mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-18 03:52:11 +01:00
Merge branch 'OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint'
This commit is contained in:
James Cotton
commit
2fe7ee40b1
@ -113,12 +113,9 @@ OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
|
||||
# List C source files here. (C dependencies are automatically generated.)
|
||||
# use file-extension c for "c-only"-files
|
||||
|
||||
MODNAMES = $(notdir ${MODULES})
|
||||
|
||||
ifndef TESTAPP
|
||||
## MODULES
|
||||
SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
|
||||
SRC += ${OUTDIR}/InitMods.c
|
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## OPENPILOT CORE:
|
||||
SRC += ${OPMODULEDIR}/System/systemmod.c
|
||||
SRC += $(OPSYSTEM)/coptercontrol.c
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||||
@ -490,7 +487,7 @@ LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
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DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
|
||||
|
||||
# Default target.
|
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all: gencode build
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all: build
|
||||
|
||||
ifeq ($(LOADFORMAT),ihex)
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build: elf hex lss sym
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||||
@ -506,18 +503,6 @@ endif
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endif
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||||
endif
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||||
|
||||
# Generate intermediate code for objects
|
||||
gencode: ${OUTDIR}/InitMods.c
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||||
|
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# Generate code for module initialization
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${OUTDIR}/InitMods.c: Makefile
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@echo $(MSG_MODINIT) $(call toprel, $@)
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@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
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@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c
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||||
@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
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@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
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||||
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
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||||
|
||||
# Generate code for PyMite
|
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#$(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)
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# @echo $(MSG_PYMITEINIT) $(call toprel, $@)
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||||
@ -624,4 +609,4 @@ else
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endif
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# Listing of phony targets.
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.PHONY : all build clean clean_list gencode install
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.PHONY : all build clean clean_list install
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@ -42,18 +42,16 @@
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|
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/* Global Variables */
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/* Prototype of generated InitModules() function */
|
||||
extern void InitModules(void);
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|
||||
/* Prototype of PIOS_Board_Init() function */
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extern void PIOS_Board_Init(void);
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extern void Stack_Change(void);
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||||
|
||||
/**
|
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* OpenPilot Main function:
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*
|
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* Initialize PiOS<BR>
|
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* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
|
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* Start FreeRTOS Scheduler (vTaskStartScheduler)<BR>
|
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* Start FreeRTOS Scheduler (vTaskStartScheduler) (Now handled by caller)
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* If something goes wrong, blink LED1 and LED2 every 100ms
|
||||
*
|
||||
*/
|
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@ -65,40 +63,32 @@ int main()
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/* Brings up System using CMSIS functions, enables the LEDs. */
|
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PIOS_SYS_Init();
|
||||
|
||||
/* Initialize the system thread */
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SystemModInitialize();
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|
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/* Start the FreeRTOS scheduler */
|
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vTaskStartScheduler();
|
||||
|
||||
/* If all is well we will never reach here as the scheduler will now be running. */
|
||||
/* If we do get here, it will most likely be because we ran out of heap space. */
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialize the hardware, libraries and modules (called by the System thread in systemmod.c)
|
||||
*/
|
||||
void OpenPilotInit()
|
||||
{
|
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|
||||
/* Architecture dependant Hardware and
|
||||
* core subsystem initialisation
|
||||
* (see pios_board.c for your arch)
|
||||
* */
|
||||
|
||||
PIOS_Board_Init();
|
||||
|
||||
#ifdef ERASE_FLASH
|
||||
PIOS_Flash_W25X_EraseChip();
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while(TRUE){};
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#endif
|
||||
|
||||
/* Initialize modules */
|
||||
InitModules();
|
||||
}
|
||||
MODULE_INITIALISE_ALL
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|
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/* swap the stack to use the IRQ stack */
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Stack_Change();
|
||||
|
||||
/* Start the FreeRTOS scheduler which should never returns.*/
|
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vTaskStartScheduler();
|
||||
|
||||
/* If all is well we will never reach here as the scheduler will now be running. */
|
||||
|
||||
/* Do some indication to user that something bad just happened */
|
||||
PIOS_LED_Off(LED1); \
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for(;;) { \
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PIOS_LED_Toggle(LED1); \
|
||||
PIOS_DELAY_WaitmS(100); \
|
||||
};
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
|
||||
@ -30,7 +30,7 @@
|
||||
#define configTICK_RATE_HZ ( ( portTickType ) 1000 )
|
||||
#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 )
|
||||
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 48 )
|
||||
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 14 * 1024 ) )
|
