrs_msg_v1 *req)
{
struct opahrs_msg_v1 rsp;
enum opahrs_result rc;
if (!req)
return OPAHRS_RESULT_FAILED;
/* Make up an attituderaw request */
opahrs_msg_v1_init_user_tx(req, OPAHRS_MSG_V1_REQ_NORTH);
/* Send the message until it is received */
rc = opahrs_msg_v1_send_req(req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v1_recv_rsp(OPAHRS_MSG_V1_RSP_NORTH, &rsp);
}
enum opahrs_result PIOS_OPAHRS_SetGetUpdate(struct opahrs_msg_v1 *req, struct opahrs_msg_v1 *rsp)
{
enum opahrs_result rc;
if (!req)
return OPAHRS_RESULT_FAILED;
/* Make up an attituderaw request */
opahrs_msg_v1_init_user_tx(req, OPAHRS_MSG_V1_REQ_UPDATE);
/* Send the message until it is received */
rc = opahrs_msg_v1_send_req(req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v1_recv_rsp(OPAHRS_MSG_V1_RSP_UPDATE, rsp);
}
enum opahrs_result PIOS_OPAHRS_SetGetCalibration(struct opahrs_msg_v1 *req, struct opahrs_msg_v1 *rsp)
{
enum opahrs_result rc;
if (!req)
return OPAHRS_RESULT_FAILED;
/* Make up an attituderaw request */
opahrs_msg_v1_init_user_tx(req, OPAHRS_MSG_V1_REQ_CALIBRATION);
/* Send the message until it is received */
rc = opahrs_msg_v1_send_req(req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v1_recv_rsp(OPAHRS_MSG_V1_RSP_CALIBRATION, rsp);
}
enum opahrs_result PIOS_OPAHRS_SetGetInitialized(struct opahrs_msg_v1 *req, struct opahrs_msg_v1 *rsp)
{
enum opahrs_result rc;
if (!req)
return OPAHRS_RESULT_FAILED;
/* Make up an attituderaw request */
opahrs_msg_v1_init_user_tx(req, OPAHRS_MSG_V1_REQ_INITIALIZED);
/* Send the message until it is received */
rc = opahrs_msg_v1_send_req(req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v1_recv_rsp(OPAHRS_MSG_V1_RSP_INITIALIZED, rsp);
}
#endif /* PIOS_INCLUDE_OPAHRS */
/**
* @}
* @}
*/

76
flight/PiOS/Common/pios_opahrs_proto.c
View File

@ -1,76 +0,0 @@
/**
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_OPAHRS OPAHRS Functions
* @{
*
* @file pios_opahrs_proto.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief PPM Input functions
* @see The GNU Public License (GPL) Version 3
*
*/
#include "pios_opahrs_proto.h"
#include <string.h> /* memset */
void opahrs_msg_v0_init_rx(struct opahrs_msg_v0 *msg)
{
/* Make sure we start with bad magic in the rx buffer */
msg->head.magic = 0;
msg->head.type = 0;
msg->tail.magic = 0;
}
void opahrs_msg_v0_init_user_tx(struct opahrs_msg_v0 *msg, enum opahrs_msg_v0_tag tag)
{
msg->head.magic = OPAHRS_MSG_MAGIC_HEAD;
msg->head.type = OPAHRS_MSG_TYPE_USER_V0;
msg->payload.user.t = tag;
msg->tail.magic = OPAHRS_MSG_MAGIC_TAIL;
}
void opahrs_msg_v0_init_link_tx(struct opahrs_msg_v0 *msg, enum opahrs_msg_link_tag tag)
{
msg->head.magic = OPAHRS_MSG_MAGIC_HEAD;
msg->head.type = OPAHRS_MSG_TYPE_LINK;
msg->payload.link.t = tag;
msg->tail.magic = OPAHRS_MSG_MAGIC_TAIL;
}
void opahrs_msg_v1_init_rx(struct opahrs_msg_v1 *msg)
{
/* Make sure we start with bad magic in the rx buffer */
msg->head.magic = 0;
msg->head.type = 0;
msg->tail.magic = 0;
}
void opahrs_msg_v1_init_user_tx(struct opahrs_msg_v1 *msg, enum opahrs_msg_v1_tag tag)
{
msg->head.magic = OPAHRS_MSG_MAGIC_HEAD;
msg->head.type = OPAHRS_MSG_TYPE_USER_V1;
msg->payload.user.t = tag;
msg->tail.magic = OPAHRS_MSG_MAGIC_TAIL;
}
void opahrs_msg_v1_init_link_tx(struct opahrs_msg_v1 *msg, enum opahrs_msg_link_tag tag)
{
msg->head.magic = OPAHRS_MSG_MAGIC_HEAD;
msg->head.type = OPAHRS_MSG_TYPE_LINK;
msg->payload.link.t = tag;
msg->tail.magic = OPAHRS_MSG_MAGIC_TAIL;
}
/**
* @}
* @}
*/

330
flight/PiOS/Common/pios_opahrs_v0.c
View File

@ -1,330 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_OPAHRS OPAHRS Functions
* @brief HAL code to interface to the OpenPilot AHRS module's bootloader
* @{
*
* @file pios_opahrs_download.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Hardware commands to communicate with the AHRS bootloader
* @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
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_OPAHRS)
#include "pios_opahrs_proto.h"
#include "pios_opahrs.h"
static uint32_t PIOS_OPAHRS_SPI;
void PIOS_OPAHRS_Attach(uint32_t spi_id)
{
PIOS_OPAHRS_SPI = spi_id;
}
void PIOS_OPAHRS_ForceSlaveSelected(bool selected)
{
if (selected) {
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
} else {
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
}
}
static int32_t opahrs_msg_txrx(const uint8_t * tx, uint8_t * rx, uint32_t len)
{
int32_t rc;
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(20 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(1);
#endif
rc = PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, tx, rx, len, NULL);
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
return (rc);
}
static enum opahrs_result opahrs_msg_v0_send_req(const struct opahrs_msg_v0 *req)
{
int32_t rc;
struct opahrs_msg_v0 link_rx;
for (uint8_t retries = 0; retries < 20; retries++) {
struct opahrs_msg_v0 *rsp = &link_rx;
if ((rc = opahrs_msg_txrx((const uint8_t *)req, (uint8_t *) rsp, sizeof(*rsp))) < 0) {
return OPAHRS_RESULT_FAILED;
}
/* Make sure we got a sane response by checking the magic */
if ((rsp->head.magic != OPAHRS_MSG_MAGIC_HEAD) || (rsp->tail.magic != OPAHRS_MSG_MAGIC_TAIL)) {
return OPAHRS_RESULT_FAILED;
}
switch (rsp->head.type) {
case OPAHRS_MSG_TYPE_LINK:
switch (rsp->payload.link.state) {
case OPAHRS_MSG_LINK_STATE_BUSY:
case OPAHRS_MSG_LINK_STATE_INACTIVE:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(20 / portTICK_RATE_MS);
#else
//PIOS_DELAY_WaitmS(1);
#endif
continue;
case OPAHRS_MSG_LINK_STATE_READY:
/* Peer was ready when we Tx'd so they have now Rx'd our message */
return OPAHRS_RESULT_OK;
}
break;
case OPAHRS_MSG_TYPE_USER_V0:
case OPAHRS_MSG_TYPE_USER_V1:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(50 / portTICK_RATE_MS);
#else
//PIOS_DELAY_WaitmS(1);
#endif
continue;
}
}
return OPAHRS_RESULT_TIMEOUT;
}
static enum opahrs_result opahrs_msg_v0_recv_rsp(enum opahrs_msg_v0_tag tag, struct opahrs_msg_v0 *rsp)
{
struct opahrs_msg_v0 link_tx;
opahrs_msg_v0_init_link_tx(&link_tx, OPAHRS_MSG_LINK_TAG_NOP);
for (uint8_t retries = 0; retries < 20; retries++) {
if (opahrs_msg_txrx((const uint8_t *)&link_tx, (uint8_t *) rsp, sizeof(*rsp)) < 0) {
return OPAHRS_RESULT_FAILED;
}
/* Make sure we got a sane response by checking the magic */
if ((rsp->head.magic != OPAHRS_MSG_MAGIC_HEAD) || (rsp->tail.magic != OPAHRS_MSG_MAGIC_TAIL)) {
return OPAHRS_RESULT_FAILED;
}
switch (rsp->head.type) {
case OPAHRS_MSG_TYPE_LINK:
switch (rsp->payload.link.state) {
case OPAHRS_MSG_LINK_STATE_BUSY:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(20 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(1);
#endif
continue;
case OPAHRS_MSG_LINK_STATE_INACTIVE:
case OPAHRS_MSG_LINK_STATE_READY:
/* somehow, we've missed our response */
return OPAHRS_RESULT_FAILED;
}
break;
case OPAHRS_MSG_TYPE_USER_V0:
if (rsp->payload.user.t == tag) {
return OPAHRS_RESULT_OK;
} else {
return OPAHRS_RESULT_FAILED;
}
break;
case OPAHRS_MSG_TYPE_USER_V1:
/* This isn't the type we expected */
return OPAHRS_RESULT_FAILED;
break;
}
}
return OPAHRS_RESULT_TIMEOUT;
}
static enum opahrs_result PIOS_OPAHRS_v0_simple_req(enum opahrs_msg_v0_tag req_type, struct opahrs_msg_v0 *rsp, enum opahrs_msg_v0_tag rsp_type)
{
struct opahrs_msg_v0 req;
enum opahrs_result rc;
/* Make up an empty request */
opahrs_msg_v0_init_user_tx(&req, req_type);
/* Send the message until it is received */
rc = opahrs_msg_v0_send_req(&req);
if ((rc == OPAHRS_RESULT_OK) && rsp) {
/* We need a specific kind of reply, go get it */
return opahrs_msg_v0_recv_rsp(rsp_type, rsp);
}
return rc;
}
enum opahrs_result PIOS_OPAHRS_bl_GetVersions(struct opahrs_msg_v0 *rsp)
{
if (!rsp)
return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v0_simple_req(OPAHRS_MSG_V0_REQ_VERSIONS, rsp, OPAHRS_MSG_V0_RSP_VERSIONS));
}
enum opahrs_result PIOS_OPAHRS_bl_GetMemMap(struct opahrs_msg_v0 *rsp)
{
if (!rsp)
return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v0_simple_req(OPAHRS_MSG_V0_REQ_MEM_MAP, rsp, OPAHRS_MSG_V0_RSP_MEM_MAP));
}
enum opahrs_result PIOS_OPAHRS_bl_GetSerial(struct opahrs_msg_v0 *rsp)
{
if (!rsp)
return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v0_simple_req(OPAHRS_MSG_V0_REQ_SERIAL, rsp, OPAHRS_MSG_V0_RSP_SERIAL));
}
enum opahrs_result PIOS_OPAHRS_bl_FwupStart(struct opahrs_msg_v0 *rsp)
{
if (!rsp)
return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v0_simple_req(OPAHRS_MSG_V0_REQ_FWUP_START, rsp, OPAHRS_MSG_V0_RSP_FWUP_STATUS));
}
enum opahrs_result PIOS_OPAHRS_bl_FwupStatus(struct opahrs_msg_v0 *rsp)
{
if (!rsp)
return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v0_simple_req(OPAHRS_MSG_V0_REQ_FWUP_STATUS, rsp, OPAHRS_MSG_V0_RSP_FWUP_STATUS));
}
enum opahrs_result PIOS_OPAHRS_bl_FwupData(struct opahrs_msg_v0 *req, struct opahrs_msg_v0 *rsp)
{
if (!req || !rsp)
return OPAHRS_RESULT_FAILED;
/* Make up an attituderaw request */
opahrs_msg_v0_init_user_tx(req, OPAHRS_MSG_V0_REQ_FWUP_DATA);
enum opahrs_result rc;
/* Send the message until it is received */
rc = opahrs_msg_v0_send_req(req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v0_recv_rsp(OPAHRS_MSG_V0_RSP_FWUP_STATUS, rsp);
}
enum opahrs_result PIOS_OPAHRS_bl_FwDlData(struct opahrs_msg_v0 *req, struct opahrs_msg_v0 *rsp)
{
if (!req || !rsp)
return OPAHRS_RESULT_FAILED;
/* Make up an attituderaw request */
opahrs_msg_v0_init_user_tx(req, OPAHRS_MSG_V0_REQ_FWDN_DATA);
enum opahrs_result rc;
/* Send the message until it is received */
rc = opahrs_msg_v0_send_req(req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v0_recv_rsp(OPAHRS_MSG_V0_RSP_FWDN_DATA, rsp);
}
enum opahrs_result PIOS_OPAHRS_bl_FwupVerify(struct opahrs_msg_v0 *rsp)
{
if (!rsp)
return OPAHRS_RESULT_FAILED;
return (PIOS_OPAHRS_v0_simple_req(OPAHRS_MSG_V0_REQ_FWUP_VERIFY, rsp, OPAHRS_MSG_V0_RSP_FWUP_STATUS));
}
enum opahrs_result PIOS_OPAHRS_bl_resync(void)
{
struct opahrs_msg_v0 req;
struct opahrs_msg_v0 rsp;
enum opahrs_result rc = OPAHRS_RESULT_FAILED;
opahrs_msg_v0_init_link_tx(&req, OPAHRS_MSG_LINK_TAG_NOP);
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(20 / portTICK_RATE_MS);
#else
//PIOS_DELAY_WaitmS(1);
#endif
for (uint32_t i = 0; i < sizeof(req); i++) {
/* Tx a shortened (by one byte) message to walk through all byte positions */
opahrs_msg_v0_init_rx(&rsp);
PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, (uint8_t *) & req, (uint8_t *) & rsp, sizeof(req) - 1, NULL);
/* Good magic means we're sync'd */
if ((rsp.head.magic == OPAHRS_MSG_MAGIC_HEAD) && (rsp.tail.magic == OPAHRS_MSG_MAGIC_TAIL)) {
/* We need to shift out one more byte to compensate for the short tx */
PIOS_SPI_TransferByte(PIOS_OPAHRS_SPI, 0x00);
rc = OPAHRS_RESULT_OK;
break;
}
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(10 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(1);
#endif
}
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
//vTaskDelay(5 / portTICK_RATE_MS);
return rc;
}
enum opahrs_result PIOS_OPAHRS_bl_reset(uint32_t delay)
{
struct opahrs_msg_v0 req;
/* Make up an attituderaw request */
opahrs_msg_v0_init_user_tx(&req, OPAHRS_MSG_V0_REQ_RESET);
req.payload.user.v.req.reset.reset_delay_in_ms = delay;
/* Send the message until it is received */
return opahrs_msg_v0_send_req(&req);
}
enum opahrs_result PIOS_OPAHRS_bl_boot(uint32_t delay)
{
struct opahrs_msg_v0 req;
/* Make up an attituderaw request */
opahrs_msg_v0_init_user_tx(&req, OPAHRS_MSG_V0_REQ_BOOT);
req.payload.user.v.req.boot.boot_delay_in_ms = delay;
/* Send the message until it is received */
return opahrs_msg_v0_send_req(&req);
}
#endif /* PIOS_INCLUDE_OPAHRS */

5
flight/PiOS/Common/pios_rcvr.c
View File

@ -1,7 +1,6 @@
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_RCVR)
#ifdef PIOS_INCLUDE_RCVR
#include <pios_rcvr_priv.h>
@ -108,7 +107,7 @@ int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel)
return rcvr_dev->driver->read(rcvr_dev->lower_id, channel);
}
#endif
#endif /* PIOS_INCLUDE_RCVR */
/**
* @}

