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OP-1477 - a bit of cleanup, some flash bits moved to a separate file
This commit is contained in:
Alessio Morale
parent
2885a20acb
commit
2cca5162f7
35
flight/modules/gpsp/gps9flashhandler.c
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35
flight/modules/gpsp/gps9flashhandler.c
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@ -0,0 +1,35 @@
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/**
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******************************************************************************
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*
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* @file gps9flashhandler.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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* @brief Flash handler for GPSV9.
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* --
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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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#include "inc/gps9flashhandler.h"
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extern uintptr_t flash_id;
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extern struct pios_flash_driver pios_jedec_flash_driver;
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extern uintptr_t flash_id;
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bool flash_available()
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{
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return flash_id > 0;
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}
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@ -9,15 +9,13 @@
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*
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* @{
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* @addtogroup SystemModule GPSV9 System Module
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* @brief Initializes PIOS and other modules runs monitoring
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* After initializing all the modules (currently selected by Makefile but in
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* future controlled by configuration on SD card) runs basic monitoring and
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* alarms.
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* @brief Initializes PIOS and other modules runs monitoring, executes mag and gps handlers
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*
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* @{
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*
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* @file gpsdsystemmod.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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* @brief System module
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* @brief GPS System module
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*
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* @see The GNU Public License (GPL) Version 3
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*
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@ -43,19 +41,16 @@
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#include "inc/gpsdsysmod.h"
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#include "inc/gps9maghandler.h"
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#include "inc/gps9gpshandler.h"
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#include "inc/gps9flashhandler.h"
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#include "inc/gps9protocol.h"
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// UAVOs
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#include <systemstats.h>
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SystemStatsData systemStats;
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extern uintptr_t flash_id;
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#define DEBUG_THIS_FILE
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extern uint32_t pios_com_main_id;
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extern struct pios_flash_driver pios_jedec_flash_driver;
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extern uintptr_t flash_id;
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// Private constants
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#define SYSTEM_UPDATE_PERIOD_MS 1
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@ -75,9 +70,6 @@ static bool mallocFailed;
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static void updateStats();
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static void gpspSystemTask(void *parameters);
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#define SYS_DATA_OPTIONS_FLASH 0x01
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/**
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* Create the module task.
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* \returns 0 on success or -1 if initialization failed
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@ -119,17 +111,20 @@ static void gpspSystemTask(__attribute__((unused)) void *parameters)
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MODULE_TASKCREATE_ALL;
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if (mallocFailed) {
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/* We failed to malloc during task creation,
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* system behaviour is undefined. Reset and let
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* the BootFault code recover for us.
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*/
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PIOS_SYS_Reset();
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// Nothing to do, this condition needs to be trapped during development.
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while (wait_here) {
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;
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}
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}
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#if defined(PIOS_INCLUDE_IAP)
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/* Record a successful boot */
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#if defined(PIOS_INCLUDE_IAP)
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PIOS_IAP_WriteBootCount(0);
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#endif
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/* Right now there is no configuration and uart speed is fixed at 115200.
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* TODO:
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* 1) add a tiny ubx parser on gps side to intercept CFG-RINV and use that for config storage;
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* 2) second ubx parser on uart side that intercept custom configuration message and flash commands.
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*/
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PIOS_COM_ChangeBaud(pios_com_main_id, 115200);
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static TickType_t lastUpdate;
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setupGPS();
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@ -190,10 +185,10 @@ uint16_t GetFreeIrqStackSize(void)
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/**
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* Called periodically to update the system stats
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*/
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SysUbxPkt sysPkt;
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static void updateStats()
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{
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static uint32_t lastUpdate;
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static SysUbxPkt sysPkt;
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if (PIOS_DELAY_DiffuS(lastUpdate) < 1000 * configTICK_RATE_HZ / STAT_RATE) {
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return;
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@ -204,21 +199,18 @@ static void updateStats()
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sysPkt.fragments.data.HeapRemaining = xPortGetFreeHeapSize();
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sysPkt.fragments.data.IRQStackRemaining = GetFreeIrqStackSize();
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sysPkt.fragments.data.SystemModStackRemaining = uxTaskGetStackHighWaterMark(NULL) * 4;
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sysPkt.fragments.data.options = flash_id > 0 ? SYS_DATA_OPTIONS_FLASH : 0;
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sysPkt.fragments.data.options = SYS_DATA_OPTIONS_MAG | (flash_available() ? SYS_DATA_OPTIONS_FLASH : 0);
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ubx_buildPacket(&sysPkt.packet, UBX_OP_CUST_CLASS, UBX_OP_SYS, sizeof(SysData));
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PIOS_COM_SendBuffer(pios_com_main_id, sysPkt.packet.bynarystream, sizeof(SysUbxPkt));
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}
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/**
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* Update system alarms
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*/
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/**
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* Called by the RTOS when the CPU is idle,
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*/
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void vApplicationIdleHook(void)
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{
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// NotificationOnboardLedsRun();
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}
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{}
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/**
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* Called by the RTOS when a stack overflow is detected.
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*/
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33
flight/modules/gpsp/inc/gps9flashhandler.h
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33
flight/modules/gpsp/inc/gps9flashhandler.h
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@ -0,0 +1,33 @@
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/**
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******************************************************************************
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*
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* @file gps9flashhandler.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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* @brief Flash handler for GPSV9
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* --
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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 GPS9FLASHHANDLER_H_
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#define GPS9FLASHHANDLER_H_
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#include <openpilot.h>
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bool flash_available();
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#endif /* GPS9FLASHHANDLER_H_ */
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@ -1,4 +1,4 @@
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/**
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/**magPkt
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******************************************************************************
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*
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* @file gps9maghandler.h
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@ -31,9 +31,13 @@
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#include <pios_helpers.h>
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#include <ubx_utils.h>
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#define UBX_OP_CUST_CLASS 0x99
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#define UBX_OP_SYS 0x01
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#define UBX_OP_MAG 0x02
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#define UBX_OP_CUST_CLASS 0x99
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#define UBX_OP_SYS 0x01
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#define UBX_OP_MAG 0x02
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#define SYS_DATA_OPTIONS_FLASH 0x01
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#define SYS_DATA_OPTIONS_MAG 0x02
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typedef struct {
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int16_t X;
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