mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-26 15:54:15 +01:00
OP-216: Make the object manager use new flash fs for objects
This commit is contained in:
James Cotton
parent
7e6e7bb391
commit
2087441006
@ -205,6 +205,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
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SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
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## PIOS Hardware (Common)
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SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c
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SRC += $(PIOSCOMMON)/pios_flash_w25x.c
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SRC += $(PIOSCOMMON)/pios_adxl345.c
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SRC += $(PIOSCOMMON)/pios_com.c
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@ -678,8 +678,10 @@ void PIOS_Board_Init(void) {
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PIOS_DEBUG_Assert(0);
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}
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PIOS_Flash_W25X_Init(pios_spi_flash_accel_id);
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PIOS_Flash_W25X_Init(pios_spi_flash_accel_id);
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PIOS_ADXL345_Attach(pios_spi_flash_accel_id);
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PIOS_FLASHFS_Init();
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#if defined(PIOS_INCLUDE_SPEKTRUM)
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/* SPEKTRUM init must come before comms */
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@ -1,135 +1,136 @@
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/**
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******************************************************************************
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*
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* @file pios.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Main PiOS header.
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* - Central header for the project.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef PIOS_H
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#define PIOS_H
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/* PIOS Feature Selection */
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#include "pios_config.h"
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#if defined(PIOS_INCLUDE_FREERTOS)
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/* FreeRTOS Includes */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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#include "semphr.h"
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#endif
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/* C Lib Includes */
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdarg.h>
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#include <string.h>
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#include <math.h>
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/* STM32 Std Perf Lib */
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#include <stm32f10x.h>
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#include <stm32f10x_conf.h>
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#if defined(PIOS_INCLUDE_SDCARD)
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/* Dosfs Includes */
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#include <dosfs.h>
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/* Mass Storage Device Includes */
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#include <msd.h>
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#endif
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/* Generic initcall infrastructure */
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#include "pios_initcall.h"
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/* PIOS Board Specific Device Configuration */
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#include "pios_board.h"
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/* PIOS Hardware Includes (STM32F10x) */
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#include <pios_sys.h>
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#include <pios_delay.h>
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#include <pios_led.h>
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#include <pios_sdcard.h>
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#include <pios_usart.h>
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#include <pios_irq.h>
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#include <pios_adc.h>
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#include <pios_servo.h>
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#include <pios_i2c.h>
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#include <pios_spi.h>
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#include <pios_ppm.h>
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#include <pios_pwm.h>
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#include <pios_spektrum.h>
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#include <pios_usb_hid.h>
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#include <pios_debug.h>
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#include <pios_gpio.h>
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#if defined(PIOS_INCLUDE_EXTI)
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#include <pios_exti.h>
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#endif
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#include <pios_wdg.h>
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/* PIOS Hardware Includes (Common) */
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#include <pios_sdcard.h>
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#include <pios_com.h>
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#if defined(PIOS_INCLUDE_BMP085)
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#include <pios_bmp085.h>
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#endif
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#if defined(PIOS_INCLUDE_HCSR04)
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#include <pios_hcsr04.h>
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#endif
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#if defined(PIOS_INCLUDE_HMC5843)
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#include <pios_hmc5843.h>
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#endif
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#if defined(PIOS_INCLUDE_HMC5883)
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#include <pios_hmc5883.h>
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#endif
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#if defined(PIOS_INCLUDE_I2C_ESC)
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#include <pios_i2c_esc.h>
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#endif
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#if defined(PIOS_INCLUDE_IMU3000)
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#include <pios_imu3000.h>
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#endif
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#include <pios_iap.h>
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#if defined(PIOS_INCLUDE_ADXL345)
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#include <pios_adxl345.h>
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#endif
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#if defined(PIOS_INCLUDE_BMA180)
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#include <pios_bma180.h>
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#endif
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#if defined(PIOS_INCLUDE_FLASH)
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#include <pios_flash_w25x.h>
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#endif
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#if defined(PIOS_INCLUDE_BL_HELPER)
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#include <pios_bl_helper.h>
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#endif
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#if defined(PIOS_INCLUDE_USB)
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/* USB Libs */
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#include <usb_lib.h>
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#endif
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#define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
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#endif /* PIOS_H */
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/**
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******************************************************************************
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*
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* @file pios.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Main PiOS header.