5
flight/PiOS/Common/pios_rfm22b.c
View File

@ -46,10 +46,9 @@
//
// *****************************************************************
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_RFM22B)
#ifdef PIOS_INCLUDE_RFM22B
#include <pios_spi_priv.h>
#include <packet_handler.h>
@ -2615,7 +2614,7 @@ static enum pios_rfm22b_event rfm22_fatal_error(struct pios_rfm22b_dev *rfm22b_d
// ************************************
#endif
#endif /* PIOS_INCLUDE_RFM22B */
/**
* @}

5
flight/PiOS/Common/pios_rfm22b_com.c
View File

@ -28,9 +28,10 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include <pios.h>
#ifdef PIOS_INCLUDE_RFM22B_COM
#include <pios_rfm22b_priv.h>
/* Provide a COM driver */
@ -125,3 +126,5 @@ static bool PIOS_RFM22B_COM_Available(uint32_t rfm22b_id)
{
return PIOS_RFM22B_LinkStatus(rfm22b_id);
}
#endif /* PIOS_INCLUDE_RFM22B_COM */

5
flight/PiOS/Common/pios_rfm22b_rcvr.c
View File

@ -28,10 +28,9 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_RFM22B_RCVR)
#ifdef PIOS_INCLUDE_RFM22B_RCVR
#include "pios_rfm22b_priv.h"
@ -91,7 +90,7 @@ static void PIOS_RFM22B_RCVR_Supervisor(uint32_t rcvr_id) {
rfm22b_dev->ppm_fresh = false;
}
#endif /* PIOS_INCLUDE_GCSRCVR */
#endif /* PIOS_INCLUDE_RFM22B_RCVR */
/**
* @}

8
flight/PiOS/Common/pios_sbus.c
View File

@ -28,11 +28,11 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#include "pios_sbus_priv.h"
#if defined(PIOS_INCLUDE_SBUS)
#ifdef PIOS_INCLUDE_SBUS
#include "pios_sbus_priv.h"
/* Forward Declarations */
static int32_t PIOS_SBus_Get(uint32_t rcvr_id, uint8_t channel);
@ -332,7 +332,7 @@ static void PIOS_SBus_Supervisor(uint32_t sbus_id)
}
}
#endif /* PIOS_INCLUDE_SBUS */
#endif /* PIOS_INCLUDE_SBUS */
/**
* @}

5
flight/PiOS/Common/pios_sdcard.c
View File

@ -29,10 +29,9 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_SDCARD)
#ifdef PIOS_INCLUDE_SDCARD
/* Global Variables */
VOLINFO PIOS_SDCARD_VolInfo;
@ -1000,7 +999,7 @@ int32_t PIOS_SDCARD_FileDelete(char *Filename)
return 0;
}
#endif
#endif /* PIOS_INCLUDE_SDCARD */
/**
* @}

6
flight/PiOS/Common/pios_usb_desc_hid_cdc.c
View File

@ -28,6 +28,10 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_USB
#include "pios_usb_desc_hid_cdc_priv.h" /* exported API */
#include "pios_usb_defs.h" /* struct usb_*, USB_* */
#include "pios_usb_board_data.h" /* PIOS_USB_BOARD_* */
@ -324,3 +328,5 @@ int32_t PIOS_USB_DESC_HID_CDC_Init(void)
return 0;
}
#endif /* PIOS_INCLUDE_USB */

6
flight/PiOS/Common/pios_usb_desc_hid_only.c
View File

@ -28,6 +28,10 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_USB
#include "pios_usb_desc_hid_only_priv.h" /* exported API */
#include "pios_usb_defs.h" /* struct usb_*, USB_* */
#include "pios_usb_board_data.h" /* PIOS_USB_BOARD_* */
@ -163,3 +167,5 @@ int32_t PIOS_USB_DESC_HID_ONLY_Init(void)
return 0;
}
#endif /* PIOS_INCLUDE_USB */

6
flight/PiOS/Common/pios_usb_util.c
View File

@ -28,6 +28,10 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_USB
#include "pios_usb_util.h"
uint8_t * PIOS_USB_UTIL_AsciiToUtf8(uint8_t * dst, uint8_t * src, uint16_t srclen)
@ -40,3 +44,5 @@ uint8_t * PIOS_USB_UTIL_AsciiToUtf8(uint8_t * dst, uint8_t * src, uint16_t srcle
return dst;
}
#endif /* PIOS_INCLUDE_USB */

8
flight/PiOS/Common/pios_video.c
View File

@ -30,7 +30,8 @@
*/
#include "pios.h"
#if defined(PIOS_INCLUDE_VIDEO)
#ifdef PIOS_INCLUDE_VIDEO
extern xSemaphoreHandle osdSemaphore;
@ -277,7 +278,4 @@ void PIOS_VIDEO_DMA_Handler(void)
}
#endif
#endif /* PIOS_INCLUDE_VIDEO */

8
flight/PiOS/Common/pios_wavplay.c
View File

@ -30,7 +30,8 @@
*/
#include "pios.h"
#if defined(PIOS_INCLUDE_WAVE)
#ifdef PIOS_INCLUDE_WAVE
static const struct pios_dac_cfg * dev_cfg;
@ -606,7 +607,4 @@ void DAC_DMA_Handler(void)
}
}
#endif
#endif /* PIOS_INCLUDE_WAVE */

368
flight/PiOS/STM32F10x/Libraries/dosfs/README.txt
View File

@ -1,368 +0,0 @@
README.TXT (C) Copyright 2006
DOSFS Level 1 Version 1.02 Lewin A.R.W. Edwards (sysadm@zws.com)
=====================================================================
Abstract
========
DOSFS is a FAT-compatible filesystem intended for fairly low-end
embedded applications. It is not the leanest possible implementation
(the leanest FAT implementations operate in << 512 bytes of RAM, with
heavy restrictions). This code strikes a good balance between size
and functionality, with an emphasis on RAM footprint.
Intended target systems would be in the ballpark of 1K RAM, 4K ROM
or more.
Features:
* Supports FAT12, FAT16 and FAT32 volumes
* Supports storage devices up to 2048Gbytes in size (LBA32)
* Supports devices with or without MBRs (hard disks vs. floppy disks
or ZIP drives formatted as "big floppies")
* Supports multiple partitions on disks with MBRs
* Supports subdirectories
* Can be operated with a single global 512-byte sector buffer
* Fully reentrant code (assuming the underlying physical device driver
is reentrant and global sector buffers are not used). There are no
global variables in the filesystem
* Does not perform any memory allocation
* Partial support for random-access files
Applications:
* Firmware upgrades
* Failsafe IPL
* Media playback
* Data logging
* Configuration storage
There is no technical support for this free product; however, if you
have questions or suggestions, you are encouraged to email Lewin
Edwards at sysadm@zws.com. If you need custom additions to the code,
or if you have other projects for which you need engineering
assistance, please feel free to email or call (646) 549-3715.
License
=======
The license for DOSFS is very simple but verbose to state.
1. DOSFS is (C) Copyright 2006 by Lewin A.R.W. Edwards ("Author").
All rights not explicitly granted herein are reserved. The DOSFS
code is the permanent property of the Author and no transfer of
ownership is implied by this license.
2. DOSFS is an educational project, provided as-is. No guarantee of
performance or suitability for any application is stated or
implied. You use this product entirely at your own risk. Use of
this product in any manner automatically waives any right to seek
compensation or damages of any sort from the Author. Since the
products you might make are entirely out of the Author's control,
use of this product also constitutes an agreement by you to take
full responsibility for and indemnify the Author against any
action for any loss or damage (including economic loss of any
type, and specifically including patent litigation) that arises
from a product made by you that incorporates any portion of
the DOSFS code.
3. If you live under the jurisdiction of any legislation that would
prohibit or limit any condition in this license, you cannot be
licensed to use this product.
4. If you do not fall into the excluded category in point 3, you are
hereby licensed to use the DOSFS code in any application that you
see fit. You are not required to pay any fee or notify the Author
that you are using DOSFS. Any modifications made by you to the
DOSFS code are your property and you may distribute the modified
version in any manner that you wish. You are not required to
disclose sourcecode to such modifications, either to the Author or
to any third party. Any such disclosure made to the Author will
irrevocably become the property of the Author in the absence of a
formal agreement to the contrary, established prior to such
disclosure being made.
To summarize the intent of the above: DOSFS is free. You can do what
you want with it. Anything that happens as a result is entirely your
responsibility. You can't take ownership of my code and stop me from
doing whatever I want with it. If you do something nifty with DOSFS
and send me the sourcecode, I may include your changes in the next
distribution and it will be released to the world as free software.
If someone sues you because your DOSFS-containing product causes
any sort of legal, financial or other problem, it's your lawsuit,
not mine, and you'll exclude me from the proceedings.
User-Supplied Functions
=======================
You must provide functions to read sectors into memory and write
them back to the target media. The demo suite includes an emulation
module that reads/writes a disk image file (#define HOSTVER pulls
in hostemu.h which wraps the prototypes for these functions).
There are various tools for UNIX, DOS, Windows et al, to create
images from storage media; my preferred utility is dd.
The functions you must supply in your embedded app are:
DFS_ReadSector(unit,buffer,sector,count)
DFS_WriteSector(unit,buffer,sector,count)
These two functions read and write, respectively, "count" sectors of
size SECTOR_SIZE (512 bytes; see below) from/to physical sector
#"sector" of device "unit", to/from the scratch buffer "buffer". They
should return 0 for success or nonzero for failure. In the current
implementation of DOSFS, count will always be 1.
The "unit" argument is designed to permit implementation of multiple
storage devices, for example multiple media slots on a single device,
or to differentiate between master and slave devices on an ATAPI bus.
This code is designed for 512-byte sectors. Although the sector size
is a #define, you should not tinker with it because the vast majority
of FAT filesystems use 512-byte sectors, and the DOSFS code doesn't
support runtime determination of sector size. This will not affect the
vast majority of users.
Example Code
============
Refer to the tests in main.c to see how to call DOSFS functions.
(These tests are all commented out). Note that the only two files
you need to add to your project are dosfs.c and dosfs.h.
Mounting Volumes
================
--If the device has a partition table (practically all removable flash
media are formatted this way), call DFS_GetPtnStart to get the
starting sector# of the desired partition. You can optionally also
retrieve the active state, partition type byte and partition size
in this step. The reason this step is broken out separately is so
you can support devices that are formatted like a floppy disk, i.e.
the volume starts directly at physical sector 0 of the media.
--Call DFS_GetVolInfo to read filesystem info into a VOLINFO structure.
DFS_GetVolInfo needs to know the unit number and partition starting
sector (as returned by DFS_GetPtnStart, or 0 if this is a "floppy-
format" volume without an MBR).
From this point on, the VOLINFO structure is all you'll need - you can
forget the unit and partition start sector numbers.
Enumerating Directory Contents
==============================
--Call DFS_Opendir and supply a path, populated VOLINFO and a
DIRINFO structure to receive the results. Note - you must PREPOPULATE
the DIRINFO.scratch field with a pointer to a sector scratch buffer.
This buffer must remain unmolested while you have the directory open
for searching.
--Call DFS_GetNext to receive the DIRENT contents for the next directory
item. This function returns DFS_OK for no error, and DFS_EOF if there
are no more entries in the directory being searched.
Before using the DIRENT, check the first character of the name. If it
is NULL, then this is an unusable entry - call DFS_GetNext again to
keep searching. LFN directory entries are automatically tagged this way
so your application will not be pestered by them.
Note: A designed side-effect of this code is that when you locate the
file of interest, the DIRINFO.currentcluster, DIRINFO.currentsector
and DIRINFO.currententry-1 fields will identify the directory entry of
interest.
Reading a File
==============
--Call DFS_OpenFile with mode = DFS_READ and supply a path and the relevant
VOLINFO structure. DFS_OpenFile will populate a FILEINFO that can be used
to refer to the file.
--Optionally call DFS_Seek to set the file pointer. If you attempt to set
the file pointer past the end of file, the file will NOT be extended. Check
the FILEINFO.pointer value after DFS_Seek to verify that the pointer is
where you expect it to be.
--Observe that functionality similar to the "whence" parameter of fseek() can
be obtained by using simple arithmetic on the FILEINFO.pointer and
FILEINFO.filelen members.
--Call DFS_ReadFile with the FILEINFO you obtained from OpenFile, and a
pointer to a buffer plus the desired number of bytes to read, and a
pointer to a sector-sized scratch buffer. The reason a scratch sector is
required is because the underlying sector read function doesn't know
about partial reads.
--Note that a file opened for reading cannot be written. If you need r/w
access, open with mode = DFS_WRITE (see below).
Writing a file
==============
--Call DFS_OpenFile with mode = DFS_WRITE and supply a path and the relevant
VOLINFO structure. DFS_OpenFile will populate a FILEINFO that can be used to
refer to the file.
--Optionally call DFS_Seek to set the file pointer. Refer to the notes on
this topic in the section on reading files, above.
--Call DFS_WriteFile with the FILEINFO you obtained from OpenFile, and a
pointer to the source buffer, and a pointer to a sector-sized scratch
buffer.
--Note that a file open for writing can also be read.
--Files are created automatically if they do not exist. Subdirectories are
NOT automatically created.
--If you open an existing file for writing, the file pointer will start at
the beginning of the data; if you want to append, seek to the end before
writing new data.
--If you perform random-access writes to a file, the length will NOT change
unless you exceed the file's original length. There is currently no
function to truncate a file at the current pointer position.
--On-disk consistency is guaranteed when DFS_WriteFile exits, unless your
physical layer has a writeback cache in it.
Deleting a file
===============
--Call DFS_UnlinkFile
--WARNING: This call will delete a subdirectory (correctly) but will NOT
first recurse the directory to delete the contents - so you will end up
with lost clusters.
Notes
=====
Some platforms may require explicit pragmas or attributes to the structures
and unions. For example, arm-gcc will require __attribute__ ((__packed__))
otherwise it will try to be "smart" and place the uint8_t members on 4-byte
boundaries. There is no truly elegant compiler-independent method to get
around this sort of problem.
The code assumes either a von Neumann architecture, or a compiler that
is smart enough to understand where your pointers are aimed and emit
the right kind of memory read and write instructions. The implications
of this statement depend on your target processor and the compiler you
are using. Be very careful not to straddle bank boundaries on bank-
switched memory systems.
Physical 32-bit sector numbers are used throughout. Therefore, the
CHS geometry (if any) of the storage media is not known to DOSFS. Your
sector r/w functions may need to query the CHS geometry and perform
mapping.
File timestamps set by DOSFS are always 1:01:00am on Jan 1, 2006. If
your system has a concept of real time, you can enhance this.
FILEINFO structures contain a pointer to the corresponding VOLINFO
used to open the file, mainly in order to avoid mixups but also to
obviate the need for an extra parameter to every file read/write. DOSFS
assumes that the VOLINFO won't move around. If you need to move or
destroy VOLINFOs pertaining to open files, you'll have to fix up the
pointer in the FILEINFO structure yourself.
The subdirectory delimiter is a forward slash ( '/' ) by default. The
reason for this is to avoid the common programming error of forgetting
that backslash is an escape character in C strings; i.e. "\MYDIR\FILE"
is NOT what you want; "\\MYDIR\\FILE" is what you wanted to type. If you
are porting DOS code into an embedded environment, feel free to change
this #define.
DOSFS does not have a concept of "current directory". A current directory
is owned by a process, and a process is an operating system concept.
DOSFS is a filesystem library, not an operating system. Therefore, any
path you provide to a DOSFS call is assumed to be relative to the root of
the volume.
There is no call to close a file or directory that is open for reading or
writing. You can simply destroy or reuse the data structures allocated for
that operation; there is no internal state in DOSFS so no cleanup is
necessary. Similarly, there is no call to close a file that is open for
writing. (Observe that dosfs.c has no global variables. All state information
is stored in data structures provided by the caller).
MAX_PATH is defined as 64. MS-type DOS filesystems support 128 characters
or more in paths. You can increase this define, but it may GREATLY
increase memory requirements.
VFAT long filenames are not supported. There is a certain amount of
patent controversy about them, but more importantly they don't really
belong in the scope of a "minimalist embedded filesystem".
Improving Performance
=====================
Read performance is fairly good, but can be improved by implementing read
caching on the FAT (see below) and, depending on your hardware platform,
possibly by implementing multi-sector reads.
Write performance may benefit ENORMOUSLY from platform-specific
optimization, especially if you are working with a flash media type that
has a large erase block size. While it is not possible to offer detailed
platform-independent advice, my general advice is to implement writeback
caching on the FAT area. One method for doing this would be to have a
cache system that lives in the DFS_ReadSector/WriteSector functions (on
top of the physical sector r/w functions) and is initially switched off.
Once you have called DFS_GetVolInfo, you then extract the VOLINFO.fat1
and VOLINFO.rootdir parameters and pass them to your caching layer.
Sectors >= fat1 and < rootdir should be cached. The cache strategy is
determined by the physical storage medium underlying the filesystem.
CACHING HINT:
Observe that there will be numerous read-modify-write operations in the
region from VOLINFO.fat1 through VOLINFO.fat1+VOLINFO.secperfat-1, but
in the region from VOLINFO.fat1+VOLINFO.secperfat through VOLINFO.rootdir
there will ONLY be write operations.
Platform Compatibility
======================
DOSFS was derived from code originally written for ARM7TDMI but
designed to be portable. It has been tested on AVR (using avrgcc),
MSP430 (using Rowley's CrossWorks) and PPC603e (using gcc); the host
test suite has also been validated on x86 using gcc under both Cygwin
and 32-bit Fedora Core 4 Linux.
TODO list
=========
* Add function to create subdirectory
* Make DFS_UnlinkFile recognize non-empty subdirectories
* Support "fast write" files where the FAT is not updated, for
logging applications where latency is important.
Test cases for V1.02
====================
Version 1.02 has NOT been through full regression testing. However the
bugs fixed in this version are important, and people have been asking
about them.
Test cases for V1.01
====================
See below.
Test cases for V1.00
====================
These are the test cases that were used to validate the correct
functionality of the DOSFS suite. Each test was performed on FAT12,
FAT16 and FAT32 volumes. P=Pass, F=Fail.
Case F12 F16 F32
---------------------------------------------------------------------
Get volume information P P P
Open root directory P P P
List contents of root directory (fully populated) P P P
Open subdirectory P P P
List contents of subdirectory (<= 1 cluster) P P P
List contents of large subdirectory (> 1 cluster) P P P
Open 5-level nested subdirectory P P P
Open existing file for reading P P P
Open nonexistent file for reading P P P
Seek past EOF, file open for reading P P P
Seek to cluster boundary P P P
Seek past cluster boundary P P P
Seek backwards to nonzero offset, pointer > cluster size P P P
Block-read entire file >1 cluster in size, odd size P P P
Seek to odd location in file P P P
Perform <1 sector reads from random file locations P P P
Open nonexistent file for writing in root dir P P P
Open nonexistent file for writing in subdir P P P
Repeat prev. 2 tests on volume with 0 free clusters P P P
Seek past EOF, file open for writing P P P
Open existing file for writing in root dir P P P
Write random-length records to file, 20 clusters total P P P
MS-DOS 6.0 SCANDISK cross-check P P P
Revision History
================
Jan-06-2005 larwe Initial release (1.0)
Jan-29-2006 larwe Bugfix release (1.01)
- Fixed error in FAT12 FAT read on boundary of sector
- Improved compilability under avrgcc
Sep-16-2006 larwe Bugfix release (1.02)
- DFS_Seek would not correctly rewind to start of file
- DFS_Seek would not correctly seek to a position not on a cluster
boundary
- DFS_OpenFile fencepost error caused memory access at [start of
string-1] with a local variable
- DFS_OpenFile could not open a file in the root directory