||||
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 55 * 256) )
|
||||
#define configMAX_TASK_NAME_LEN ( 16 )
|
||||
#define configUSE_TRACE_FACILITY 0
|
||||
#define configUSE_16_BIT_TICKS 0
|
||||
@ -71,6 +71,10 @@ configKERNEL_INTERRUPT_PRIORITY setting. Here 15 corresponds to the lowest
|
||||
NVIC value of 255. */
|
||||
#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY 15
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||||
|
||||
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32)
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||||
#define CHECK_IRQ_STACK
|
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#endif
|
||||
|
||||
/* Enable run time stats collection */
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//#if defined(DEBUG)
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#define configGENERATE_RUN_TIME_STATS 1
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||||
@ -83,6 +87,7 @@ do {\
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#define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004)/* DWT_CYCCNT */
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||||
//#endif
|
||||
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
@ -88,13 +88,15 @@
|
||||
/* Alarm Thresholds */
|
||||
#define HEAP_LIMIT_WARNING 220
|
||||
#define HEAP_LIMIT_CRITICAL 40
|
||||
#define IRQSTACK_LIMIT_WARNING 100
|
||||
#define IRQSTACK_LIMIT_CRITICAL 60
|
||||
#define CPULOAD_LIMIT_WARNING 85
|
||||
#define CPULOAD_LIMIT_CRITICAL 95
|
||||
|
||||
/* Task stack sizes */
|
||||
#define PIOS_ACTUATOR_STACK_SIZE 1020
|
||||
#define PIOS_MANUAL_STACK_SIZE 724
|
||||
#define PIOS_SYSTEM_STACK_SIZE 560
|
||||
#define PIOS_SYSTEM_STACK_SIZE 460
|
||||
#define PIOS_STABILIZATION_STACK_SIZE 524
|
||||
#define PIOS_TELEM_STACK_SIZE 500
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||||
#define PIOS_EVENTDISPATCHER_STACK_SIZE 96
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|
||||
@ -69,7 +69,7 @@ static void ahrscommsTask(void *parameters);
|
||||
* Initialise the module, called on startup
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||||
* \returns 0 on success or -1 if initialisation failed
|
||||
*/
|
||||
int32_t AHRSCommsInitialize(void)
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||||
int32_t AHRSCommsStart(void)
|
||||
{
|
||||
// Start main task
|
||||
xTaskCreate(ahrscommsTask, (signed char *)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
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||||
@ -79,6 +79,17 @@ int32_t AHRSCommsInitialize(void)
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||||
return 0;
|
||||
}
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||||
|
||||
/**
|
||||
* Initialise the module, called on startup
|
||||
* \returns 0 on success or -1 if initialisation failed
|
||||
*/
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||||
int32_t AHRSCommsInitialize(void)
|
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{
|
||||
|
||||
return 0;
|
||||
}
|
||||
MODULE_INITCALL(AHRSCommsInitialize, 0, AHRSCommsStart, 0, MODULE_EXEC_NOORDER_FLAG)
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||||
|
||||
/**
|
||||
* Module thread, should not return.
|
||||
*/
|
||||
|
||||
@ -85,6 +85,19 @@ typedef struct {
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||||
int8_t matrix[5];
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||||
} __attribute__((packed)) Mixer_t;
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||||
|
||||
/**
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||||
* @brief Module initialization
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||||
* @return 0
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||||
*/
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||||
int32_t ActuatorStart()
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{
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// Start main task
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xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_ACTUATOR, taskHandle);
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PIOS_WDG_RegisterFlag(PIOS_WDG_ACTUATOR);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Module initialization
|
||||
@ -100,14 +113,10 @@ int32_t ActuatorInitialize()
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||||
|
||||
// If settings change, update the output rate
|
||||
ActuatorSettingsConnectCallback(actuator_update_rate);
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|
||||
// Start main task
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xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_ACTUATOR, taskHandle);
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PIOS_WDG_RegisterFlag(PIOS_WDG_ACTUATOR);
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||||
|
||||
|
||||
return 0;
|
||||
}
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MODULE_INITCALL(ActuatorInitialize, 0, ActuatorStart, 0, MODULE_EXEC_NOORDER_FLAG)
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|
||||
/**
|
||||
* @brief Main Actuator module task
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||||
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||||
@ -37,6 +37,7 @@
|
||||
*/
|
||||
|
||||
#include "openpilot.h"
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||||
#include "altitude.h"
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||||
#include "baroaltitude.h" // object that will be updated by the module
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#if defined(PIOS_INCLUDE_HCSR04)
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#include "sonaraltitude.h" // object that will be updated by the module
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@ -66,12 +67,22 @@ static void altitudeTask(void *parameters);
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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||||
*/
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int32_t AltitudeInitialize()
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int32_t AltitudeStart()
|
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{
|
||||
// Start main task
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xTaskCreate(altitudeTask, (signed char *)"Altitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_ALTITUDE, taskHandle);
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|
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return 0;
|
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}
|
||||
|
||||
/**
|
||||
* Initialise the module, called on startup
|
||||
* \returns 0 on success or -1 if initialisation failed
|
||||
*/
|
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int32_t AltitudeInitialize()
|
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{
|
||||
|
||||
// init down-sampling data
|
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alt_ds_temp = 0;
|
||||
alt_ds_pres = 0;
|
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@ -79,7 +90,7 @@ int32_t AltitudeInitialize()
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
MODULE_INITCALL(AltitudeInitialize, 0, AltitudeStart, 0, MODULE_EXEC_NOORDER_FLAG)
|
||||
/**
|
||||
* Module thread, should not return.
