Fix UAVObject stuff for win32 sim, and fix pios_servo as well.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2675 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/OpenPilot/Makefile.win32

@@ -110,6 +110,7 @@ PYMITEINC += $(PYMITEPLAT)
 PYMITEINC += $(OUTDIR)
 FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
 FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
+OPUAVSYNTHDIR = $(OUTDIR)/../../uavobject-synthetics/flight
 
 # List C source files here. (C dependencies are automatically generated.)
 # use file-extension c for "c-only"-files
@@ -137,9 +138,10 @@ SRC += $(OPSYSTEM)/alarms.c
 SRC += $(OPSYSTEM)/taskmonitor.c
 SRC += $(OPUAVTALK)/uavtalk.c
 SRC += $(OPUAVOBJ)/uavobjectmanager.c
-SRC += $(OPUAVOBJ)/uavobjectsinit.c
+SRC += $(OPUAVSYNTHDIR)/init/uavobjectsinit.c
 SRC += $(OPUAVOBJ)/eventdispatcher.c
 SRC += $(FLIGHTLIB)/CoordinateConversions.c
+
 else
 ## TESTCODE
 SRC += $(OPTESTS)/test_common.c
@@ -149,48 +151,7 @@ endif
 
 ## UAVOBJECTS
 ifndef TESTAPP
-SRC += $(OPUAVOBJ)/objectpersistence.c
-SRC += $(OPUAVOBJ)/positionactual.c
-SRC += $(OPUAVOBJ)/gpsposition.c
-SRC += $(OPUAVOBJ)/gpstime.c
-SRC += $(OPUAVOBJ)/gpssatellites.c
-SRC += $(OPUAVOBJ)/gcstelemetrystats.c
-SRC += $(OPUAVOBJ)/flighttelemetrystats.c
-SRC += $(OPUAVOBJ)/systemstats.c
-SRC += $(OPUAVOBJ)/systemalarms.c
-SRC += $(OPUAVOBJ)/systemsettings.c
-SRC += $(OPUAVOBJ)/telemetrysettings.c
-SRC += $(OPUAVOBJ)/actuatorcommand.c
-SRC += $(OPUAVOBJ)/actuatordesired.c
-SRC += $(OPUAVOBJ)/actuatorsettings.c
-SRC += $(OPUAVOBJ)/manualcontrolcommand.c
-SRC += $(OPUAVOBJ)/manualcontrolsettings.c
-SRC += $(OPUAVOBJ)/attitudedesired.c
-SRC += $(OPUAVOBJ)/stabilizationsettings.c
-SRC += $(OPUAVOBJ)/ahrsstatus.c
-SRC += $(OPUAVOBJ)/i2cstats.c
-SRC += $(OPUAVOBJ)/baroaltitude.c
-SRC += $(OPUAVOBJ)/ahrscalibration.c
-SRC += $(OPUAVOBJ)/attitudeactual.c
-SRC += $(OPUAVOBJ)/ahrssettings.c
-SRC += $(OPUAVOBJ)/flightbatterystate.c
-SRC += $(OPUAVOBJ)/attituderaw.c
-SRC += $(OPUAVOBJ)/homelocation.c
-SRC += $(OPUAVOBJ)/mixersettings.c
-SRC += $(OPUAVOBJ)/mixerstatus.c
-SRC += $(OPUAVOBJ)/positiondesired.c
-SRC += $(OPUAVOBJ)/velocitydesired.c
-SRC += $(OPUAVOBJ)/velocityactual.c
-SRC += $(OPUAVOBJ)/guidancesettings.c
-SRC += $(OPUAVOBJ)/firmwareiapobj.c
-SRC += $(OPUAVOBJ)/ratedesired.c
-SRC += $(OPUAVOBJ)/batterysettings.c
-SRC += $(OPUAVOBJ)/flightplancontrol.c
-SRC += $(OPUAVOBJ)/flightplanstatus.c
-SRC += $(OPUAVOBJ)/flightplansettings.c
-SRC += $(OPUAVOBJ)/taskinfo.c
-SRC += $(OPUAVOBJ)/watchdogstatus.c
-SRC += $(OPUAVOBJ)/nedaccel.c
+SRC += $(wildcard $(OPUAVSYNTHDIR)/*.c)
 endif
 
 ## PIOS Hardware (win32)
@@ -246,6 +207,7 @@ EXTRAINCDIRS  += $(RTOSSRCDIR)/portable/GCC/Win32
 EXTRAINCDIRS  += $(FLIGHTLIB)
 EXTRAINCDIRS  += $(FLIGHTLIBINC)
 EXTRAINCDIRS  += $(PYMITEINC)
+EXTRAINCDIRS  += $(OPUAVSYNTHDIR)
 
 EXTRAINCDIRS += ${foreach MOD, ${MODULES}, ${OPMODULEDIR}/${MOD}/inc} ${OPMODULEDIR}/System/inc
 

flight/PiOS.win32/inc/pios_initcall.h

@@ -0,0 +1,48 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Initcall infrastructure
+ * @{
+ * @addtogroup   PIOS_INITCALL Generic Initcall Macros
+ * @brief Initcall Macros
+ * @{
+ *
+ * @file       pios_initcall.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      Initcall header
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_INITCALL_H
+#define PIOS_INITCALL_H
+
+/**
+ * Just a stub define to make things compile.
+ * Automatically link based initialization currently doesn't work
+ * since posix really runs on a multitude of architectures
+ * and we cannot define a linker script for each of them atm
+ */
+
+#define uavobj_initcall(fn)
+
+#endif	/* PIOS_INITCALL_H */
+
+/**
+ * @}
+ * @}
+ */

flight/PiOS.win32/inc/pios_servo.h

@@ -32,7 +32,7 @@
 
 /* Public Functions */
 extern void PIOS_Servo_Init(void);
-extern void PIOS_Servo_SetHz(uint16_t onetofour, uint16_t fivetoeight);
+extern void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t num_banks);
 extern void PIOS_Servo_Set(uint8_t Servo, uint16_t Position);
 
 #endif /* PIOS_SERVO_H */

flight/PiOS.win32/pios.h

@@ -48,6 +48,9 @@
 #include <math.h>
 #include <unistd.h>
 
+/* Generic initcall infrastructure */
+#include "pios_initcall.h"
+
 /* PIOS Board Specific Device Configuration */
 #include "pios_board_posix.h"
 

flight/PiOS.win32/win32/pios_servo.c

@@ -50,7 +50,7 @@ void PIOS_Servo_Init(void)
 * \param[in] onetofour Rate for outputs 1 to 4 (Hz)
 * \param[in] fivetoeight Rate for outputs 5 to 8 (Hz)
 */
-void PIOS_Servo_SetHz(uint16_t onetofour, uint16_t fivetoeight)
+void PIOS_Servo_SetHz(uint16_t * banks, uint8_t num_banks)
 {
 }
 
@@ -63,7 +63,7 @@ void PIOS_Servo_Set(uint8_t Servo, uint16_t Position)
 {
 #ifndef PIOS_ENABLE_DEBUG_PINS
 	/* Make sure servo exists */
-	if (Servo < PIOS_SERVO_NUM_OUTPUTS && Servo >= 0) {
+	if (Servo < PIOS_SERVO_NUM_OUTPUTS) {
 		/* Update the position */
 		ServoPosition[Servo] = Position;