42
flight/PiOS/STM32F10x/Libraries/dosfs/README_1st.txt
View File

@ -1,42 +0,0 @@
DOSFS has been developed by Lewin Edwards, and is provided as freeware.
See README.txt for details.
This package has been downloaded from:
http://www.larwe.com/zws/products/dosfs/
Version 1.03 from 9/30/06 is used.
dfs_sdcard has been added as access layer between DFS functions and PIOS_SDCARD functions
The original usage examples can be found under unused/main.c
Addendum:
TK 2008-12-18:
DFS_Seek was running endless, applied a patch which has been posted at
http://reza.net/wordpress/?p=110
TK 2008-12-18:
patched the patch: endcluster wasn't calculated correctly
TK 2008-12-18:
added 'DFS_CachingEnabledSet(uint8_t enable)' function to enable a simple
caching mechanism. This feature has to be explicitely enabled, as it isn't
reentrant and requires to use the same buffer pointer whenever reading a file!
TK 2008-18-12
added missing pendant to DFS_CanonicalToDir;
char *DFS_DirToCanonical(char *dest, char *src)
expects a 13 byte buffer in *dest
TK 2009-02-12
added dummy "DFS_Close" function
It has no effect if writing to SD Card, it's only used by the DosFS wrapper
in emulation
TK 2009-07-04
fixed bug in DFS_GetNext() in conjunction with the DFS_GetFreeDirEnt() function
New files where not added correctly to subdirectories

143
flight/PiOS/STM32F10x/Libraries/dosfs/dfs_sdcard.c
View File

@ -1,143 +0,0 @@
/**
******************************************************************************
*
* @file pios.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
* @brief Access layer between DOSFS and PIOS
* @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 files */
#include <pios.h>
#include "dosfs.h"
/* Local variables */
/* For caching - this feature has to be explicitly enabled, as it isn't reentrant */
/* and requires to use the same buffer pointer whenever reading a file. */
static uint32_t last_sector;
static uint8_t caching_enabled = 0;
void DFS_CachingEnabledSet(uint8_t enable)
{
caching_enabled = enable;
last_sector = 0xffffffff;
}
/**
* Converts directory name to canonical name
* (missing pendant to DFS_anonicalToDir)
* dest must point to a 13-byte buffer
*/
char *DFS_DirToCanonical(char *dest, char *src)
{
uint8_t pos = 0;
while( pos < 8 && src[pos] != ' ' ) {
*dest++ = src[pos++];
}
if( src[8] != ' ' ) {
*dest++ = '.';
pos = 8;
while( pos < 11 && src[pos] != ' ' ) {
*dest++ = src[pos++];
}
}
/* Terminate string */
*dest = 0;
return dest;
}
/**
* Read sector from SD Card
* Returns 0 OK, nonzero for any error
*/
uint32_t DFS_ReadSector(uint8_t unit, uint8_t *buffer, uint32_t sector, uint32_t count)
{
/* Only allow access to single unit */
if(unit != 0) {
return 1;
}
/* According to README.txt, count is always 1 - check this! */
if(count != 1) {
return 2;
}
/* Cache: */
if(caching_enabled && sector == last_sector) {
/* we assume that sector is already in *buffer */
/* since the user has to take care that the same buffer is used for file reads, this */
/* feature has to be explicitly enabled with DFS_CachingEnabledSet(uint8_t enable) */
return 0;
}
last_sector = sector;
/* Forward to PIOS */
int32_t status;
if((status = PIOS_SDCARD_SectorRead(sector, buffer)) < 0) {
/* Cannot access SD Card */
return 3;
}
/* Success */
return 0;
}
/**
* Write sector to SD Card
* Returns 0 OK, nonzero for any error
*/
uint32_t DFS_WriteSector(uint8_t unit, uint8_t *buffer, uint32_t sector, uint32_t count)
{
/* Only allow access to single unit */
if(unit != 0) {
return 1;
}
/* According to README.txt, count is always 1 - check this! */
if(count != 1) {
return 2;
}
/* Invalidate cache */
last_sector = 0xffffffff;
/* Forward to PIOS */
int32_t status;
if((status = PIOS_SDCARD_SectorWrite(sector, buffer)) < 0) {
/* Cannot access SD Card */
return 3;
}
/* Success */
return 0;
}