|
||||
*/
|
||||
|
||||
@ -90,6 +90,21 @@ static float R[3][3];
|
||||
static int8_t rotate = 0;
|
||||
static bool zero_during_arming = false;
|
||||
|
||||
/**
|
||||
* Initialise the module, called on startup
|
||||
* \returns 0 on success or -1 if initialisation failed
|
||||
*/
|
||||
int32_t AttitudeStart(void)
|
||||
{
|
||||
|
||||
// Start main task
|
||||
xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
|
||||
TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle);
|
||||
PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialise the module, called on startup
|
||||
* \returns 0 on success or -1 if initialisation failed
|
||||
@ -104,22 +119,20 @@ int32_t AttitudeInitialize(void)
|
||||
attitude.q3 = 0;
|
||||
attitude.q4 = 0;
|
||||
AttitudeActualSet(&attitude);
|
||||
|
||||
AttitudeSettingsConnectCallback(&settingsUpdatedCb);
|
||||
|
||||
// Create queue for passing gyro data, allow 2 back samples in case
|
||||
gyro_queue = xQueueCreate(1, sizeof(float) * 4);
|
||||
if(gyro_queue == NULL)
|
||||
if(gyro_queue == NULL)
|
||||
return -1;
|
||||
PIOS_ADC_SetQueue(gyro_queue);
|
||||
|
||||
AttitudeSettingsConnectCallback(&settingsUpdatedCb);
|
||||
|
||||
// Start main task
|
||||
xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
|
||||
TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle);
|
||||
PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
MODULE_INITCALL(AttitudeInitialize, 0, AttitudeStart, 0, MODULE_EXEC_NOORDER_FLAG)
|
||||
|
||||
/**
|
||||
* Module thread, should not return.
|
||||
*/
|
||||
|
||||
@ -75,6 +75,7 @@ static void onTimer(UAVObjEvent* ev);
|
||||
* Initialise the module, called on startup
|
||||
* \returns 0 on success or -1 if initialisation failed
|
||||
*/
|
||||
MODULE_INITCALL(BatteryInitialize, 0, 0, 0, MODULE_EXEC_NOORDER_FLAG)
|
||||
int32_t BatteryInitialize(void)
|
||||
{
|
||||
static UAVObjEvent ev;
|
||||
|
||||
@ -49,9 +49,14 @@
|
||||
#include "examplemodperiodic.h"
|
||||
#include "examplemodthread.h"
|
||||
|
||||
void ExampleInitialize(void)
|
||||
void ExampleStart(void)
|
||||
{
|
||||
ExampleModEventInitialize();
|
||||
ExampleModPeriodicInitialize();
|
||||
ExampleModThreadInitialize();
|
||||
}
|
||||
|
||||
void ExampleInitialize(void)
|
||||
{
|
||||
ExampleModEventInitialize();
|
||||
}
|
||||
MODULE_INITCALL(ExampleInitialize, 0, ExampleStart, 0, MODULE_EXEC_NOORDER_FLAG)
|
||||
|
||||
@ -88,7 +88,7 @@ static void resetTask(UAVObjEvent *);
|
||||
* \note
|
||||
*
|
||||
*/
|
||||
|
||||
MODULE_INITCALL(FirmwareIAPInitialize, 0, 0, 0, MODULE_EXEC_NOORDER_FLAG)
|
||||
int32_t FirmwareIAPInitialize()
|
||||
{
|
||||
const struct pios_board_info * bdinfo = &pios_board_info_blob;
|
||||
|
||||
@ -31,6 +31,7 @@
|
||||
|
||||
#include "openpilot.h"
|
||||
#include "pm.h"
|
||||
#include "flightplan.h"
|
||||
#include "flightplanstatus.h"
|
||||
#include "flightplancontrol.h"
|
||||
#include "flightplansettings.h"
|
||||
@ -53,6 +54,20 @@ static void objectUpdatedCb(UAVObjEvent * ev);
|
||||
// External variables (temporary, TODO: this will be loaded from the SD card)
|
||||
extern unsigned char usrlib_img[];
|
||||
|
||||
/**
|
||||
* Module initialization
|
||||
*/
|
||||
int32_t FlightPlanStart()
|
||||
{
|
||||
taskHandle = NULL;
|
||||
|
||||
// Start VM thread
|
||||
xTaskCreate(flightPlanTask, (signed char *)"FlightPlan", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
|
||||
TaskMonitorAdd(TASKINFO_RUNNING_FLIGHTPLAN, taskHandle);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Module initialization
|
||||
*/
|
||||
@ -69,13 +84,9 @@ int32_t FlightPlanInitialize()
|
||||
// Listen for FlightPlanControl updates
|
||||
FlightPlanControlConnectQueue(queue);
|
||||
|
||||
// Start VM thread
|
||||
xTaskCreate(flightPlanTask, (signed char *)"FlightPlan", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
|
||||
TaskMonitorAdd(TASKINFO_RUNNING_FLIGHTPLAN, taskHandle);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
MODULE_INITCALL(FlightPlanInitialize, 0, FlightPlanStart, 0, MODULE_EXEC_NOORDER_FLAG)
|
||||
/**
|
||||
* Module task
|
||||
*/
|
||||
|
||||
@ -109,19 +109,27 @@ static uint32_t numParsingErrors;
|
||||
* \return 0 on success
|
||||
*/
|
||||
|
||||
int32_t GPSInitialize(void)
|
||||
int32_t GPSStart(void)
|
||||
{
|
||||
signed portBASE_TYPE xReturn;
|
||||
|
||||
