mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-20 10:54:14 +01:00
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
Normal file
35
flight/modules/gpsp/gps9flashhandler.c
Normal file
@ -0,0 +1,35 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file gps9flashhandler.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
|
||||
* @brief Flash handler for GPSV9.
|
||||
* --
|
||||
* @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 "inc/gps9flashhandler.h"
|
||||
|
||||
extern uintptr_t flash_id;
|
||||
extern struct pios_flash_driver pios_jedec_flash_driver;
|
||||
extern uintptr_t flash_id;
|
||||
|
||||
bool flash_available()
|
||||
{
|
||||
return flash_id > 0;
|
||||
}
|
||||
@ -9,15 +9,13 @@
|
||||
*
|
||||
* @{
|
||||
* @addtogroup SystemModule GPSV9 System Module
|
||||
* @brief Initializes PIOS and other modules runs monitoring
|
||||
* After initializing all the modules (currently selected by Makefile but in
|
||||
* future controlled by configuration on SD card) runs basic monitoring and
|
||||
* alarms.
|
||||
* @brief Initializes PIOS and other modules runs monitoring, executes mag and gps handlers
|
||||
*
|
||||
* @{
|
||||
*
|
||||
* @file gpsdsystemmod.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
|
||||
* @brief System module
|
||||
* @brief GPS System module
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
@ -43,19 +41,16 @@
|
||||
#include "inc/gpsdsysmod.h"
|
||||
#include "inc/gps9maghandler.h"
|
||||
#include "inc/gps9gpshandler.h"
|
||||
#include "inc/gps9flashhandler.h"
|
||||
#include "inc/gps9protocol.h"
|
||||
|
||||
// UAVOs
|
||||
#include <systemstats.h>
|
||||
|
||||
SystemStatsData systemStats;
|
||||
|
||||
extern uintptr_t flash_id;
|
||||
#define DEBUG_THIS_FILE
|
||||
extern uint32_t pios_com_main_id;
|
||||
|
||||
|
||||
extern struct pios_flash_driver pios_jedec_flash_driver;
|
||||
extern uintptr_t flash_id;
|
||||
|
||||
// Private constants
|
||||
#define SYSTEM_UPDATE_PERIOD_MS 1
|
||||
|
||||
@ -75,9 +70,6 @@ static bool mallocFailed;
|
||||
static void updateStats();
|
||||
static void gpspSystemTask(void *parameters);
|
||||
|
||||
#define SYS_DATA_OPTIONS_FLASH 0x01
|
||||
|
||||
|
||||
/**
|
||||
* Create the module task.
|
||||
* \returns 0 on success or -1 if initialization failed
|
||||
@ -119,17 +111,20 @@ static void gpspSystemTask(__attribute__((unused)) void *parameters)
|
||||
MODULE_TASKCREATE_ALL;
|
||||
|
||||
if (mallocFailed) {
|
||||
/* We failed to malloc during task creation,
|
||||
* system behaviour is undefined. Reset and let
|
||||
* the BootFault code recover for us.
|
||||
*/
|
||||
PIOS_SYS_Reset();
|
||||
// Nothing to do, this condition needs to be trapped during development.
|
||||
while (wait_here) {
|
||||
;
|
||||
}
|
||||
}
|
||||
#if defined(PIOS_INCLUDE_IAP)
|
||||
|
||||
/* Record a successful boot */
|
||||
#if defined(PIOS_INCLUDE_IAP)
|
||||
PIOS_IAP_WriteBootCount(0);
|
||||
#endif
|
||||
/* Right now there is no configuration and uart speed is fixed at 115200.
|
||||
* TODO:
|
||||
* 1) add a tiny ubx parser on gps side to intercept CFG-RINV and use that for config storage;
|
||||
* 2) second ubx parser on uart side that intercept custom configuration message and flash commands.
|
||||
*/
|
||||
PIOS_COM_ChangeBaud(pios_com_main_id, 115200);
|
||||
static TickType_t lastUpdate;
|
||||
setupGPS();
|
||||
@ -190,10 +185,10 @@ uint16_t GetFreeIrqStackSize(void)
|
||||
/**
|
||||
* Called periodically to update the system stats
|
||||
*/
|
||||
SysUbxPkt sysPkt;
|
||||
static void updateStats()
|
||||
{
|
||||
static uint32_t lastUpdate;
|
||||
static SysUbxPkt sysPkt;
|
||||
|
||||
if (PIOS_DELAY_DiffuS(lastUpdate) < 1000 * configTICK_RATE_HZ / STAT_RATE) {
|
||||
return;
|
||||
@ -204,21 +199,18 @@ static void updateStats()
|
||||
sysPkt.fragments.data.HeapRemaining = xPortGetFreeHeapSize();
|
||||
sysPkt.fragments.data.IRQStackRemaining = GetFreeIrqStackSize();
|
||||
sysPkt.fragments.data.SystemModStackRemaining = uxTaskGetStackHighWaterMark(NULL) * 4;
|
||||
sysPkt.fragments.data.options = flash_id > 0 ? SYS_DATA_OPTIONS_FLASH : 0;
|
||||
sysPkt.fragments.data.options = SYS_DATA_OPTIONS_MAG | (flash_available() ? SYS_DATA_OPTIONS_FLASH : 0);
|
||||
|
||||
ubx_buildPacket(&sysPkt.packet, UBX_OP_CUST_CLASS, UBX_OP_SYS, sizeof(SysData));
|
||||
PIOS_COM_SendBuffer(pios_com_main_id, sysPkt.packet.bynarystream, sizeof(SysUbxPkt));
|
||||
}
|
||||
|
||||
/**
|
||||
* Update system alarms
|
||||
*/
|
||||
|
||||
/**
|
||||
* Called by the RTOS when the CPU is idle,
|
||||
*/
|
||||
void vApplicationIdleHook(void)
|
||||
{
|
||||
// NotificationOnboardLedsRun();
|
||||
}
|
||||
{}
|
||||
/**
|
||||
* Called by the RTOS when a stack overflow is detected.
|
||||
*/
|
||||
|
||||
33
flight/modules/gpsp/inc/gps9flashhandler.h
Normal file
33
flight/modules/gpsp/inc/gps9flashhandler.h
Normal file
@ -0,0 +1,33 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file gps9flashhandler.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
|
||||
* @brief Flash handler for GPSV9
|
||||
* --
|
||||
* @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 GPS9FLASHHANDLER_H_
|
||||
#define GPS9FLASHHANDLER_H_
|
||||
#include <openpilot.h>
|
||||
|
||||
bool flash_available();
|
||||
|
||||
|
||||
#endif /* GPS9FLASHHANDLER_H_ */
|
||||
@ -1,4 +1,4 @@
|
||||
/**
|
||||
/**magPkt
|
||||
******************************************************************************
|
||||
*
|
||||
* @file gps9maghandler.h
|
||||
|
||||
@ -31,9 +31,13 @@
|
||||
#include <pios_helpers.h>
|
||||
#include <ubx_utils.h>
|
||||
|
||||
#define UBX_OP_CUST_CLASS 0x99
|
||||
#define UBX_OP_SYS 0x01
|
||||
#define UBX_OP_MAG 0x02
|
||||
#define UBX_OP_CUST_CLASS 0x99
|
||||
#define UBX_OP_SYS 0x01
|
||||
#define UBX_OP_MAG 0x02
|
||||
|
||||
#define SYS_DATA_OPTIONS_FLASH 0x01
|
||||
#define SYS_DATA_OPTIONS_MAG 0x02
|
||||
|
||||
|
||||
typedef struct {
|
||||
int16_t X;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user