1336
flight/PiOS/STM32F10x/Libraries/dosfs/dosfs.c
View File

@ -1,1336 +0,0 @@
/*
DOSFS Embedded FAT-Compatible Filesystem
(C) 2005 Lewin A.R.W. Edwards (sysadm@zws.com)
You are permitted to modify and/or use this code in your own projects without
payment of royalty, regardless of the license(s) you choose for those projects.
You cannot re-copyright or restrict use of the code as released by Lewin Edwards.
*/
//#include "common.h"
#include <string.h>
#include <stdlib.h>
//#include "fat.h"
#define div(a,b) ldiv(a,b)
#include "dosfs.h"
/*
Get starting sector# of specified partition on drive #unit
NOTE: This code ASSUMES an MBR on the disk.
scratchsector should point to a SECTOR_SIZE scratch area
Returns 0xffffffff for any error.
If pactive is non-NULL, this function also returns the partition active flag.
If pptype is non-NULL, this function also returns the partition type.
If psize is non-NULL, this function also returns the partition size.
*/
uint32_t DFS_GetPtnStart(uint8_t unit, uint8_t *scratchsector, uint8_t pnum, uint8_t *pactive, uint8_t *pptype, uint32_t *psize)
{
uint32_t result=0;
PMBR mbr = (PMBR) scratchsector;
// DOS ptable supports maximum 4 partitions
if (pnum > 3)
return DFS_ERRMISC;
// Read MBR from target media
if (DFS_ReadSector(unit,scratchsector,0,1)) {
return DFS_ERRMISC;
}
// check if jump to boot, VBR
if(mbr->bootcode[0]==0xEB || mbr->bootcode[0]==0xE9){
// MBR is actually VBR
return 0;
}
result = (uint32_t) mbr->ptable[pnum].start_0 |
(((uint32_t) mbr->ptable[pnum].start_1) << 8) |
(((uint32_t) mbr->ptable[pnum].start_2) << 16) |
(((uint32_t) mbr->ptable[pnum].start_3) << 24);
if (pactive)
*pactive = mbr->ptable[pnum].active;
if (pptype)
*pptype = mbr->ptable[pnum].type;
if (psize)
*psize = (uint32_t) mbr->ptable[pnum].size_0 |
(((uint32_t) mbr->ptable[pnum].size_1) << 8) |
(((uint32_t) mbr->ptable[pnum].size_2) << 16) |
(((uint32_t) mbr->ptable[pnum].size_3) << 24);
return result;
}
/*
Retrieve volume info from BPB and store it in a VOLINFO structure
You must provide the unit and starting sector of the filesystem, and
a pointer to a sector buffer for scratch
Attempts to read BPB and glean information about the FS from that.
Returns 0 OK, nonzero for any error.
*/
uint32_t DFS_GetVolInfo(uint8_t unit, uint8_t *scratchsector, uint32_t startsector, PVOLINFO volinfo)
{
PLBR lbr = (PLBR) scratchsector;
volinfo->unit = unit;
volinfo->startsector = startsector;
#ifdef DEBUG_DOSFS
printf("DFS_GetVolInfo\r\n");
#endif
if(DFS_ReadSector(unit,scratchsector,startsector,1))
return DFS_ERRMISC;
// tag: OEMID, refer dosfs.h
// strncpy(volinfo->oemid, lbr->oemid, 8);
// volinfo->oemid[8] = 0;
volinfo->secperclus = lbr->bpb.secperclus;
volinfo->reservedsecs = (uint16_t) lbr->bpb.reserved_l |
(((uint16_t) lbr->bpb.reserved_h) << 8);
volinfo->numsecs = (uint16_t) lbr->bpb.sectors_s_l |
(((uint16_t) lbr->bpb.sectors_s_h) << 8);
if (!volinfo->numsecs)
volinfo->numsecs = (uint32_t) lbr->bpb.sectors_l_0 |
(((uint32_t) lbr->bpb.sectors_l_1) << 8) |
(((uint32_t) lbr->bpb.sectors_l_2) << 16) |
(((uint32_t) lbr->bpb.sectors_l_3) << 24);
// If secperfat is 0, we must be in a FAT32 volume; get secperfat
// from the FAT32 EBPB. The volume label and system ID string are also
// in different locations for FAT12/16 vs FAT32.
volinfo->secperfat = (uint16_t) lbr->bpb.secperfat_l |
(((uint16_t) lbr->bpb.secperfat_h) << 8);
if (!volinfo->secperfat) {
volinfo->secperfat = (uint32_t) lbr->ebpb.ebpb32.fatsize_0 |
(((uint32_t) lbr->ebpb.ebpb32.fatsize_1) << 8) |
(((uint32_t) lbr->ebpb.ebpb32.fatsize_2) << 16) |
(((uint32_t) lbr->ebpb.ebpb32.fatsize_3) << 24);
memcpy(volinfo->label, lbr->ebpb.ebpb32.label, 11);
volinfo->label[11] = 0;
// tag: OEMID, refer dosfs.h
// memcpy(volinfo->system, lbr->ebpb.ebpb32.system, 8);
// volinfo->system[8] = 0;
}
else {
memcpy(volinfo->label, lbr->ebpb.ebpb.label, 11);
volinfo->label[11] = 0;
// tag: OEMID, refer dosfs.h
// memcpy(volinfo->system, lbr->ebpb.ebpb.system, 8);
// volinfo->system[8] = 0;
}
// note: if rootentries is 0, we must be in a FAT32 volume.
volinfo->rootentries = (uint16_t) lbr->bpb.rootentries_l |
(((uint16_t) lbr->bpb.rootentries_h) << 8);
// after extracting raw info we perform some useful precalculations
volinfo->fat1 = startsector + volinfo->reservedsecs;
// The calculation below is designed to round up the root directory size for FAT12/16
// and to simply ignore the root directory for FAT32, since it's a normal, expandable
// file in that situation.
if (volinfo->rootentries) {
volinfo->rootdir = volinfo->fat1 + (volinfo->secperfat * 2);
volinfo->dataarea = volinfo->rootdir + (((volinfo->rootentries * 32) + (SECTOR_SIZE - 1)) / SECTOR_SIZE);
}
else {
volinfo->dataarea = volinfo->fat1 + (volinfo->secperfat * 2);
volinfo->rootdir = (uint32_t) lbr->ebpb.ebpb32.root_0 |
(((uint32_t) lbr->ebpb.ebpb32.root_1) << 8) |
(((uint32_t) lbr->ebpb.ebpb32.root_2) << 16) |
(((uint32_t) lbr->ebpb.ebpb32.root_3) << 24);
}
// Calculate number of clusters in data area and infer FAT type from this information.
volinfo->numclusters = (volinfo->numsecs - volinfo->dataarea) / volinfo->secperclus;
if (volinfo->numclusters < 4085)
volinfo->filesystem = FAT12;
else if (volinfo->numclusters < 65525)
volinfo->filesystem = FAT16;
else
volinfo->filesystem = FAT32;
return DFS_OK;
}
/*
Fetch FAT entry for specified cluster number
You must provide a scratch buffer for one sector (SECTOR_SIZE) and a populated VOLINFO
Returns a FAT32 BAD_CLUSTER value for any error, otherwise the contents of the desired
FAT entry.
scratchcache should point to a UINT32. This variable caches the physical sector number
last read into the scratch buffer for performance enhancement reasons.
*/
uint32_t DFS_GetFAT(PVOLINFO volinfo, uint8_t *scratch, uint32_t *scratchcache, uint32_t cluster)
{
uint32_t offset=0, sector=0, result=0;
#ifdef DEBUG_DOSFS
printf("DFS_GetFAT\r\n");
#endif
if (volinfo->filesystem == FAT12) {
offset = cluster + (cluster / 2);
}
else if (volinfo->filesystem == FAT16) {
offset = cluster * 2;
}
else if (volinfo->filesystem == FAT32) {
offset = cluster * 4;
}
else
return 0x0ffffff7; // FAT32 bad cluster
// at this point, offset is the BYTE offset of the desired sector from the start
// of the FAT. Calculate the physical sector containing this FAT entry.
sector = ldiv(offset, SECTOR_SIZE).quot + volinfo->fat1;
// If this is not the same sector we last read, then read it into RAM
if (sector != *scratchcache) {
if(DFS_ReadSector(volinfo->unit, scratch, sector, 1)) {
// avoid anyone assuming that this cache value is still valid, which
// might cause disk corruption
*scratchcache = 0;
return 0x0ffffff7; // FAT32 bad cluster
}
*scratchcache = sector;
}
// At this point, we "merely" need to extract the relevant entry.
// This is easy for FAT16 and FAT32, but a royal PITA for FAT12 as a single entry
// may span a sector boundary. The normal way around this is always to read two
// FAT sectors, but that luxury is (by design intent) unavailable to DOSFS.
offset = ldiv(offset, SECTOR_SIZE).rem;
if (volinfo->filesystem == FAT12) {
// Special case for sector boundary - Store last byte of current sector.
// Then read in the next sector and put the first byte of that sector into
// the high byte of result.
if (offset == SECTOR_SIZE - 1) {
result = (uint32_t) scratch[offset];
sector++;
if(DFS_ReadSector(volinfo->unit, scratch, sector, 1)) {
// avoid anyone assuming that this cache value is still valid, which
// might cause disk corruption
*scratchcache = 0;
return 0x0ffffff7; // FAT32 bad cluster
}
*scratchcache = sector;
// Thanks to Claudio Leonel for pointing out this missing line.
result |= ((uint32_t) scratch[0]) << 8;
}
else {
result = (uint32_t) scratch[offset] |
((uint32_t) scratch[offset+1]) << 8;
}
if (cluster & 1)
result = result >> 4;
else
result = result & 0xfff;
}
else if (volinfo->filesystem == FAT16) {
result = (uint32_t) scratch[offset] |
((uint32_t) scratch[offset+1]) << 8;
}
else if (volinfo->filesystem == FAT32) {
result = ((uint32_t) scratch[offset] |
((uint32_t) scratch[offset+1]) << 8 |
((uint32_t) scratch[offset+2]) << 16 |
((uint32_t) scratch[offset+3]) << 24) & 0x0fffffff;
}
else
result = 0x0ffffff7; // FAT32 bad cluster
return result;
}
/*
Set FAT entry for specified cluster number
You must provide a scratch buffer for one sector (SECTOR_SIZE) and a populated VOLINFO
Returns DFS_ERRMISC for any error, otherwise DFS_OK
scratchcache should point to a UINT32. This variable caches the physical sector number
last read into the scratch buffer for performance enhancement reasons.
NOTE: This code is HIGHLY WRITE-INEFFICIENT, particularly for flash media. Considerable
performance gains can be realized by caching the sector. However this is difficult to
achieve on FAT12 without requiring 2 sector buffers of scratch space, and it is a design
requirement of this code to operate on a single 512-byte scratch.
If you are operating DOSFS over flash, you are strongly advised to implement a writeback
cache in your physical I/O driver. This will speed up your code significantly and will
also conserve power and flash write life.
*/
uint32_t DFS_SetFAT(PVOLINFO volinfo, uint8_t *scratch, uint32_t *scratchcache, uint32_t cluster, uint32_t new_contents)
{
uint32_t offset=0, sector=0, result=0;
#ifdef DEBUG_DOSFS
printf("DFS_SetFAT (%lu->%lu)\r\n",cluster,new_contents);
#endif
if (volinfo->filesystem == FAT12) {
offset = cluster + (cluster / 2);
new_contents &=0xfff;
}
else if (volinfo->filesystem == FAT16) {
offset = cluster * 2;
new_contents &=0xffff;
}
else if (volinfo->filesystem == FAT32) {
offset = cluster * 4;
new_contents &=0x0fffffff; // FAT32 is really "FAT28"
}
else
return DFS_ERRMISC;
// at this point, offset is the BYTE offset of the desired sector from the start
// of the FAT. Calculate the physical sector containing this FAT entry.
sector = ldiv(offset, SECTOR_SIZE).quot + volinfo->fat1;
// If this is not the same sector we last read, then read it into RAM
if (sector != *scratchcache) {
if(DFS_ReadSector(volinfo->unit, scratch, sector, 1)) {
// avoid anyone assuming that this cache value is still valid, which
// might cause disk corruption
*scratchcache = 0;
return DFS_ERRMISC;
}
*scratchcache = sector;
}
// At this point, we "merely" need to extract the relevant entry.
// This is easy for FAT16 and FAT32, but a royal PITA for FAT12 as a single entry
// may span a sector boundary. The normal way around this is always to read two
// FAT sectors, but that luxury is (by design intent) unavailable to DOSFS.
offset = ldiv(offset, SECTOR_SIZE).rem;
if (volinfo->filesystem == FAT12) {
// If this is an odd cluster, pre-shift the desired new contents 4 bits to
// make the calculations below simpler
if (cluster & 1)
new_contents = new_contents << 4;
// Special case for sector boundary
if (offset == SECTOR_SIZE - 1) {
// Odd cluster: High 12 bits being set
if (cluster & 1) {
scratch[offset] = (scratch[offset] & 0x0f) | (new_contents & 0xf0);
}
// Even cluster: Low 12 bits being set
else {
scratch[offset] = new_contents & 0xff;
}
result = DFS_WriteSector(volinfo->unit, scratch, *scratchcache, 1);
// mirror the FAT into copy 2
if (DFS_OK == result)
result = DFS_WriteSector(volinfo->unit, scratch, (*scratchcache)+volinfo->secperfat, 1);
// If we wrote that sector OK, then read in the subsequent sector
// and poke the first byte with the remainder of this FAT entry.
if (DFS_OK == result) {
// *scratchcache++;
++*scratchcache; // TK: to avoid warning "value computed is not used"
result = DFS_ReadSector(volinfo->unit, scratch, *scratchcache, 1);
if (DFS_OK == result) {
// Odd cluster: High 12 bits being set
if (cluster & 1) {
scratch[0] = new_contents & 0xff00;
}
// Even cluster: Low 12 bits being set
else {
scratch[0] = (scratch[0] & 0xf0) | (new_contents & 0x0f);
}
result = DFS_WriteSector(volinfo->unit, scratch, *scratchcache, 1);
// mirror the FAT into copy 2
if (DFS_OK == result)
result = DFS_WriteSector(volinfo->unit, scratch, (*scratchcache)+volinfo->secperfat, 1);
}
else {
// avoid anyone assuming that this cache value is still valid, which
// might cause disk corruption
*scratchcache = 0;
}
}
} // if (offset == SECTOR_SIZE - 1)
// Not a sector boundary. But we still have to worry about if it's an odd
// or even cluster number.
else {
// Odd cluster: High 12 bits being set
if (cluster & 1) {
scratch[offset] = (scratch[offset] & 0x0f) | (new_contents & 0xf0);
scratch[offset+1] = new_contents & 0xff00;
}
// Even cluster: Low 12 bits being set
else {
scratch[offset] = new_contents & 0xff;
scratch[offset+1] = (scratch[offset+1] & 0xf0) | (new_contents & 0x0f);
}
result = DFS_WriteSector(volinfo->unit, scratch, *scratchcache, 1);
// mirror the FAT into copy 2
if (DFS_OK == result)
result = DFS_WriteSector(volinfo->unit, scratch, (*scratchcache)+volinfo->secperfat, 1);
}
}
else if (volinfo->filesystem == FAT16) {
scratch[offset] = (new_contents & 0xff);
scratch[offset+1] = (new_contents & 0xff00) >> 8;
result = DFS_WriteSector(volinfo->unit, scratch, *scratchcache, 1);
// mirror the FAT into copy 2 - XXX
if (DFS_OK == result)
result = DFS_WriteSector(volinfo->unit, scratch, (*scratchcache)+volinfo->secperfat, 1);
}
else if (volinfo->filesystem == FAT32) {
scratch[offset] = (new_contents & 0xff);
scratch[offset+1] = (new_contents & 0xff00) >> 8;
scratch[offset+2] = (new_contents & 0xff0000) >> 16;
scratch[offset+3] = (scratch[offset+3] & 0xf0) | ((new_contents & 0x0f000000) >> 24);
// Note well from the above: Per Microsoft's guidelines we preserve the upper
// 4 bits of the FAT32 cluster value. It's unclear what these bits will be used
// for; in every example I've encountered they are always zero.
result = DFS_WriteSector(volinfo->unit, scratch, *scratchcache, 1);
// mirror the FAT into copy 2
if (DFS_OK == result)
result = DFS_WriteSector(volinfo->unit, scratch, (*scratchcache)+volinfo->secperfat, 1);
}
else
result = DFS_ERRMISC;
return result;
}
/*
Convert a filename element from canonical (8.3) to directory entry (11) form
src must point to the first non-separator character.
dest must point to a 12-byte buffer.
*/
uint8_t *DFS_CanonicalToDir(uint8_t *dest, uint8_t *src)
{
uint8_t *destptr = dest;
memset(dest, ' ', 11);
dest[11] = 0;
while (*src && (*src != DIR_SEPARATOR) && (destptr - dest < 11)) {
if (*src >= 'a' && *src <='z') {
*destptr++ = (*src - 'a') + 'A';