// TODO: Get gps settings object
|
||||
gpsPort = PIOS_COM_GPS;
|
||||
|
||||
// Start gps task
|
||||
xReturn = xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle);
|
||||
xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle);
|
||||
TaskMonitorAdd(TASKINFO_RUNNING_GPS, gpsTaskHandle);
|
||||
|
||||
return 0;
|
||||
}
|
||||
/**
|
||||
* Initialise the gps module
|
||||
* \return -1 if initialisation failed
|
||||
* \return 0 on success
|
||||
*/
|
||||
int32_t GPSInitialize(void)
|
||||
{
|
||||
// TODO: Get gps settings object
|
||||
gpsPort = PIOS_COM_GPS;
|
||||
|
||||
return 0;
|
||||
}
|
||||
MODULE_INITCALL(GPSInitialize, 0, GPSStart, 0, MODULE_EXEC_NOORDER_FLAG)
|
||||
|
||||
// ****************
|
||||
/**
|
||||
|
||||
@ -78,6 +78,19 @@ static void updateVtolDesiredVelocity();
|
||||
static void manualSetDesiredVelocity();
|
||||
static void updateVtolDesiredAttitude();
|
||||
|
||||
/**
|
||||
* Initialise the module, called on startup
|
||||
* \returns 0 on success or -1 if initialisation failed
|
||||
*/
|
||||
int32_t GuidanceStart()
|
||||
{
|
||||
// Start main task
|
||||
xTaskCreate(guidanceTask, (signed char *)"Guidance", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &guidanceTaskHandle);
|
||||
TaskMonitorAdd(TASKINFO_RUNNING_GUIDANCE, guidanceTaskHandle);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialise the module, called on startup
|
||||
* \returns 0 on success or -1 if initialisation failed
|
||||
@ -90,12 +103,9 @@ int32_t GuidanceInitialize()
|
||||
// Listen for updates.
|
||||
AttitudeRawConnectQueue(queue);
|
||||
|
||||
// Start main task
|
||||
xTaskCreate(guidanceTask, (signed char *)"Guidance", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &guidanceTaskHandle);
|
||||
TaskMonitorAdd(TASKINFO_RUNNING_GUIDANCE, guidanceTaskHandle);
|
||||
|
||||
return 0;
|
||||
}
|
||||
MODULE_INITCALL(GuidanceInitialize, 0, GuidanceStart, 0, MODULE_EXEC_NOORDER_FLAG)
|
||||
|
||||
static float northVelIntegral = 0;
|
||||
static float eastVelIntegral = 0;
|
||||
|
||||
@ -27,5 +27,5 @@
|
||||
#define EXAMPLEMODPERIODIC_H
|
||||
|
||||
int32_t ExampleModPeriodicInitialize();
|
||||
|
||||
int32_t GuidanceInitialize(void);
|
||||
#endif // EXAMPLEMODPERIODIC_H
|
||||
|
||||
@ -144,19 +144,27 @@ static bool validInputRange(int16_t min, int16_t max, uint16_t value);
|
||||
/**
|
||||
* Module initialization
|
||||
*/
|
||||
int32_t ManualControlInitialize()
|
||||
int32_t ManualControlStart()
|
||||
{
|
||||
/* Check the assumptions about uavobject enum's are correct */
|
||||
if(!assumptions)
|
||||
if(!assumptions)
|
||||
return -1;
|
||||
// Start main task
|
||||
xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
|
||||
TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle);
|
||||
PIOS_WDG_RegisterFlag(PIOS_WDG_MANUAL);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Module initialization
|
||||
*/
|
||||
int32_t ManualControlInitialize()
|
||||
{
|
||||
|
||||
return 0;
|
||||
}
|
||||
MODULE_INITCALL(ManualControlInitialize, 0, ManualControlStart, 0, MODULE_EXEC_NOORDER_FLAG)
|
||||
|
||||
/**
|
||||
* Module task
|
||||
@ -621,3 +629,4 @@ bool validInputRange(int16_t min, int16_t max, uint16_t value)
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
|
||||
|
||||
@ -89,27 +89,40 @@ static void SettingsUpdatedCb(UAVObjEvent * ev);
|
||||
/**
|
||||
* Module initialization
|
||||
*/
|
||||
int32_t StabilizationInitialize()
|
||||
int32_t StabilizationStart()
|
||||
{
|
||||
// Initialize variables
|
||||
|
||||
// Create object queue
|
||||
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
|
||||
|
||||
// Listen for updates.
|
||||
// AttitudeActualConnectQueue(queue);
|
||||
AttitudeRawConnectQueue(queue);
|
||||
|
||||
StabilizationSettingsConnectCallback(SettingsUpdatedCb);
|
||||
SettingsUpdatedCb(StabilizationSettingsHandle());
|
||||
// Start main task
|
||||
xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
|
||||
TaskMonitorAdd(TASKINFO_RUNNING_STABILIZATION, taskHandle);
|
||||
PIOS_WDG_RegisterFlag(PIOS_WDG_STABILIZATION);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Module initialization
|
||||
*/
|
||||
int32_t StabilizationInitialize()
|
||||
{
|
||||
// Initialize variables
|
||||
|
||||
// Create object queue
|
||||
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
|
||||
|
||||
// Listen for updates.