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* - Central header for the project.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef PIOS_H
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#define PIOS_H
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/* PIOS Feature Selection */
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#include "pios_config.h"
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#if defined(PIOS_INCLUDE_FREERTOS)
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/* FreeRTOS Includes */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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#include "semphr.h"
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#endif
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/* C Lib Includes */
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdarg.h>
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#include <string.h>
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#include <math.h>
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/* STM32 Std Perf Lib */
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#include <stm32f10x.h>
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#include <stm32f10x_conf.h>
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#if defined(PIOS_INCLUDE_SDCARD)
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/* Dosfs Includes */
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#include <dosfs.h>
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/* Mass Storage Device Includes */
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#include <msd.h>
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#endif
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/* Generic initcall infrastructure */
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#include "pios_initcall.h"
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/* PIOS Board Specific Device Configuration */
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#include "pios_board.h"
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/* PIOS Hardware Includes (STM32F10x) */
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#include <pios_sys.h>
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#include <pios_delay.h>
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#include <pios_led.h>
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#include <pios_sdcard.h>
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#include <pios_usart.h>
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#include <pios_irq.h>
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#include <pios_adc.h>
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#include <pios_servo.h>
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#include <pios_i2c.h>
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#include <pios_spi.h>
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#include <pios_ppm.h>
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#include <pios_pwm.h>
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#include <pios_spektrum.h>
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#include <pios_usb_hid.h>
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#include <pios_debug.h>
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#include <pios_gpio.h>
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#if defined(PIOS_INCLUDE_EXTI)
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#include <pios_exti.h>
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#endif
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#include <pios_wdg.h>
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/* PIOS Hardware Includes (Common) */
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#include <pios_sdcard.h>
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#include <pios_com.h>
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#if defined(PIOS_INCLUDE_BMP085)
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#include <pios_bmp085.h>
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#endif
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#if defined(PIOS_INCLUDE_HCSR04)
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#include <pios_hcsr04.h>
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#endif
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#if defined(PIOS_INCLUDE_HMC5843)
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#include <pios_hmc5843.h>
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#endif
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#if defined(PIOS_INCLUDE_HMC5883)
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#include <pios_hmc5883.h>
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#endif
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#if defined(PIOS_INCLUDE_I2C_ESC)
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#include <pios_i2c_esc.h>
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#endif
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#if defined(PIOS_INCLUDE_IMU3000)
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#include <pios_imu3000.h>
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#endif
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#include <pios_iap.h>
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#if defined(PIOS_INCLUDE_ADXL345)
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#include <pios_adxl345.h>
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#endif
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#if defined(PIOS_INCLUDE_BMA180)
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#include <pios_bma180.h>
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#endif
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#if defined(PIOS_INCLUDE_FLASH)
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#include <pios_flash_w25x.h>
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#include <pios_flashfs_objlist.h>
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#endif
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#if defined(PIOS_INCLUDE_BL_HELPER)
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#include <pios_bl_helper.h>
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#endif
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#if defined(PIOS_INCLUDE_USB)
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/* USB Libs */
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#include <usb_lib.h>
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#endif
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#define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
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#endif /* PIOS_H */
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@ -3171,6 +3171,8 @@
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65FF4BE913791C3300146BE4 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; path = Makefile; sourceTree = "<group>"; };
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65FF4BEA13791C3300146BE4 /* op_dfu.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = op_dfu.c; sourceTree = "<group>"; };
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65FF4BEB13791C3300146BE4 /* pios_board.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_board.c; sourceTree = "<group>"; };
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65FF4D5E137EDEC100146BE4 /* pios_flashfs_objlist.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_flashfs_objlist.c; sourceTree = "<group>"; };
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65FF4D61137EFA4F00146BE4 /* pios_flashfs_objlist.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_flashfs_objlist.h; sourceTree = "<group>"; };
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/* End PBXFileReference section */
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/* Begin PBXGroup section */
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@ -7657,6 +7659,7 @@
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65E8F03711EFF25C00BBF654 /* printf-stdarg.c */,
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6528CCB412E406B800CF5144 /* pios_adxl345.c */,
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6512D60712ED4CB8008175E5 /* pios_flash_w25x.c */,
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65FF4D5E137EDEC100146BE4 /* pios_flashfs_objlist.c */,
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);
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name = Common;
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path = ../../PiOS/Common;
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@ -7681,6 +7684,7 @@
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65E8F03E11EFF25C00BBF654 /* pios_debug.h */,
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65E8F03F11EFF25C00BBF654 /* pios_delay.h */,
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65E8F04011EFF25C00BBF654 /* pios_exti.h */,
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65FF4D61137EFA4F00146BE4 /* pios_flashfs_objlist.h */,
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65E8F04111EFF25C00BBF654 /* pios_gpio.h */,
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65E8F04211EFF25C00BBF654 /* pios_hmc5843.h */,
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65E8F04311EFF25C00BBF654 /* pios_i2c.h */,
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@ -562,14 +562,6 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file)
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return 0;
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}
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struct fileHeader {
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uint32_t id;
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uint16_t instId;
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uint16_t size;
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} __attribute__((packed));
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#define FLASH_MASK 0x001ff000 /* Select a sector */
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/**
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* Save the data of the specified object to the file system (SD card).
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* If the object contains multiple instances, all of them will be saved.
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@ -596,17 +588,8 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
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if(instEntry->data == NULL)
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return -1;
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struct fileHeader header = {
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.id = objEntry->id,
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.instId = instId,
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.size = objEntry->numBytes
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};
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uint32_t addr = (objEntry->id & FLASH_MASK);
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PIOS_Flash_W25X_EraseSector(addr);
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PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header));
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PIOS_Flash_W25X_WriteData(addr + sizeof(header), instEntry->data,objEntry->numBytes);
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if(PIOS_FLASHFS_ObjSave(obj, instId, instEntry->data) != 0)
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return -1;
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#endif
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#if defined(PIOS_INCLUDE_SDCARD)
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FILEINFO file;
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@ -758,19 +741,8 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
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if(instEntry->data == NULL)
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return -1;
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struct fileHeader header;
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uint32_t addr = (objEntry->id & FLASH_MASK);
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PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header));
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if(header.id != objEntry->id)
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return -1;
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// Read the instance data
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if (PIOS_Flash_W25X_ReadData(addr + sizeof(header) ,instEntry->data, objEntry->numBytes) != 0)
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return -1;
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// Fire event
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// Fire event on success
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if(PIOS_FLASHFS_ObjSave(obj, instId, instEntry->data) == 0)
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sendEvent(objEntry, instId, EV_UNPACKED);
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#endif
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@ -837,13 +809,7 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
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int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
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{
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#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
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ObjectList* objEntry = (ObjectList*)obj;
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if(objEntry == NULL)
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return -1;
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uint32_t addr = (objEntry->id & FLASH_MASK);
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PIOS_Flash_W25X_EraseSector(addr);
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PIOS_FLASHFS_ObjDelete(obj, instId);
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#endif
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#if defined(PIOS_INCLUDE_SDCARD)
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ObjectList* objEntry;
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