src++;
}
else if (*src == '.') {
src++;
destptr = dest + 8;
}
else {
*destptr++ = *src++;
}
}
return dest;
}
/*
Find the first unused FAT entry
You must provide a scratch buffer for one sector (SECTOR_SIZE) and a populated VOLINFO
Returns a FAT32 BAD_CLUSTER value for any error, otherwise the contents of the desired
FAT entry.
Returns FAT32 bad_sector (0x0ffffff7) if there is no free cluster available
*/
uint32_t DFS_GetFreeFAT(PVOLINFO volinfo, uint8_t *scratch)
{
uint32_t i, result = 0xffffffff, scratchcache = 0;
#ifdef DEBUG_DOSFS
printf("DFS_GetFreeFAT\r\n");
#endif
// Search starts at cluster 2, which is the first usable cluster
// NOTE: This search can't terminate at a bad cluster, because there might
// legitimately be bad clusters on the disk.
for (i=2; i < volinfo->numclusters; i++) {
result = DFS_GetFAT(volinfo, scratch, &scratchcache, i);
if (!result) {
return i;
}
}
return 0x0ffffff7; // Can't find a free cluster
}
/*
Open a directory for enumeration by DFS_GetNextDirEnt
You must supply a populated VOLINFO (see DFS_GetVolInfo)
** you must also make sure dirinfo->scratch is valid in the dirinfo you pass it** //reza
The empty string or a string containing only the directory separator are
considered to be the root directory.
Returns 0 OK, nonzero for any error.
*/
uint32_t DFS_OpenDir(PVOLINFO volinfo, uint8_t *dirname, PDIRINFO dirinfo)
{
// Default behavior is a regular search for existing entries
dirinfo->flags = 0;
#ifdef DEBUG_DOSFS
printf("DFS_OpenDir\r\n");
#endif
if (!strlen((char *) dirname) || (strlen((char *) dirname) == 1 && dirname[0] == DIR_SEPARATOR)) {
if (volinfo->filesystem == FAT32) {
dirinfo->currentcluster = volinfo->rootdir;
dirinfo->currentsector = 0;
dirinfo->currententry = 0;
// read first sector of directory
return DFS_ReadSector(volinfo->unit, dirinfo->scratch, volinfo->dataarea + ((volinfo->rootdir - 2) * volinfo->secperclus), 1);
}
else {
dirinfo->currentcluster = 0;
dirinfo->currentsector = 0;
dirinfo->currententry = 0;
// read first sector of directory
return DFS_ReadSector(volinfo->unit, dirinfo->scratch, volinfo->rootdir, 1);
}
}
// This is not the root directory. We need to find the start of this subdirectory.
// We do this by devious means, using our own companion function DFS_GetNext.
else {
uint8_t tmpfn[12];
uint8_t *ptr = dirname;
uint32_t result;
DIRENT de;
if (volinfo->filesystem == FAT32) {
dirinfo->currentcluster = volinfo->rootdir;
dirinfo->currentsector = 0;
dirinfo->currententry = 0;
// read first sector of directory
if (DFS_ReadSector(volinfo->unit, dirinfo->scratch, volinfo->dataarea + ((volinfo->rootdir - 2) * volinfo->secperclus), 1))
return DFS_ERRMISC;
}
else {
dirinfo->currentcluster = 0;
dirinfo->currentsector = 0;
dirinfo->currententry = 0;
// read first sector of directory
if (DFS_ReadSector(volinfo->unit, dirinfo->scratch, volinfo->rootdir, 1))
return DFS_ERRMISC;
}
// skip leading path separators
while (*ptr == DIR_SEPARATOR && *ptr)
ptr++;
// Scan the path from left to right, finding the start cluster of each entry
// Observe that this code is inelegant, but obviates the need for recursion.
while (*ptr) {
DFS_CanonicalToDir(tmpfn, ptr);
de.name[0] = 0;
do {
result = DFS_GetNext(volinfo, dirinfo, &de);
} while (!result && memcmp(de.name, tmpfn, 11));
if (!memcmp(de.name, tmpfn, 11) && ((de.attr & ATTR_DIRECTORY) == ATTR_DIRECTORY)) {
if (volinfo->filesystem == FAT32) {
dirinfo->currentcluster = (uint32_t) de.startclus_l_l |
((uint32_t) de.startclus_l_h) << 8 |
((uint32_t) de.startclus_h_l) << 16 |
((uint32_t) de.startclus_h_h) << 24;
}
else {
dirinfo->currentcluster = (uint32_t) de.startclus_l_l |
((uint32_t) de.startclus_l_h) << 8;
}
dirinfo->currentsector = 0;
dirinfo->currententry = 0;
if (DFS_ReadSector(volinfo->unit, dirinfo->scratch, volinfo->dataarea + ((dirinfo->currentcluster - 2) * volinfo->secperclus), 1))
return DFS_ERRMISC;
}
else if (!memcmp(de.name, tmpfn, 11) && !(de.attr & ATTR_DIRECTORY))
return DFS_NOTFOUND;
// seek to next item in list
while (*ptr != DIR_SEPARATOR && *ptr)
ptr++;
if (*ptr == DIR_SEPARATOR)
ptr++;
}
if (!dirinfo->currentcluster)
return DFS_NOTFOUND;
}
return DFS_OK;
}
/*
Get next entry in opened directory structure. Copies fields into the dirent
structure, updates dirinfo. Note that it is the _caller's_ responsibility to
handle the '.' and '..' entries.
A deleted file will be returned as a NULL entry (first char of filename=0)
by this code. Filenames beginning with 0x05 will be translated to 0xE5
automatically. Long file name entries will be returned as NULL.
returns DFS_EOF if there are no more entries, DFS_OK if this entry is valid,
or DFS_ERRMISC for a media error
*/
uint32_t DFS_GetNext(PVOLINFO volinfo, PDIRINFO dirinfo, PDIRENT dirent)
{
uint32_t tempint; // required by DFS_GetFAT
#ifdef DEBUG_DOSFS
printf("DFS_GetNext\r\n");
#endif
// Do we need to read the next sector of the directory?
if (dirinfo->currententry >= SECTOR_SIZE / sizeof(DIRENT)) {
dirinfo->currententry = 0;
dirinfo->currentsector++;
// Root directory; special case handling
// Note that currentcluster will only ever be zero if both:
// (a) this is the root directory, and
// (b) we are on a FAT12/16 volume, where the root dir can't be expanded
if (dirinfo->currentcluster == 0) {
// Trying to read past end of root directory?
if (dirinfo->currentsector * (SECTOR_SIZE / sizeof(DIRENT)) >= volinfo->rootentries)
return DFS_EOF;
// Otherwise try to read the next sector
if (DFS_ReadSector(volinfo->unit, dirinfo->scratch, volinfo->rootdir + dirinfo->currentsector, 1))
return DFS_ERRMISC;
}
// Normal handling
else {
if (dirinfo->currentsector >= volinfo->secperclus) {
dirinfo->currentsector = 0;
if ((dirinfo->currentcluster >= 0xff7 && volinfo->filesystem == FAT12) ||
(dirinfo->currentcluster >= 0xfff7 && volinfo->filesystem == FAT16) ||
(dirinfo->currentcluster >= 0x0ffffff7 && volinfo->filesystem == FAT32)) {
// We are at the end of the directory chain. If this is a normal
// find operation, we should indicate that there is nothing more
// to see.
if (!(dirinfo->flags & DFS_DI_BLANKENT))
return DFS_EOF;
// On the other hand, if this is a "find free entry" search,
// we need to tell the caller to allocate a new cluster
else
return DFS_ALLOCNEW;
}
dirinfo->currentcluster = DFS_GetFAT(volinfo, dirinfo->scratch, &tempint, dirinfo->currentcluster);
}
if (DFS_ReadSector(volinfo->unit, dirinfo->scratch, volinfo->dataarea + ((dirinfo->currentcluster - 2) * volinfo->secperclus) + dirinfo->currentsector, 1))
return DFS_ERRMISC;
}
}
memcpy(dirent, &(((PDIRENT) dirinfo->scratch)[dirinfo->currententry]), sizeof(DIRENT));
if (dirent->name[0] == 0) { // no more files in this directory
// If this is a "find blank" then we can reuse this name.
#if 0
if (dirinfo->flags & DFS_DI_BLANKENT)
return DFS_OK;
#else
// TK: DFS_GetFreeDirEnt() expects that currententry has been incremented by 1
if (dirinfo->flags & DFS_DI_BLANKENT) {
dirinfo->currententry++;
return DFS_OK;
}
#endif
else
return DFS_EOF;
}
if (dirent->name[0] == 0xe5) // handle deleted file entries
dirent->name[0] = 0;
#if 1
// TK: ensure that DFS_GetFreeDirEnt() doesn't return entries with long name
else if( dirinfo->flags & DFS_DI_BLANKENT )
{} // do nothing..
#endif
else if ((dirent->attr & ATTR_LONG_NAME) == ATTR_LONG_NAME)
dirent->name[0] = 0;
else if (dirent->name[0] == 0x05) // handle kanji filenames beginning with 0xE5
dirent->name[0] = 0xe5;
dirinfo->currententry++;
return DFS_OK;
}
/*
INTERNAL
Find a free directory entry in the directory specified by path
This function MAY cause a disk write if it is necessary to extend the directory
size.
Note - di.scratch must be preinitialized to point to a sector scratch buffer
de is a scratch structure
Returns DFS_ERRMISC if a new entry could not be located or created
de is updated with the same return information you would expect from DFS_GetNext
*/
uint32_t DFS_GetFreeDirEnt(PVOLINFO volinfo, uint8_t *path, PDIRINFO di, PDIRENT de)
{
uint32_t tempclus=0,i=0;
#ifdef DEBUG_DOSFS
printf("DFS_GetFreeDirEnt\r\n");
#endif
if (DFS_OpenDir(volinfo, path, di))
return DFS_NOTFOUND;
// Set "search for empty" flag so DFS_GetNext knows what we're doing
di->flags |= DFS_DI_BLANKENT;
// We seek through the directory looking for an empty entry
// Note we are reusing tempclus as a temporary result holder.
tempclus = 0;
do {
tempclus = DFS_GetNext(volinfo, di, de);
// Empty entry found
if (tempclus == DFS_OK && (!de->name[0])) {
return DFS_OK;
}
// End of root directory reached
else if (tempclus == DFS_EOF)
return DFS_ERRMISC;
else if (tempclus == DFS_ALLOCNEW) {
tempclus = DFS_GetFreeFAT(volinfo, di->scratch);
if (tempclus == 0x0ffffff7)
return DFS_ERRMISC;
// write out zeroed sectors to the new cluster
memset(di->scratch, 0, SECTOR_SIZE);
for (i=0;i<volinfo->secperclus;i++) {
if (DFS_WriteSector(volinfo->unit, di->scratch, volinfo->dataarea + ((tempclus - 2) * volinfo->secperclus) + i, 1))
return DFS_ERRMISC;
}
// Point old end cluster to newly allocated cluster
i = 0;
DFS_SetFAT(volinfo, di->scratch, &i, di->currentcluster, tempclus);
// Update DIRINFO so caller knows where to place the new file
di->currentcluster = tempclus;
di->currentsector = 0;
di->currententry = 1; // since the code coming after this expects to subtract 1
// Mark newly allocated cluster as end of chain
switch(volinfo->filesystem) {
case FAT12: tempclus = 0xff8; break;
case FAT16: tempclus = 0xfff8; break;
case FAT32: tempclus = 0x0ffffff8; break;
default: return DFS_ERRMISC;
}
DFS_SetFAT(volinfo, di->scratch, &i, di->currentcluster, tempclus);
}
} while (!tempclus);
// We shouldn't get here
return DFS_ERRMISC;
}
/*
Open a file for reading or writing. You supply populated VOLINFO, a path to the file,
mode (DFS_READ or DFS_WRITE) and an empty fileinfo structure. You also need to
provide a pointer to a sector-sized scratch buffer.
Returns various DFS_* error states. If the result is DFS_OK, fileinfo can be used
to access the file from this point on.
*/
uint32_t DFS_OpenFile(PVOLINFO volinfo, uint8_t *path, uint8_t mode, uint8_t *scratch, PFILEINFO fileinfo)
{
uint8_t tmppath[MAX_PATH];
uint8_t filename[12];
uint8_t *p;
DIRINFO di;
DIRENT de;
uint32_t temp;
#ifdef DEBUG_DOSFS
printf("DFS_OpenFile\r\n");
#endif
// larwe 2006-09-16 +1 zero out file structure
memset(fileinfo, 0, sizeof(FILEINFO));
// save access mode
fileinfo->mode = mode;
// Get a local copy of the path. If it's longer than MAX_PATH, abort.
strncpy((char *) tmppath, (char *) path, MAX_PATH);
tmppath[MAX_PATH - 1] = 0;
if (strcmp((char *) path,(char *) tmppath)) {
return DFS_PATHLEN;
}
// strip leading path separators
while (tmppath[0] == DIR_SEPARATOR)
strcpy((char *) tmppath, (char *) tmppath + 1);
// Parse filename off the end of the supplied path
p = tmppath;
while (*(p++));
p--;
while (p > tmppath && *p != DIR_SEPARATOR) // larwe 9/16/06 ">=" to ">" bugfix
p--;
if (*p == DIR_SEPARATOR)
p++;
DFS_CanonicalToDir(filename, p);
if (p > tmppath)
p--;
if (*p == DIR_SEPARATOR || p == tmppath) // larwe 9/16/06 +"|| p == tmppath" bugfix
*p = 0;
// At this point, if our path was MYDIR/MYDIR2/FILE.EXT, filename = "FILE EXT" and
// tmppath = "MYDIR/MYDIR2".
di.scratch = scratch;
if (DFS_OpenDir(volinfo, tmppath, &di))
return DFS_NOTFOUND;
while (!DFS_GetNext(volinfo, &di, &de)) {
if (!memcmp(de.name, filename, 11)) {
// You can't use this function call to open a directory.
if (de.attr & ATTR_DIRECTORY)
return DFS_NOTFOUND;
fileinfo->volinfo = volinfo;
fileinfo->pointer = 0;
// The reason we store this extra info about the file is so that we can
// speedily update the file size, modification date, etc. on a file that is
// opened for writing.
if (di.currentcluster == 0)
fileinfo->dirsector = volinfo->rootdir + di.currentsector;
else
fileinfo->dirsector = volinfo->dataarea + ((di.currentcluster - 2) * volinfo->secperclus) + di.currentsector;
fileinfo->diroffset = di.currententry - 1;
if (volinfo->filesystem == FAT32) {
fileinfo->cluster = (uint32_t) de.startclus_l_l |
((uint32_t) de.startclus_l_h) << 8 |
((uint32_t) de.startclus_h_l) << 16 |
((uint32_t) de.startclus_h_h) << 24;
}
else {
fileinfo->cluster = (uint32_t) de.startclus_l_l |
((uint32_t) de.startclus_l_h) << 8;
}
fileinfo->firstcluster = fileinfo->cluster;
fileinfo->filelen = (uint32_t) de.filesize_0 |
((uint32_t) de.filesize_1) << 8 |
((uint32_t) de.filesize_2) << 16 |
((uint32_t) de.filesize_3) << 24;
return DFS_OK;
}
}
// At this point, we KNOW the file does not exist. If the file was opened
// with write access, we can create it.
if (mode & DFS_WRITE) {
uint32_t cluster;
// Locate or create a directory entry for this file
if (DFS_OK != DFS_GetFreeDirEnt(volinfo, tmppath, &di, &de))
return DFS_ERRMISC;
// put sane values in the directory entry
memset(&de, 0, sizeof(de));
memcpy(de.name, filename, 11);
de.crttime_l = 0x20; // 01:01:00am, Jan 1, 2006.
de.crttime_h = 0x08;
de.crtdate_l = 0x11;
de.crtdate_h = 0x34;
de.lstaccdate_l = 0x11;
de.lstaccdate_h = 0x34;
de.wrttime_l = 0x20;
de.wrttime_h = 0x08;
de.wrtdate_l = 0x11;
de.wrtdate_h = 0x34;
// allocate a starting cluster for the directory entry
cluster = DFS_GetFreeFAT(volinfo, scratch);
de.startclus_l_l = cluster & 0xff;
de.startclus_l_h = (cluster & 0xff00) >> 8;
de.startclus_h_l = (cluster & 0xff0000) >> 16;
de.startclus_h_h = (cluster & 0xff000000) >> 24;
// update FILEINFO for our caller's sake
fileinfo->volinfo = volinfo;
fileinfo->pointer = 0;
// The reason we store this extra info about the file is so that we can
// speedily update the file size, modification date, etc. on a file that is
// opened for writing.
if (di.currentcluster == 0)
fileinfo->dirsector = volinfo->rootdir + di.currentsector;
else
fileinfo->dirsector = volinfo->dataarea + ((di.currentcluster - 2) * volinfo->secperclus) + di.currentsector;
fileinfo->diroffset = di.currententry - 1;
fileinfo->cluster = cluster;
fileinfo->firstcluster = cluster;
fileinfo->filelen = 0;
// write the directory entry
// note that we no longer have the sector containing the directory entry,
// tragically, so we have to re-read it
if (DFS_ReadSector(volinfo->unit, scratch, fileinfo->dirsector, 1))
return DFS_ERRMISC;
memcpy(&(((PDIRENT) scratch)[di.currententry-1]), &de, sizeof(DIRENT));
if (DFS_WriteSector(volinfo->unit, scratch, fileinfo->dirsector, 1))
return DFS_ERRMISC;
// Mark newly allocated cluster as end of chain