|
||||
// AttitudeActualConnectQueue(queue);
|
||||
AttitudeRawConnectQueue(queue);
|
||||
|
||||
StabilizationSettingsConnectCallback(SettingsUpdatedCb);
|
||||
SettingsUpdatedCb(StabilizationSettingsHandle());
|
||||
// Start main task
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
MODULE_INITCALL(StabilizationInitialize, 0, StabilizationStart, 0, MODULE_EXEC_NOORDER_FLAG)
|
||||
|
||||
/**
|
||||
* Module task
|
||||
*/
|
||||
|
||||
@ -84,18 +84,34 @@ static void updateSystemAlarms();
|
||||
static void systemTask(void *parameters);
|
||||
|
||||
/**
|
||||
* Initialise the module, called on startup.
|
||||
* \returns 0 on success or -1 if initialisation failed
|
||||
* Create the module task.
|
||||
* \returns 0 on success or -1 if initialization failed
|
||||
*/
|
||||
int32_t SystemModInitialize(void)
|
||||
int32_t SystemModStart(void)
|
||||
{
|
||||
// Initialize vars
|
||||
stackOverflow = 0;
|
||||
// Create system task
|
||||
xTaskCreate(systemTask, (signed char *)"System", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &systemTaskHandle);
|
||||
// Register task
|
||||
TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialize the module, called on startup.
|
||||
* \returns 0 on success or -1 if initialization failed
|
||||
*/
|
||||
int32_t SystemModInitialize(void)
|
||||
{
|
||||
|
||||
SystemModStart();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
MODULE_INITCALL(SystemModInitialize, 0, 0, 0, MODULE_EXEC_FIRST_FLAG)
|
||||
/**
|
||||
* System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
|
||||
*/
|
||||
@ -103,11 +119,8 @@ static void systemTask(void *parameters)
|
||||
{
|
||||
portTickType lastSysTime;
|
||||
|
||||
// System initialization
|
||||
OpenPilotInit();
|
||||
|
||||
// Register task
|
||||
TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
|
||||
/* create all modules thread */
|
||||
MODULE_TASKCREATE_ALL
|
||||
|
||||
// Initialize vars
|
||||
idleCounter = 0;
|
||||
@ -118,7 +131,7 @@ static void systemTask(void *parameters)
|
||||
ObjectPersistenceConnectCallback(&objectUpdatedCb);
|
||||
|
||||
// Main system loop
|
||||
while (1) {
|
||||
while (1) {
|
||||
// Update the system statistics
|
||||
updateStats();
|
||||
|
||||
@ -260,6 +273,48 @@ static void updateWDGstats()
|
||||
WatchdogStatusSet(&watchdogStatus);
|
||||
}
|
||||
|
||||
/**
|
||||
* Called periodically to update the system stats
|
||||
*/
|
||||
static uint16_t GetFreeIrqStackSize(void)
|
||||
{
|
||||
uint32_t i = 0x200;
|
||||
|
||||
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
|
||||
extern uint32_t _irq_stack_top;
|
||||
extern uint32_t _irq_stack_end;
|
||||
uint32_t pattern = 0x0000A5A5;
|
||||
uint32_t *ptr = &_irq_stack_end;
|
||||
|
||||
#if 1 /* the ugly way accurate but takes more time, useful for debugging */
|
||||
uint32_t stack_size = (((uint32_t)&_irq_stack_top - (uint32_t)&_irq_stack_end) & ~3 ) / 4;
|
||||
|
||||
for (i=0; i< stack_size; i++)
|
||||
{
|
||||
if (ptr[i] != pattern)
|
||||
{
|
||||
i=i*4;
|
||||
break;
|
||||
}
|
||||
}
|
||||
#else /* faster way but not accurate */
|
||||
if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_CRITICAL) != pattern)
|
||||
{
|
||||
i = IRQSTACK_LIMIT_CRITICAL - 1;
|
||||
}
|
||||
else if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_WARNING) != pattern)
|
||||
{
|
||||
i = IRQSTACK_LIMIT_WARNING - 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
i = IRQSTACK_LIMIT_WARNING;
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
return i;
|
||||
}
|
||||
|
||||
/**
|
||||
* Called periodically to update the system stats
|
||||
*/
|
||||
@ -278,6 +333,9 @@ static void updateStats()
|
||||
stats.HeapRemaining = xPortGetFreeHeapSize();
|
||||
#endif
|
||||
|
||||
// Get Irq stack status
|
||||
stats.IRQStackRemaining = GetFreeIrqStackSize();
|
||||
|
||||
// When idleCounterClear was not reset by the idle-task, it means the idle-task did not run
|
||||
if (idleCounterClear) {
|
||||
idleCounter = 0;
|
||||
@ -320,6 +378,17 @@ static void updateSystemAlarms()
|
||||
AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY);
|
||||
}
|
||||
|
||||
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
|
||||
// Check IRQ stack
|
||||
if (stats.IRQStackRemaining < IRQSTACK_LIMIT_CRITICAL) {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL);
|
||||
} else if (stats.IRQStackRemaining < IRQSTACK_LIMIT_WARNING) {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_WARNING);
|
||||
} else {
|
||||
AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY);
|
||||
}
|
||||
#endif
|
||||
|
||||
// Check CPU load
|
||||
if (stats.CPULoad > CPULOAD_LIMIT_CRITICAL) {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_CPUOVERLOAD, SYSTEMALARMS_ALARM_CRITICAL);