switch(volinfo->filesystem) {
case FAT12: cluster = 0xff8; break;
case FAT16: cluster = 0xfff8; break;
case FAT32: cluster = 0x0ffffff8; break;
default: return DFS_ERRMISC;
}
temp = 0;
DFS_SetFAT(volinfo, scratch, &temp, fileinfo->cluster, cluster);
return DFS_OK;
}
return DFS_NOTFOUND;
}
/*
Read an open file
You must supply a prepopulated FILEINFO as provided by DFS_OpenFile, and a
pointer to a SECTOR_SIZE scratch buffer.
Note that returning DFS_EOF is not an error condition. This function updates the
successcount field with the number of bytes actually read.
*/
uint32_t DFS_ReadFile(PFILEINFO fileinfo, uint8_t *scratch, uint8_t *buffer, uint32_t *successcount, uint32_t len)
{
uint32_t remain=0;
uint32_t result = DFS_OK;
uint32_t sector=0;
uint32_t bytesread=0;
#ifdef DEBUG_DOSFS
printf("DFS_ReadFile\r\n");
#endif
// Don't try to read past EOF
if (len > fileinfo->filelen - fileinfo->pointer)
len = fileinfo->filelen - fileinfo->pointer;
remain = len;
*successcount = 0;
while (remain && result == DFS_OK) {
// This is a bit complicated. The sector we want to read is addressed at a cluster
// granularity by the fileinfo->cluster member. The file pointer tells us how many
// extra sectors to add to that number.
sector = fileinfo->volinfo->dataarea +
((fileinfo->cluster - 2) * fileinfo->volinfo->secperclus) +
div(div(fileinfo->pointer,fileinfo->volinfo->secperclus * SECTOR_SIZE).rem, SECTOR_SIZE).quot;
// Case 1 - File pointer is not on a sector boundary
if (div(fileinfo->pointer, SECTOR_SIZE).rem) {
uint16_t tempreadsize;
// We always have to go through scratch in this case
result = DFS_ReadSector(fileinfo->volinfo->unit, scratch, sector, 1);
// This is the number of bytes that we actually care about in the sector
// just read.
tempreadsize = SECTOR_SIZE - (div(fileinfo->pointer, SECTOR_SIZE).rem);
// Case 1A - We want the entire remainder of the sector. After this
// point, all passes through the read loop will be aligned on a sector
// boundary, which allows us to go through the optimal path 2A below.
if (remain >= tempreadsize) {
memcpy(buffer, scratch + (SECTOR_SIZE - tempreadsize), tempreadsize);
bytesread = tempreadsize;
buffer += tempreadsize;
fileinfo->pointer += tempreadsize;
remain -= tempreadsize;
}
// Case 1B - This read concludes the file read operation
else {
memcpy(buffer, scratch + (SECTOR_SIZE - tempreadsize), remain);
buffer += remain;
fileinfo->pointer += remain;
bytesread = remain;
remain = 0;
}
}
// Case 2 - File pointer is on sector boundary
else {
// Case 2A - We have at least one more full sector to read and don't have
// to go through the scratch buffer. You could insert optimizations here to
// read multiple sectors at a time, if you were thus inclined (note that
// the maximum multi-read you could perform is a single cluster, so it would
// be advantageous to have code similar to case 1A above that would round the
// pointer to a cluster boundary the first pass through, so all subsequent
// [large] read requests would be able to go a cluster at a time).
if (remain >= SECTOR_SIZE) {
result = DFS_ReadSector(fileinfo->volinfo->unit, buffer, sector, 1);
remain -= SECTOR_SIZE;
buffer += SECTOR_SIZE;
fileinfo->pointer += SECTOR_SIZE;
bytesread = SECTOR_SIZE;
}
// Case 2B - We are only reading a partial sector
else {
result = DFS_ReadSector(fileinfo->volinfo->unit, scratch, sector, 1);
memcpy(buffer, scratch, remain);
buffer += remain;
fileinfo->pointer += remain;
bytesread = remain;
remain = 0;
}
}
*successcount += bytesread;
// check to see if we stepped over a cluster boundary
if (div(fileinfo->pointer - bytesread, fileinfo->volinfo->secperclus * SECTOR_SIZE).quot !=
div(fileinfo->pointer, fileinfo->volinfo->secperclus * SECTOR_SIZE).quot) {
// An act of minor evil - we use bytesread as a scratch integer, knowing that
// its value is not used after updating *successcount above
bytesread = 0;
if (((fileinfo->volinfo->filesystem == FAT12) && (fileinfo->cluster >= 0xff8)) ||
((fileinfo->volinfo->filesystem == FAT16) && (fileinfo->cluster >= 0xfff8)) ||
((fileinfo->volinfo->filesystem == FAT32) && (fileinfo->cluster >= 0x0ffffff8)))
result = DFS_EOF;
else
fileinfo->cluster = DFS_GetFAT(fileinfo->volinfo, scratch, &bytesread, fileinfo->cluster);
}
}
return result;
}
/*
Seek file pointer to a given position
This function does not return status - refer to the fileinfo->pointer value
to see where the pointer wound up.
Requires a SECTOR_SIZE scratch buffer
*/
void DFS_Seek(PFILEINFO fileinfo, uint32_t offset, uint8_t *scratch)
{
uint32_t tempint;
uint16_t endcluster=0; //canny/reza 5/7 fixed
#ifdef DEBUG_DOSFS
printf("DFS_Seek\r\n");
#endif
// larwe 9/16/06 bugfix split case 0a/0b and changed fallthrough handling
// Case 0a - Return immediately for degenerate case
if (offset == fileinfo->pointer) {
return;
}
// Case 0b - Don't allow the user to seek past the end of the file
if (offset > fileinfo->filelen) {
offset = fileinfo->filelen;
// NOTE NO RETURN HERE!
}
// Case 1 - Simple rewind to start
// Note _intentional_ fallthrough from Case 0b above
if (offset == 0) {
fileinfo->cluster = fileinfo->firstcluster;
fileinfo->pointer = 0;
return; // larwe 9/16/06 +1 bugfix
}
// Case 2 - Seeking backwards. Need to reset and seek forwards
else if (offset < fileinfo->pointer) {
fileinfo->cluster = fileinfo->firstcluster;
fileinfo->pointer = 0;
// NOTE NO RETURN HERE!
}
// Case 3 - Seeking forwards
// Note _intentional_ fallthrough from Case 2 above
// Case 3a - Seek size does not cross cluster boundary -
// very simple case
// larwe 9/16/06 changed .rem to .quot in both div calls, bugfix
if (div(fileinfo->pointer, fileinfo->volinfo->secperclus * SECTOR_SIZE).quot ==
div(fileinfo->pointer + offset, fileinfo->volinfo->secperclus * SECTOR_SIZE).quot) {
fileinfo->pointer = offset;
}
// Case 3b - Seeking across cluster boundary(ies)
else {
// round file pointer down to cluster boundary
fileinfo->pointer = div(fileinfo->pointer, fileinfo->volinfo->secperclus * SECTOR_SIZE).quot *
fileinfo->volinfo->secperclus * SECTOR_SIZE;
// seek by clusters
// larwe 9/30/06 bugfix changed .rem to .quot in both div calls
// canny/reza 5/7 added endcluster related code
// TK 2008-12-18: fixed endcluster calculation
// old: endcluster = div(fileinfo->pointer + offset, fileinfo->volinfo->secperclus * SECTOR_SIZE).quot;
endcluster = div(offset, fileinfo->volinfo->secperclus * SECTOR_SIZE).quot;
while (div(fileinfo->pointer, fileinfo->volinfo->secperclus * SECTOR_SIZE).quot !=endcluster) {
fileinfo->cluster = DFS_GetFAT(fileinfo->volinfo, scratch, &tempint, fileinfo->cluster);
// Abort if there was an error
if (fileinfo->cluster == 0x0ffffff7) {
fileinfo->pointer = 0;
fileinfo->cluster = fileinfo->firstcluster;
return;
}
fileinfo->pointer += SECTOR_SIZE * fileinfo->volinfo->secperclus;
}
// since we know the cluster is right, we have no more work to do
fileinfo->pointer = offset;
}
}
/*
Delete a file
scratch must point to a sector-sized buffer
*/
uint32_t DFS_UnlinkFile(PVOLINFO volinfo, uint8_t *path, uint8_t *scratch)
{
// PDIRENT de = (PDIRENT) scratch;
FILEINFO fi;
uint32_t cache = 0;
uint32_t tempclus = 0;
#ifdef DEBUG_DOSFS
printf("DFS_UnlinkFile\r\n");
#endif
// DFS_OpenFile gives us all the information we need to delete it
if (DFS_OK != DFS_OpenFile(volinfo, path, DFS_READ, scratch, &fi))
return DFS_NOTFOUND;
// First, read the directory sector and delete that entry
if (DFS_ReadSector(volinfo->unit, scratch, fi.dirsector, 1))
return DFS_ERRMISC;
((PDIRENT) scratch)[fi.diroffset].name[0] = 0xe5;
if (DFS_WriteSector(volinfo->unit, scratch, fi.dirsector, 1))
return DFS_ERRMISC;
// Now follow the cluster chain to free the file space
while (!((volinfo->filesystem == FAT12 && fi.firstcluster >= 0x0ff7) ||
(volinfo->filesystem == FAT16 && fi.firstcluster >= 0xfff7) ||
(volinfo->filesystem == FAT32 && fi.firstcluster >= 0x0ffffff7))) {
tempclus = fi.firstcluster;
fi.firstcluster = DFS_GetFAT(volinfo, scratch, &cache, fi.firstcluster);
DFS_SetFAT(volinfo, scratch, &cache, tempclus, 0);
}
return DFS_OK;
}
/*
Write an open file
You must supply a prepopulated FILEINFO as provided by DFS_OpenFile, and a
pointer to a SECTOR_SIZE scratch buffer.
This function updates the successcount field with the number of bytes actually written.
*/
uint32_t DFS_WriteFile(PFILEINFO fileinfo, uint8_t *scratch, uint8_t *buffer, uint32_t *successcount, uint32_t len)
{
uint32_t remain=0;
uint32_t result = DFS_OK;
uint32_t sector=0;
uint32_t byteswritten=0;
#ifdef DEBUG_DOSFS
printf("DFS_WriteFile\r\n");
#endif
// Don't allow writes to a file that's open as readonly
if (!(fileinfo->mode & DFS_WRITE))
return DFS_ERRMISC;
remain = len;
*successcount = 0;
while (remain && result == DFS_OK) {
// This is a bit complicated. The sector we want to read is addressed at a cluster
// granularity by the fileinfo->cluster member. The file pointer tells us how many
// extra sectors to add to that number.
sector = fileinfo->volinfo->dataarea +
((fileinfo->cluster - 2) * fileinfo->volinfo->secperclus) +
div(div(fileinfo->pointer,fileinfo->volinfo->secperclus * SECTOR_SIZE).rem, SECTOR_SIZE).quot;
// Case 1 - File pointer is not on a sector boundary
if (div(fileinfo->pointer, SECTOR_SIZE).rem) {
uint16_t tempsize;
// We always have to go through scratch in this case
result = DFS_ReadSector(fileinfo->volinfo->unit, scratch, sector, 1);
// This is the number of bytes that we don't want to molest in the
// scratch sector just read.
tempsize = div(fileinfo->pointer, SECTOR_SIZE).rem;
// Case 1A - We are writing the entire remainder of the sector. After
// this point, all passes through the read loop will be aligned on a
// sector boundary, which allows us to go through the optimal path
// 2A below.
if (remain >= SECTOR_SIZE - tempsize) {
memcpy(scratch + tempsize, buffer, SECTOR_SIZE - tempsize);
if (!result)
result = DFS_WriteSector(fileinfo->volinfo->unit, scratch, sector, 1);
byteswritten = SECTOR_SIZE - tempsize;
buffer += SECTOR_SIZE - tempsize;
fileinfo->pointer += SECTOR_SIZE - tempsize;
if (fileinfo->filelen < fileinfo->pointer) {
fileinfo->filelen = fileinfo->pointer;
}
remain -= SECTOR_SIZE - tempsize;
}
// Case 1B - This concludes the file write operation
else {
memcpy(scratch + tempsize, buffer, remain);
if (!result)
result = DFS_WriteSector(fileinfo->volinfo->unit, scratch, sector, 1);
buffer += remain;
fileinfo->pointer += remain;
if (fileinfo->filelen < fileinfo->pointer) {
fileinfo->filelen = fileinfo->pointer;
}
byteswritten = remain;
remain = 0;
}
} // case 1
// Case 2 - File pointer is on sector boundary
else {
// Case 2A - We have at least one more full sector to write and don't have
// to go through the scratch buffer. You could insert optimizations here to
// write multiple sectors at a time, if you were thus inclined. Refer to
// similar notes in DFS_ReadFile.
if (remain >= SECTOR_SIZE) {
result = DFS_WriteSector(fileinfo->volinfo->unit, buffer, sector, 1);
remain -= SECTOR_SIZE;
buffer += SECTOR_SIZE;
fileinfo->pointer += SECTOR_SIZE;
if (fileinfo->filelen < fileinfo->pointer) {
fileinfo->filelen = fileinfo->pointer;
}
byteswritten = SECTOR_SIZE;
}
// Case 2B - We are only writing a partial sector and potentially need to
// go through the scratch buffer.
else {
// If the current file pointer is not yet at or beyond the file
// length, we are writing somewhere in the middle of the file and
// need to load the original sector to do a read-modify-write.
if (fileinfo->pointer < fileinfo->filelen) {
result = DFS_ReadSector(fileinfo->volinfo->unit, scratch, sector, 1);
if (!result) {
memcpy(scratch, buffer, remain);
result = DFS_WriteSector(fileinfo->volinfo->unit, scratch, sector, 1);
}
}
else {
result = DFS_WriteSector(fileinfo->volinfo->unit, buffer, sector, 1);
}
buffer += remain;
fileinfo->pointer += remain;
if (fileinfo->filelen < fileinfo->pointer) {
fileinfo->filelen = fileinfo->pointer;
}
byteswritten = remain;
remain = 0;
}
}
*successcount += byteswritten;
// check to see if we stepped over a cluster boundary
if (div(fileinfo->pointer - byteswritten, fileinfo->volinfo->secperclus * SECTOR_SIZE).quot !=
div(fileinfo->pointer, fileinfo->volinfo->secperclus * SECTOR_SIZE).quot) {
uint32_t lastcluster;
// We've transgressed into another cluster. If we were already at EOF,
// we need to allocate a new cluster.
// An act of minor evil - we use byteswritten as a scratch integer, knowing
// that its value is not used after updating *successcount above
byteswritten = 0;
lastcluster = fileinfo->cluster;
fileinfo->cluster = DFS_GetFAT(fileinfo->volinfo, scratch, &byteswritten, fileinfo->cluster);
// Allocate a new cluster?
if (((fileinfo->volinfo->filesystem == FAT12) && (fileinfo->cluster >= 0xff8)) ||
((fileinfo->volinfo->filesystem == FAT16) && (fileinfo->cluster >= 0xfff8)) ||
((fileinfo->volinfo->filesystem == FAT32) && (fileinfo->cluster >= 0x0ffffff8))) {
uint32_t tempclus;
tempclus = DFS_GetFreeFAT(fileinfo->volinfo, scratch);
byteswritten = 0; // invalidate cache
if (tempclus == 0x0ffffff7)
return DFS_ERRMISC;
// Link new cluster onto file
DFS_SetFAT(fileinfo->volinfo, scratch, &byteswritten, lastcluster, tempclus);
fileinfo->cluster = tempclus;
// Mark newly allocated cluster as end of chain
switch(fileinfo->volinfo->filesystem) {
case FAT12: tempclus = 0xff8; break;
case FAT16: tempclus = 0xfff8; break;
case FAT32: tempclus = 0x0ffffff8; break;
default: return DFS_ERRMISC;
}
DFS_SetFAT(fileinfo->volinfo, scratch, &byteswritten, fileinfo->cluster, tempclus);
result = DFS_OK;
}
// No else clause is required.
}
}
// Update directory entry
if (DFS_ReadSector(fileinfo->volinfo->unit, scratch, fileinfo->dirsector, 1))
return DFS_ERRMISC;
((PDIRENT) scratch)[fileinfo->diroffset].filesize_0 = fileinfo->filelen & 0xff;
((PDIRENT) scratch)[fileinfo->diroffset].filesize_1 = (fileinfo->filelen & 0xff00) >> 8;
((PDIRENT) scratch)[fileinfo->diroffset].filesize_2 = (fileinfo->filelen & 0xff0000) >> 16;
((PDIRENT) scratch)[fileinfo->diroffset].filesize_3 = (fileinfo->filelen & 0xff000000) >> 24;
if (DFS_WriteSector(fileinfo->volinfo->unit, scratch, fileinfo->dirsector, 1))
return DFS_ERRMISC;
return result;
}
/*
// TK: added 2009-02-12
Close a file
No original function of DosFS driver
It has no effect if writing to SD Card, it's only used by the DosFS wrapper in emulation
*/
uint32_t DFS_Close(PFILEINFO fileinfo)
{
return DFS_OK;
}

405
flight/PiOS/STM32F10x/Libraries/dosfs/dosfs.h
View File

@ -1,405 +0,0 @@
/*
DOSFS Embedded FAT-Compatible Filesystem
(C) 2005 Lewin A.R.W. Edwards (sysadm@zws.com)
*/
#ifndef _DOSFS_H
#define _DOSFS_H
#include <stdint.h>
//===================================================================
// User-supplied functions
uint32_t DFS_ReadSector(uint8_t unit, uint8_t *buffer, uint32_t sector, uint32_t count);
uint32_t DFS_WriteSector(uint8_t unit, uint8_t *buffer, uint32_t sector, uint32_t count);
//===================================================================
// Configurable items
#define MAX_PATH 64 // Maximum path length (increasing this will
// GREATLY increase stack requirements!)
#define DIR_SEPARATOR '/' // character separating directory components
// End of configurable items
//===================================================================
//===================================================================
// 32-bit error codes
#define DFS_OK 0 // no error
#define DFS_EOF 1 // end of file (not an error)
#define DFS_WRITEPROT 2 // volume is write protected
#define DFS_NOTFOUND 3 // path or file not found
#define DFS_PATHLEN 4 // path too long
#define DFS_ALLOCNEW 5 // must allocate new directory cluster
#define DFS_ERRMISC 0xffffffff // generic error
//===================================================================
// File access modes
#define DFS_READ 1 // read-only
#define DFS_WRITE 2 // write-only
//===================================================================
// Miscellaneous constants
#define SECTOR_SIZE 512 // sector size in bytes
//===================================================================
// Internal subformat identifiers
#define FAT12 0
#define FAT16 1
#define FAT32 2
//===================================================================
// DOS attribute bits
#define ATTR_READ_ONLY 0x01
#define ATTR_HIDDEN 0x02
#define ATTR_SYSTEM 0x04
#define ATTR_VOLUME_ID 0x08
#define ATTR_DIRECTORY 0x10
#define ATTR_ARCHIVE 0x20
#define ATTR_LONG_NAME (ATTR_READ_ONLY | ATTR_HIDDEN | ATTR_SYSTEM | ATTR_VOLUME_ID)
/*
Directory entry structure
note: if name[0] == 0xe5, this is a free dir entry
if name[0] == 0x00, this is a free entry and all subsequent entries are free
if name[0] == 0x05, the first character of the name is 0xe5 [a kanji nicety]
Date format: bit 0-4 = day of month (1-31)
bit 5-8 = month, 1=Jan..12=Dec
bit 9-15 = count of years since 1980 (0-127)
Time format: bit 0-4 = 2-second count, (0-29)
bit 5-10 = minutes (0-59)
bit 11-15= hours (0-23)
*/
typedef struct _tagDIRENT {
uint8_t name[11]; // filename
uint8_t attr; // attributes (see ATTR_* constant definitions)
uint8_t reserved; // reserved, must be 0
uint8_t crttimetenth; // create time, 10ths of a second (0-199 are valid)
uint8_t crttime_l; // creation time low byte
uint8_t crttime_h; // creation time high byte
uint8_t crtdate_l; // creation date low byte
uint8_t crtdate_h; // creation date high byte
uint8_t lstaccdate_l; // last access date low byte
uint8_t lstaccdate_h; // last access date high byte
uint8_t startclus_h_l; // high word of first cluster, low byte (FAT32)
uint8_t startclus_h_h; // high word of first cluster, high byte (FAT32)
uint8_t wrttime_l; // last write time low byte
uint8_t wrttime_h; // last write time high byte
uint8_t wrtdate_l; // last write date low byte
uint8_t wrtdate_h; // last write date high byte
uint8_t startclus_l_l; // low word of first cluster, low byte
uint8_t startclus_l_h; // low word of first cluster, high byte
uint8_t filesize_0; // file size, low byte
uint8_t filesize_1; //
uint8_t filesize_2; //
uint8_t filesize_3; // file size, high byte
} DIRENT, *PDIRENT;
/*
Partition table entry structure
*/
typedef struct _tagPTINFO {
uint8_t active; // 0x80 if partition active
uint8_t start_h; // starting head
uint8_t start_cs_l; // starting cylinder and sector (low byte)
uint8_t start_cs_h; // starting cylinder and sector (high byte)
uint8_t type; // type ID byte
uint8_t end_h; // ending head
uint8_t end_cs_l; // ending cylinder and sector (low byte)
uint8_t end_cs_h; // ending cylinder and sector (high byte)
uint8_t start_0; // starting sector# (low byte)
uint8_t start_1; //
uint8_t start_2; //
uint8_t start_3; // starting sector# (high byte)
uint8_t size_0; // size of partition (low byte)
uint8_t size_1; //
uint8_t size_2; //
uint8_t size_3; // size of partition (high byte)
} PTINFO, *PPTINFO;
/*
Master Boot Record structure
*/
typedef struct _tagMBR {
uint8_t bootcode[0x1be]; // boot sector
PTINFO ptable[4]; // four partition table structures
uint8_t sig_55; // 0x55 signature byte
uint8_t sig_aa; // 0xaa signature byte
} MBR, *PMBR;
/*
BIOS Parameter Block structure (FAT12/16)
*/
typedef struct _tagBPB {
uint8_t bytepersec_l; // bytes per sector low byte (0x00)
uint8_t bytepersec_h; // bytes per sector high byte (0x02)
uint8_t secperclus; // sectors per cluster (1,2,4,8,16,32,64,128 are valid)
uint8_t reserved_l; // reserved sectors low byte
uint8_t reserved_h; // reserved sectors high byte
uint8_t numfats; // number of FAT copies (2)
uint8_t rootentries_l; // number of root dir entries low byte (0x00 normally)
uint8_t rootentries_h; // number of root dir entries high byte (0x02 normally)
uint8_t sectors_s_l; // small num sectors low byte
uint8_t sectors_s_h; // small num sectors high byte
uint8_t mediatype; // media descriptor byte
uint8_t secperfat_l; // sectors per FAT low byte
uint8_t secperfat_h; // sectors per FAT high byte
uint8_t secpertrk_l; // sectors per track low byte
uint8_t secpertrk_h; // sectors per track high byte
uint8_t heads_l; // heads low byte
uint8_t heads_h; // heads high byte
uint8_t hidden_0; // hidden sectors low byte
uint8_t hidden_1; // (note - this is the number of MEDIA sectors before
uint8_t hidden_2; // first sector of VOLUME - we rely on the MBR instead)
uint8_t hidden_3; // hidden sectors high byte
uint8_t sectors_l_0; // large num sectors low byte
uint8_t sectors_l_1; //
uint8_t sectors_l_2; //
uint8_t sectors_l_3; // large num sectors high byte
} BPB, *PBPB;
/*
Extended BIOS Parameter Block structure (FAT12/16)
*/
typedef struct _tagEBPB {
uint8_t unit; // int 13h drive#
uint8_t head; // archaic, used by Windows NT-class OSes for flags
uint8_t signature; // 0x28 or 0x29
uint8_t serial_0; // serial#
uint8_t serial_1; // serial#
uint8_t serial_2; // serial#
uint8_t serial_3; // serial#
uint8_t label[11]; // volume label
uint8_t system[8]; // filesystem ID
} EBPB, *PEBPB;
/*
Extended BIOS Parameter Block structure (FAT32)
*/
typedef struct _tagEBPB32 {
uint8_t fatsize_0; // big FAT size in sectors low byte
uint8_t fatsize_1; //
uint8_t fatsize_2; //
uint8_t fatsize_3; // big FAT size in sectors high byte
uint8_t extflags_l; // extended flags low byte
uint8_t extflags_h; // extended flags high byte
uint8_t fsver_l; // filesystem version (0x00) low byte
uint8_t fsver_h; // filesystem version (0x00) high byte
uint8_t root_0; // cluster of root dir, low byte
uint8_t root_1; //
uint8_t root_2; //
uint8_t root_3; // cluster of root dir, high byte
uint8_t fsinfo_l; // sector pointer to FSINFO within reserved area, low byte (2)
uint8_t fsinfo_h; // sector pointer to FSINFO within reserved area, high byte (0)
uint8_t bkboot_l; // sector pointer to backup boot sector within reserved area, low byte (6)
uint8_t bkboot_h; // sector pointer to backup boot sector within reserved area, high byte (0)
uint8_t reserved[12]; // reserved, should be 0
uint8_t unit; // int 13h drive#
uint8_t head; // archaic, used by Windows NT-class OSes for flags
uint8_t signature; // 0x28 or 0x29
uint8_t serial_0; // serial#
uint8_t serial_1; // serial#
uint8_t serial_2; // serial#
uint8_t serial_3; // serial#
uint8_t label[11]; // volume label
uint8_t system[8]; // filesystem ID
} EBPB32, *PEBPB32;
/*
Logical Boot Record structure (volume boot sector)
*/
typedef struct _tagLBR {
uint8_t jump[3]; // JMP instruction
uint8_t oemid[8]; // OEM ID, space-padded
BPB bpb; // BIOS Parameter Block
union {
EBPB ebpb; // FAT12/16 Extended BIOS Parameter Block
EBPB32 ebpb32; // FAT32 Extended BIOS Parameter Block
} ebpb;
uint8_t code[420]; // boot sector code
uint8_t sig_55; // 0x55 signature byte
uint8_t sig_aa; // 0xaa signature byte
} LBR, *PLBR;
/*
Volume information structure (Internal to DOSFS)
*/
typedef struct _tagVOLINFO {
uint8_t unit; // unit on which this volume resides
uint8_t filesystem; // formatted filesystem
// These two fields aren't very useful, so support for them has been commented out to
// save memory. (Note that the "system" tag is not actually used by DOS to determine
// filesystem type - that decision is made entirely on the basis of how many clusters
// the drive contains. DOSFS works the same way).
// See tag: OEMID in dosfs.c
// uint8_t oemid[9]; // OEM ID ASCIIZ
// uint8_t system[9]; // system ID ASCIIZ
uint8_t label[12]; // volume label ASCIIZ
uint32_t startsector; // starting sector of filesystem
uint8_t secperclus; // sectors per cluster
uint16_t reservedsecs; // reserved sectors
uint32_t numsecs; // number of sectors in volume
uint32_t secperfat; // sectors per FAT
uint16_t rootentries; // number of root dir entries
uint32_t numclusters; // number of clusters on drive
// The fields below are PHYSICAL SECTOR NUMBERS.
uint32_t fat1; // starting sector# of FAT copy 1
uint32_t rootdir; // starting sector# of root directory (FAT12/FAT16) or cluster (FAT32)
uint32_t dataarea; // starting sector# of data area (cluster #2)
} VOLINFO, *PVOLINFO;
/*
Flags in DIRINFO.flags
*/
#define DFS_DI_BLANKENT 0x01 // Searching for blank entry
/*
Directory search structure (Internal to DOSFS)
*/
typedef struct _tagDIRINFO {
uint32_t currentcluster; // current cluster in dir
uint8_t currentsector; // current sector in cluster
uint8_t currententry; // current dir entry in sector
uint8_t *scratch; // ptr to user-supplied scratch buffer (one sector)
uint8_t flags; // internal DOSFS flags
} DIRINFO, *PDIRINFO;
/*
File handle structure (Internal to DOSFS)
*/
typedef struct _tagFILEINFO {
PVOLINFO volinfo; // VOLINFO used to open this file
uint32_t dirsector; // physical sector containing dir entry of this file
uint8_t diroffset; // # of this entry within the dir sector
uint8_t mode; // mode in which this file was opened
uint32_t firstcluster; // first cluster of file
uint32_t filelen; // byte length of file
uint32_t cluster; // current cluster
uint32_t pointer; // current (BYTE) pointer
} FILEINFO, *PFILEINFO;
/*
Get starting sector# of specified partition on drive #unit
NOTE: This code ASSUMES an MBR on the disk.
scratchsector should point to a SECTOR_SIZE scratch area
Returns 0xffffffff for any error.
If pactive is non-NULL, this function also returns the partition active flag.
If pptype is non-NULL, this function also returns the partition type.
If psize is non-NULL, this function also returns the partition size.
*/
uint32_t DFS_GetPtnStart(uint8_t unit, uint8_t *scratchsector, uint8_t pnum, uint8_t *pactive, uint8_t *pptype, uint32_t *psize);
/*
Retrieve volume info from BPB and store it in a VOLINFO structure
You must provide the unit and starting sector of the filesystem, and
a pointer to a sector buffer for scratch
Attempts to read BPB and glean information about the FS from that.
Returns 0 OK, nonzero for any error.
*/
uint32_t DFS_GetVolInfo(uint8_t unit, uint8_t *scratchsector, uint32_t startsector, PVOLINFO volinfo);
/*
Open a directory for enumeration by DFS_GetNextDirEnt
You must supply a populated VOLINFO (see DFS_GetVolInfo)
The empty string or a string containing only the directory separator are
considered to be the root directory.
Returns 0 OK, nonzero for any error.
*/
uint32_t DFS_OpenDir(PVOLINFO volinfo, uint8_t *dirname, PDIRINFO dirinfo);
/*
Get next entry in opened directory structure. Copies fields into the dirent
structure, updates dirinfo. Note that it is the _caller's_ responsibility to
handle the '.' and '..' entries.
A deleted file will be returned as a NULL entry (first char of filename=0)
by this code. Filenames beginning with 0x05 will be translated to 0xE5
automatically. Long file name entries will be returned as NULL.
returns DFS_EOF if there are no more entries, DFS_OK if this entry is valid,
or DFS_ERRMISC for a media error
*/
uint32_t DFS_GetNext(PVOLINFO volinfo, PDIRINFO dirinfo, PDIRENT dirent);
/*
Open a file for reading or writing. You supply populated VOLINFO, a path to the file,
mode (DFS_READ or DFS_WRITE) and an empty fileinfo structure. You also need to
provide a pointer to a sector-sized scratch buffer.
Returns various DFS_* error states. If the result is DFS_OK, fileinfo can be used
to access the file from this point on.
*/
uint32_t DFS_OpenFile(PVOLINFO volinfo, uint8_t *path, uint8_t mode, uint8_t *scratch, PFILEINFO fileinfo);
/*
Read an open file
You must supply a prepopulated FILEINFO as provided by DFS_OpenFile, and a
pointer to a SECTOR_SIZE scratch buffer.
Note that returning DFS_EOF is not an error condition. This function updates the
successcount field with the number of bytes actually read.
*/
uint32_t DFS_ReadFile(PFILEINFO fileinfo, uint8_t *scratch, uint8_t *buffer, uint32_t *successcount, uint32_t len);
/*
Write an open file
You must supply a prepopulated FILEINFO as provided by DFS_OpenFile, and a
pointer to a SECTOR_SIZE scratch buffer.
This function updates the successcount field with the number of bytes actually written.
*/
uint32_t DFS_WriteFile(PFILEINFO fileinfo, uint8_t *scratch, uint8_t *buffer, uint32_t *successcount, uint32_t len);
/*
Seek file pointer to a given position
This function does not return status - refer to the fileinfo->pointer value
to see where the pointer wound up.
Requires a SECTOR_SIZE scratch buffer
*/
void DFS_Seek(PFILEINFO fileinfo, uint32_t offset, uint8_t *scratch);
/*
Delete a file
scratch must point to a sector-sized buffer
*/
uint32_t DFS_UnlinkFile(PVOLINFO volinfo, uint8_t *path, uint8_t *scratch);
/*
Fetch FAT entry for specified cluster number
You must provide a scratch buffer for one sector (SECTOR_SIZE) and a populated VOLINFO
Returns a FAT32 BAD_CLUSTER value for any error, otherwise the contents of the desired
FAT entry.
scratchcache should point to a UINT32. This variable caches the physical sector number
last read into the scratch buffer for performance enhancement reasons.
*/
uint32_t DFS_GetFAT(PVOLINFO volinfo, uint8_t *scratch, uint32_t *scratchcache, uint32_t cluster);
/*
// TK: added 2009-02-12
Close a file
No original function of DosFS driver
It has no effect if writing to SD Card, it's only used by the DosFS wrapper in emulation
*/
uint32_t DFS_Close(PFILEINFO fileinfo);
// TK: added 2008-18-12
// for caching - this feature has to be explicitely enabled, as it isn't reentrant
// and requires to use the same buffer pointer whenever reading a file
void DFS_CachingEnabledSet(uint8_t enable);
// TK: added 2008-18-12
// missing pendant to DFS_CanonicalToDir
char *DFS_DirToCanonical(char *dest, char *src);
// If we are building a host-emulation version, include host support
#ifdef HOSTVER
#include "hostemu.h"
#endif
#endif // _DOSFS_H