|
||||
|
||||
@ -31,6 +31,7 @@
|
||||
*/
|
||||
|
||||
#include "openpilot.h"
|
||||
#include "telemetry.h"
|
||||
#include "flighttelemetrystats.h"
|
||||
#include "gcstelemetrystats.h"
|
||||
#include "telemetrysettings.h"
|
||||
@ -80,6 +81,28 @@ static void updateTelemetryStats();
|
||||
static void gcsTelemetryStatsUpdated();
|
||||
static void updateSettings();
|
||||
|
||||
/**
|
||||
* Initialise the telemetry module
|
||||
* \return -1 if initialisation failed
|
||||
* \return 0 on success
|
||||
*/
|
||||
int32_t TelemetryStart(void)
|
||||
{
|
||||
|
||||
// Start telemetry tasks
|
||||
xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
|
||||
xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
|
||||
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTX, telemetryTxTaskHandle);
|
||||
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle);
|
||||
|
||||
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
|
||||
xTaskCreate(telemetryTxPriTask, (signed char *)"TelPriTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle);
|
||||
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle);
|
||||
#endif
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialise the telemetry module
|
||||
* \return -1 if initialisation failed
|
||||
@ -117,20 +140,11 @@ int32_t TelemetryInitialize(void)
|
||||
GCSTelemetryStatsConnectQueue(priorityQueue);
|
||||
TelemetrySettingsConnectQueue(priorityQueue);
|
||||
|
||||
// Start telemetry tasks
|
||||
xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
|
||||
xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
|
||||
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTX, telemetryTxTaskHandle);
|
||||
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle);
|
||||
|
||||
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
|
||||
xTaskCreate(telemetryTxPriTask, (signed char *)"TelPriTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle);
|
||||
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle);
|
||||
#endif
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
MODULE_INITCALL(TelemetryInitialize, 0, TelemetryStart, 0, MODULE_EXEC_LAST_FLAG)
|
||||
|
||||
/**
|
||||
* Register a new object, adds object to local list and connects the queue depending on the object's
|
||||
* telemetry settings.
|
||||
|
||||
@ -112,8 +112,6 @@ UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
|
||||
# List C source files here. (C dependencies are automatically generated.)
|
||||
# use file-extension c for "c-only"-files
|
||||
|
||||
MODNAMES = $(notdir ${MODULES} ${PYMODULES})
|
||||
|
||||
ifndef TESTAPP
|
||||
|
||||
## PyMite files and modules
|
||||
@ -128,7 +126,6 @@ SRC += $(PYSRC)
|
||||
|
||||
## MODULES
|
||||
SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
|
||||
SRC += ${OUTDIR}/InitMods.c
|
||||
## OPENPILOT CORE:
|
||||
SRC += ${OPMODULEDIR}/System/systemmod.c
|
||||
SRC += $(OPSYSTEM)/openpilot.c
|
||||
@ -472,19 +469,10 @@ endif
|
||||
endif
|
||||
|
||||
# Generate intermediate code
|
||||
gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h
|
||||
gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h
|
||||
|
||||
$(PYSRC): gencode
|
||||
|
||||
# Generate code for module initialization
|
||||
${OUTDIR}/InitMods.c: Makefile
|
||||
@echo $(MSG_MODINIT) $(call toprel, $@)
|
||||
@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
|
||||
|
||||
# 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, $@)
|
||||
|
||||
@ -441,9 +441,13 @@ ${OUTDIR}/InitMods.c: Makefile.posix
|
||||
@echo ${MSG_MODINIT}
|
||||
@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Start(void);}${quote} >> ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}void StartModules() {${quote} >> ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Start();}${quote} >> ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
|
||||
|
||||
# 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) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py)
|
||||
|
||||
@ -83,6 +83,9 @@ do {\
|
||||
#define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004)/* DWT_CYCCNT */
|
||||
#endif
|
||||
|
||||
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32)
|
||||
#define CHECK_IRQ_STACK
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @}
|
||||
|
||||
@ -84,6 +84,8 @@
|
||||
/* Alarm Thresholds */
|
||||
#define HEAP_LIMIT_WARNING 4000
|
||||
#define HEAP_LIMIT_CRITICAL 1000
|
||||
#define IRQSTACK_LIMIT_WARNING 150
|
||||
#define IRQSTACK_LIMIT_CRITICAL 80
|
||||
#define CPULOAD_LIMIT_WARNING 80
|
||||
#define CPULOAD_LIMIT_CRITICAL 95
|
||||
|
||||
|
||||