50
flight/PiOS/STM32F10x/library.mk
View File

@ -2,12 +2,50 @@
# Rules to (help) build the F10x device support.
#
#
# Compiler options implied by the F1xx
#
CDEFS += -DARM_MATH_CM3
# Directory containing this makefile
PIOS_DEVLIB := $(dir $(lastword $(MAKEFILE_LIST)))
# Linker scripts path (contains board-specific scripts)
LINKER_SCRIPTS_PATH = $(PIOS_DEVLIB)
# Compiler options implied by the F10x
CDEFS += -DSTM32F10X -DSTM32F10X_$(MODEL)
CDEFS += -DUSE_STDPERIPH_DRIVER
CDEFS += -DARM_MATH_CM3
ARCHFLAGS += -mcpu=cortex-m3
# Board-specific startup files
ASRC += $(PIOS_DEVLIB)startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# PIOS device library source and includes
SRC += $(wildcard $(PIOS_DEVLIB)*.c)
# CMSIS for the F1
include $(PIOS)/Common/Libraries/CMSIS2/library.mk
CMSIS_DIR = $(PIOS_DEVLIB)Libraries/CMSIS/Core/CM3
SRC += $(CMSIS_DIR)/core_cm3.c
SRC += $(CMSIS_DIR)/system_stm32f10x.c
EXTRAINCDIRS += $(CMSIS_DIR)
# ST Peripheral library
PERIPHLIB = $(PIOS_DEVLIB)Libraries/STM32F10x_StdPeriph_Driver
SRC += $(wildcard $(PERIPHLIB)/src/*.c)
EXTRAINCDIRS += $(PERIPHLIB)/inc
# ST USB Device library
USBDEVLIB = $(PIOS_DEVLIB)Libraries/STM32_USB-FS-Device_Driver
SRC += $(wildcard $(USBDEVLIB)/src/*.c)
EXTRAINCDIRS += $(USBDEVLIB)/inc
#
# CMSIS for the F1
# FreeRTOS
#
include $(PIOSCOMMONLIB)/CMSIS2/library.mk
# If the application has included the generic FreeRTOS support, then add in
# the device-specific pieces of the code.
#
ifneq ($(FREERTOS_DIR),)
FREERTOS_PORTDIR := $(PIOS_DEVLIB)Libraries/FreeRTOS/Source
SRC += $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM3/*.c)
SRC += $(wildcard $(FREERTOS_PORTDIR)/portable/MemMang/heap_1.c)
EXTRAINCDIRS += $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM3
endif

56
flight/PiOS/STM32F10x/link_STM32103CB_AHRS_BL_sections.ld
View File

@ -1,56 +0,0 @@
_estack = 0x20004FF0;
/* Section Definitions */
SECTIONS
{
.text :
{
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector .isr_vector.*))
*(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7)
*(.rodata .rodata* .gnu.linkonce.r.*)
} > BL_FLASH
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)
} > BL_FLASH
.ARM.exidx :
{
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
} > BL_FLASH
. = ALIGN(4);
_etext = .;
_sidata = .;
.data : AT (_etext)
{
_sdata = .;
*(.data .data.*)
. = ALIGN(4);
_edata = . ;
} > SRAM
/* .bss section which is used for uninitialized data */
.bss (NOLOAD) :
{
_sbss = . ;
*(.bss .bss.*)
*(COMMON)
. = ALIGN(4);
_ebss = . ;
} > SRAM
. = ALIGN(4);
_end = . ;
.boardinfo :
{
. = ALIGN(4);
KEEP(*(.boardinfo))
. = ALIGN(4);
} > BD_INFO
}

7
flight/PiOS/STM32F10x/link_STM32103CB_AHRS_memory.ld
View File

@ -1,7 +0,0 @@
MEMORY
{
BL_FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 0x02000 - 0x00080
BD_INFO (r) : ORIGIN = 0x08002000 - 0x80, LENGTH = 0x00080
FLASH (rx) : ORIGIN = 0x08002000, LENGTH = 0x20000 - 0x02000
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x05000
}

51
flight/PiOS/STM32F10x/link_STM32103CB_AHRS_sections.ld
View File

@ -1,51 +0,0 @@
PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
_estack = 0x20004FF0;
/* Section Definitions */
SECTIONS
{
.text :
{
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector .isr_vector.*))
*(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7)
*(.rodata .rodata* .gnu.linkonce.r.*)
} > FLASH
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)
} > FLASH
.ARM.exidx :
{
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
} > FLASH
. = ALIGN(4);
_etext = .;
_sidata = .;
.data : AT (_etext)
{
_sdata = .;
*(.data .data.*)
. = ALIGN(4);
_edata = . ;
} > SRAM
/* .bss section which is used for uninitialized data */
.bss (NOLOAD) :
{
_sbss = . ;
*(.bss .bss.*)
*(COMMON)
. = ALIGN(4);
_ebss = . ;
} > SRAM
. = ALIGN(4);
_end = . ;
}

5
flight/PiOS/STM32F10x/pios_adc.c
View File

@ -28,6 +28,9 @@
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_ADC
#include <pios_adc_priv.h>
// Private types
@ -361,6 +364,8 @@ void PIOS_ADC_DMA_Handler(void)
}
}
#endif /* PIOS_INCLUDE_ADC */
/**
* @}
* @}

8
flight/PiOS/STM32F10x/pios_bl_helper.c
View File

@ -28,9 +28,10 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_BL_HELPER)
#ifdef PIOS_INCLUDE_BL_HELPER
#include <pios_board_info.h>
#include "stm32f10x_flash.h"
@ -99,4 +100,5 @@ void PIOS_BL_HELPER_CRC_Ini()
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
}
#endif
#endif /* PIOS_INCLUDE_BL_HELPER */

5
flight/PiOS/STM32F10x/pios_debug.c
View File

@ -28,7 +28,6 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
// Global variables
@ -154,9 +153,9 @@ void PIOS_DEBUG_PinValue4BitL(uint8_t value)
*/
void PIOS_DEBUG_Panic(const char *msg)
{
#ifdef PIOS_COM_DEBUG
#ifdef PIOS_INCLUDE_DEBUG_CONSOLE
register int *lr asm("lr"); // Link-register holds the PC of the caller
PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_DEBUG, "\r%s @0x%x\r", msg, lr);
DEBUG_PRINTF(0, "\r%s @0x%x\r", msg, lr);
#endif
// Stay put

5
flight/PiOS/STM32F10x/pios_delay.c
View File

@ -30,10 +30,9 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include <pios.h>
#if defined(PIOS_INCLUDE_DELAY)
#ifdef PIOS_INCLUDE_DELAY
/* these should be defined by CMSIS, but they aren't */
#define DWT_CTRL (*(volatile uint32_t *)0xe0001000)
@ -167,7 +166,7 @@ uint32_t PIOS_DELAY_DiffuS(uint32_t raw)
return diff / us_ticks;
}
#endif
#endif /* PIOS_INCLUDE_DELAY */
/**
* @}

7
flight/PiOS/STM32F10x/pios_dsm.c
View File

@ -28,11 +28,12 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#ifdef PIOS_INCLUDE_DSM
#include "pios_dsm_priv.h"
#if defined(PIOS_INCLUDE_DSM)
/* Forward Declarations */
static int32_t PIOS_DSM_Get(uint32_t rcvr_id, uint8_t channel);
@ -399,7 +400,7 @@ static void PIOS_DSM_Supervisor(uint32_t dsm_id)
}
}
#endif /* PIOS_INCLUDE_DSM */
#endif /* PIOS_INCLUDE_DSM */
/**
* @}

9
flight/PiOS/STM32F10x/pios_eeprom.c
View File

@ -28,14 +28,13 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include <pios.h>
#include <pios_crc.h>
#ifdef PIOS_INCLUDE_FLASH_EEPROM
#include <stm32f10x_flash.h>
#include <pios_board_info.h>
#include <pios_eeprom.h>
static struct pios_eeprom_cfg config;
/**
@ -153,3 +152,5 @@ int32_t PIOS_EEPROM_Load(uint8_t *data, uint32_t len)
return 0;
}
#endif /* PIOS_INCLUDE_FLASH_EEPROM */

3
flight/PiOS/STM32F10x/pios_exti.c
View File

@ -29,10 +29,9 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_EXTI)
#ifdef PIOS_INCLUDE_EXTI
/* Map EXTI line to full config */
#define EXTI_MAX_LINES 16

5
flight/PiOS/STM32F10x/pios_gpio.c
View File

@ -28,10 +28,9 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_GPIO)
#ifdef PIOS_INCLUDE_GPIO
/* Private Function Prototypes */
@ -93,7 +92,7 @@ void PIOS_GPIO_Toggle(uint8_t Pin)
GPIO_PORT[Pin]->ODR ^= GPIO_PIN[Pin];
}
#endif
#endif /* PIOS_INCLUDE_GPIO */
/**
* @}

5
flight/PiOS/STM32F10x/pios_i2c.c
View File

@ -28,10 +28,9 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_I2C)
#ifdef PIOS_INCLUDE_I2C
#if defined(PIOS_INCLUDE_FREERTOS)
#define USE_FREERTOS
@ -1146,7 +1145,7 @@ void PIOS_I2C_ER_IRQ_Handler(uint32_t i2c_id)
}
}
#endif
#endif /* PIOS_INCLUDE_I2C */
/**
* @}

4
flight/PiOS/STM32F10x/pios_iap.c
View File

@ -12,6 +12,8 @@
****************************************************************************************/
#include <pios.h>
#ifdef PIOS_INCLUDE_IAP
/****************************************************************************************
* Private Definitions/Macros
****************************************************************************************/
@ -120,3 +122,5 @@ void PIOS_IAP_WriteBootCount (uint16_t boot_count)
{
BKP_WriteBackupRegister ( IAP_BOOTCOUNT, boot_count );
}
#endif /* PIOS_INCLUDE_IAP */

5
flight/PiOS/STM32F10x/pios_irq.c
View File

@ -29,10 +29,9 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_IRQ)
#ifdef PIOS_INCLUDE_IRQ
/* Private Function Prototypes */
@ -90,7 +89,7 @@ int32_t PIOS_IRQ_Enable(void)
return 0;
}
#endif
#endif /* PIOS_INCLUDE_IRQ */
/**
* @}

5
flight/PiOS/STM32F10x/pios_led.c
View File

@ -28,10 +28,9 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_LED)
#ifdef PIOS_INCLUDE_LED
#include <pios_led_priv.h>
@ -148,7 +147,7 @@ void PIOS_LED_Toggle(uint32_t led_id)
}
}
#endif
#endif /* PIOS_INCLUDE_LED */
/**
* @}

7
flight/PiOS/STM32F10x/pios_ppm.c
View File

@ -28,11 +28,12 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#ifdef PIOS_INCLUDE_PPM
#include "pios_ppm_priv.h"
#if defined(PIOS_INCLUDE_PPM)
/* Provide a RCVR driver */
static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel);
@ -349,7 +350,7 @@ static void PIOS_PPM_Supervisor(uint32_t ppm_id) {
ppm_dev->Fresh = FALSE;
}
#endif
#endif /* PIOS_INCLUDE_PPM */
/**
* @}

8
flight/PiOS/STM32F10x/pios_ppm_out.c
View File

@ -28,11 +28,11 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#include "pios_ppm_out_priv.h"
#if defined(PIOS_INCLUDE_PPM_OUT)
#ifdef PIOS_INCLUDE_PPM_OUT
#include "pios_ppm_out_priv.h"
#define PIOS_PPM_OUT_MAX_DEVS 1
#define PIOS_PPM_OUT_MAX_CHANNELS 8
@ -228,4 +228,4 @@ static void PIOS_PPM_OUT_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t
return;
}
#endif // PIOS_PPM_OUT
#endif /* PIOS_INCLUDE_PPM_OUT */

7
flight/PiOS/STM32F10x/pios_pwm.c
View File

@ -28,11 +28,12 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#ifdef PIOS_INCLUDE_PWM
#include "pios_pwm_priv.h"
#if defined(PIOS_INCLUDE_PWM)
/* Provide a RCVR driver */
static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t channel);
@ -274,7 +275,7 @@ static void PIOS_PWM_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t cha
}
#endif
#endif /* PIOS_INCLUDE_PWM */
/**
* @}

7
flight/PiOS/STM32F10x/pios_rtc.c
View File

@ -28,10 +28,10 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_RTC)
#ifdef PIOS_INCLUDE_RTC
#include <pios_rtc_priv.h>
#ifndef PIOS_RTC_PRESCALER
@ -121,7 +121,8 @@ void PIOS_RTC_irq_handler (void)
RTC_ClearITPendingBit(RTC_IT_SEC);
}
}
#endif
#endif /* PIOS_INCLUDE_RTC */
/**
* @}

6
flight/PiOS/STM32F10x/pios_servo.c
View File

@ -28,8 +28,10 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#ifdef PIOS_INCLUDE_SERVO
#include "pios_servo_priv.h"
#include "pios_tim_priv.h"
@ -145,3 +147,5 @@ void PIOS_Servo_Set(uint8_t servo, uint16_t position)
break;
}
}
#endif /* PIOS_INCLUDE_SERVO */

4
flight/PiOS/STM32F10x/pios_spi.c
View File

@ -35,7 +35,7 @@
#include <pios.h>
#if defined(PIOS_INCLUDE_SPI)
#ifdef PIOS_INCLUDE_SPI
#include <pios_spi_priv.h>
@ -577,7 +577,7 @@ void PIOS_SPI_IRQ_Handler(uint32_t spi_id)
}
}
#endif
#endif /* PIOS_INCLUDE_SPI */
/**
* @}

5
flight/PiOS/STM32F10x/pios_sys.c
View File

@ -29,10 +29,9 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_SYS)
#ifdef PIOS_INCLUDE_SYS
/* Private Function Prototypes */
void NVIC_Configuration(void);
@ -212,7 +211,7 @@ void assert_failed(uint8_t * file, uint32_t line)
}
#endif
#endif
#endif /* PIOS_INCLUDE_SYS */
/**
* @}

4
flight/PiOS/STM32F10x/pios_tim.c
View File

@ -1,6 +1,7 @@
#include "pios.h"
#include "pios_tim.h"
#ifdef PIOS_INCLUDE_TIM
#include "pios_tim_priv.h"
enum pios_tim_dev_magic {
@ -425,3 +426,4 @@ static void PIOS_TIM_8_CC_irq_handler (void)
PIOS_TIM_generic_irq_handler (TIM8);
}
#endif /* PIOS_INCLUDE_TIM */

5
flight/PiOS/STM32F10x/pios_usart.c
View File

@ -28,10 +28,9 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_USART)
#ifdef PIOS_INCLUDE_USART
#include <pios_usart_priv.h>
@ -324,7 +323,7 @@ static void PIOS_USART_generic_irq_handler(uint32_t usart_id)
#endif /* PIOS_INCLUDE_FREERTOS */
}
#endif
#endif /* PIOS_INCLUDE_USART */
/**
* @}

17
flight/PiOS/STM32F10x/pios_usb.c
View File

@ -28,16 +28,17 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#ifdef PIOS_INCLUDE_USB
#include "usb_lib.h"
#include "pios_usb_board_data.h"
#include "stm32f10x.h"
#include "pios_usb.h"
#include "pios_usb_priv.h"
#if defined(PIOS_INCLUDE_USB_HID)
#ifdef PIOS_INCLUDE_USB_HID
/* Rx/Tx status */
static bool transfer_possible = false;
@ -66,7 +67,7 @@ static int32_t PIOS_USB_validate(struct pios_usb_dev * usb_dev)
return 0;
}
#if defined(PIOS_INCLUDE_FREERTOS)
#ifdef PIOS_INCLUDE_FREERTOS
static struct pios_usb_dev * PIOS_USB_alloc(void)
{
struct pios_usb_dev * usb_dev;
@ -156,14 +157,14 @@ int32_t PIOS_USB_ChangeConnectionState(bool Connected)
//TODO: Check SetEPRxValid(ENDP1);
#if defined(USB_LED_ON)
#ifdef USB_LED_ON
USB_LED_ON; // turn the USB led on
#endif
} else {
// Cable disconnected: disable transfers
transfer_possible = false;
#if defined(USB_LED_OFF)
#ifdef USB_LED_OFF
USB_LED_OFF; // turn the USB led off
#endif
}
@ -233,7 +234,9 @@ bool PIOS_USB_CheckAvailable(uint32_t id)
return PIOS_USB_CableConnected(id) && transfer_possible;
}
#endif
#endif /* PIOS_INCLUDE_USB_HID */
#endif /* PIOS_INCLUDE_USB */
/**
* @}

Some files were not shown because too many files have changed in this diff Show More