@ -62,11 +62,10 @@ static void TaskSDCard(void *pvParameters);
|
||||
int32_t CONSOLE_Parse(uint8_t port, char c);
|
||||
void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value);
|
||||
|
||||
/* Prototype of generated InitModules() function */
|
||||
extern void InitModules(void);
|
||||
|
||||
/* Prototype of PIOS_Board_Init() function */
|
||||
extern void PIOS_Board_Init(void);
|
||||
extern void Stack_Change(void);
|
||||
static void Stack_Change_Weak () __attribute__ ((weakref ("Stack_Change")));
|
||||
|
||||
/**
|
||||
* OpenPilot Main function:
|
||||
@ -85,48 +84,42 @@ int main()
|
||||
/* Brings up System using CMSIS functions, enables the LEDs. */
|
||||
PIOS_SYS_Init();
|
||||
|
||||
/* Initialize the system thread */
|
||||
SystemModInitialize();
|
||||
|
||||
/* Start the FreeRTOS scheduler */
|
||||
vTaskStartScheduler();
|
||||
|
||||
/* If all is well we will never reach here as the scheduler will now be running. */
|
||||
/* If we do get here, it will most likely be because we ran out of heap space. */
|
||||
PIOS_LED_Off(LED1);
|
||||
PIOS_LED_Off(LED2);
|
||||
for(;;) {
|
||||
PIOS_LED_Toggle(LED1);
|
||||
PIOS_LED_Toggle(LED2);
|
||||
PIOS_DELAY_WaitmS(100);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialize the hardware, libraries and modules (called by the System thread in systemmod.c)
|
||||
*/
|
||||
void OpenPilotInit()
|
||||
{
|
||||
|
||||
/* Architecture dependant Hardware and
|
||||
* core subsystem initialisation
|
||||
* (see pios_board.c for your arch)
|
||||
* */
|
||||
|
||||
PIOS_Board_Init();
|
||||
|
||||
/* Initialize modules */
|
||||
InitModules();
|
||||
MODULE_INITIALISE_ALL
|
||||
|
||||
#if INCLUDE_TEST_TASKS
|
||||
/* Create test tasks */
|
||||
//xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
|
||||
//xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
|
||||
//xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
|
||||
//xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
|
||||
xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
|
||||
xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
|
||||
xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
|
||||
xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
|
||||
#endif
|
||||
|
||||
/* swap the stack to use the IRQ stack (does nothing in sim mode) */
|
||||
Stack_Change_Weak();
|
||||
|
||||
/* Start the FreeRTOS scheduler which should never returns.*/
|
||||
vTaskStartScheduler();
|
||||
|
||||
/* If all is well we will never reach here as the scheduler will now be running. */
|
||||
|
||||
/* Do some indication to user that something bad just happened */
|
||||
PIOS_LED_Off(LED1); \
|
||||
for(;;) { \
|
||||
PIOS_LED_Toggle(LED1); \
|
||||
PIOS_DELAY_WaitmS(100); \
|
||||
};
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
#if INCLUDE_TEST_TASKS
|
||||
static void TaskTesting(void *pvParameters)
|
||||
{
|
||||
@ -342,5 +335,5 @@ static void TaskSDCard(void *pvParameters)
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
*/
|
||||
|
||||
|
||||
@ -38,7 +38,22 @@
|
||||
* and we cannot define a linker script for each of them atm
|
||||
*/
|
||||
|
||||
#define uavobj_initcall(fn)
|
||||
extern void InitModules();
|
||||
extern void StartModules();
|
||||
|
||||
#define UAVOBJ_INITCALL(fn)
|
||||
#define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags)
|
||||
|
||||
#define MODULE_TASKCREATE_ALL { \
|
||||
/* Start all module threads */ \
|
||||
StartModules(); \
|
||||
}
|
||||
|
||||
#define MODULE_INITIALISE_ALL { \
|
||||
/* Initialize modules */ \
|
||||
InitModules(); \
|
||||
/* Initialize the system thread */ \
|
||||
SystemModInitialize();}
|
||||
|
||||
#endif /* PIOS_INITCALL_H */
|
||||
|
||||
|
||||
@ -38,7 +38,18 @@
|
||||
* and we cannot define a linker script for each of them atm
|
||||
*/
|
||||
|
||||
#define uavobj_initcall(fn)
|
||||
#define UAVOBJ_INITCALL(fn)
|
||||
#define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags)
|
||||
|
||||
#define MODULE_TASKCREATE_ALL
|
||||
|
||||
#define MODULE_INITIALISE_ALL { \
|
||||
/* Initialize modules */ \
|
||||
InitModules(); \
|
||||
/* Start the FreeRTOS scheduler which never returns.*/ \
|
||||
/* Initialize the system thread */ \
|
||||
SystemModInitialize();}
|
||||
|
||||
|
||||
#endif /* PIOS_INITCALL_H */
|
||||
|
||||
|
||||
@ -81,9 +81,11 @@ static union xRTOS_HEAP
|
||||
volatile unsigned long ulDummy;
|
||||
#endif
|
||||
unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
|
||||
} xHeap;
|
||||
} xHeap __attribute__ ((section (".heap")));
|
||||
|
||||
static size_t xNextFreeByte = ( size_t ) 0;
|
||||
static size_t currentTOTAL_HEAP_SISE = configTOTAL_HEAP_SIZE;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void *pvPortMalloc( size_t xWantedSize )
|
||||
@ -102,7 +104,7 @@ void *pvReturn = NULL;
|
||||
vTaskSuspendAll();
|
||||
{
|
||||
/* Check there is enough room left for the allocation. */
|
||||
if( ( ( xNextFreeByte + xWantedSize ) < configTOTAL_HEAP_SIZE ) &&
|
||||
if( ( ( xNextFreeByte + xWantedSize ) < currentTOTAL_HEAP_SISE ) &&
|
||||
( ( xNextFreeByte + xWantedSize ) > xNextFreeByte ) )/* Check for overflow. */
|
||||
{
|
||||
/* Return the next free byte then increment the index past this
|
||||
@ -145,8 +147,14 @@ void vPortInitialiseBlocks( void )
|
||||
|
||||
size_t xPortGetFreeHeapSize( void )
|
||||
{
|
||||
return ( configTOTAL_HEAP_SIZE - xNextFreeByte );
|
||||
return ( currentTOTAL_HEAP_SISE - xNextFreeByte );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
|
||||
|
||||
void xPortIncreaseHeapSize( size_t bytes )
|
||||
{
|
||||
vTaskSuspendAll();
|
||||
currentTOTAL_HEAP_SISE = configTOTAL_HEAP_SIZE + bytes;
|
||||
xTaskResumeAll();
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
@ -81,7 +81,7 @@ static union xRTOS_HEAP
|
||||
volatile unsigned long ulDummy;
|
||||
#endif
|
||||
unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
|
||||
} xHeap;
|
||||
} xHeap __attribute__ ((section (".heap")));
|
||||
|
||||
/* Define the linked list structure. This is used to link free blocks in order
|
||||
of their size. */
|
||||
@ -101,6 +101,7 @@ static xBlockLink xStart, xEnd;
|
||||
/* Keeps track of the number of free bytes remaining, but says nothing about
|
||||
fragmentation. */
|
||||
static size_t xFreeBytesRemaining = configTOTAL_HEAP_SIZE;
|
||||
static size_t currentTOTAL_HEAP_SISE = configTOTAL_HEAP_SIZE;
|
||||
|
||||
/* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */
|
||||
|
||||
@ -140,13 +141,13 @@ xBlockLink *pxFirstFreeBlock; \
|
||||
xStart.xBlockSize = ( size_t ) 0; \
|
||||
\
|
||||
/* xEnd is used to mark the end of the list of free blocks. */ \
|
||||
xEnd.xBlockSize = configTOTAL_HEAP_SIZE; \
|
||||
xEnd.xBlockSize = currentTOTAL_HEAP_SISE; \
|
||||
xEnd.pxNextFreeBlock = NULL; \
|
||||
\
|
||||
/* To start with there is a single free block that is sized to take up the \
|
||||
entire heap space. */ \
|
||||
pxFirstFreeBlock = ( void * ) xHeap.ucHeap; \
|
||||
pxFirstFreeBlock->xBlockSize = configTOTAL_HEAP_SIZE; \
|
||||
pxFirstFreeBlock->xBlockSize = currentTOTAL_HEAP_SISE; \
|
||||
pxFirstFreeBlock->pxNextFreeBlock = &xEnd; \
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
@ -181,7 +182,7 @@ void *pvReturn = NULL;
|
||||
}
|
||||
}
|
||||
|
||||
if( ( xWantedSize > 0 ) && ( xWantedSize < configTOTAL_HEAP_SIZE ) )
|
||||
if( ( xWantedSize > 0 ) && ( xWantedSize < currentTOTAL_HEAP_SISE ) )
|
||||
{
|
||||
/* Blocks are stored in byte order - traverse the list from the start
|
||||
(smallest) block until one of adequate size is found. */
|
||||
@ -276,3 +277,18 @@ void vPortInitialiseBlocks( void )
|
||||
{
|
||||
/* This just exists to keep the linker quiet. */
|
||||
}
|
||||
|
||||
void xPortIncreaseHeapSize( size_t bytes )
|
||||
{
|
||||
xBlockLink *pxNewBlockLink;
|
||||
vTaskSuspendAll();
|
||||
currentTOTAL_HEAP_SISE = configTOTAL_HEAP_SIZE + bytes;
|
||||
xEnd.xBlockSize = currentTOTAL_HEAP_SISE;
|
||||
xFreeBytesRemaining += bytes;
|
||||
/* Insert the new block into the list of free blocks. */
|
||||
pxNewBlockLink = ( void * ) &xHeap.ucHeap[ configTOTAL_HEAP_SIZE ];
|
||||
pxNewBlockLink->xBlockSize = bytes;
|
||||
prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
|
||||
xTaskResumeAll();
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
@ -3,7 +3,8 @@ PROVIDE ( vPortSVCHandler = 0 ) ;
|
||||
PROVIDE ( xPortPendSVHandler = 0 ) ;
|
||||
PROVIDE ( xPortSysTickHandler = 0 ) ;
|
||||
|
||||
_estack = 0x20004FF0;
|
||||
/* This is the size of the stack for early init and for all FreeRTOS IRQs */
|
||||
_irq_stack_size = 0x400;
|
||||
|
||||
/* Section Definitions */
|
||||
SECTIONS
|
||||
@ -59,6 +60,24 @@ SECTIONS
|
||||
_ebss = . ;
|
||||
} > SRAM
|
||||
|
||||
/*
|
||||
* This stack is used both as the initial sp during early init as well as ultimately
|
||||
* being used as the STM32's MSP (Main Stack Pointer) which is the same stack that
|
||||
* is used for _all_ interrupt handlers. The end of this stack should be placed
|
||||
* against the lowest address in RAM so that a stack overrun results in a hard fault
|
||||
* at the first access beyond the end of the stack.
|
||||
*/
|
||||
.irq_stack :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
_irq_stack_end = . ;
|
||||
. = . + _irq_stack_size ;
|
||||
. = ALIGN(4);
|
||||
_irq_stack_top = . - 4 ;
|
||||
_init_stack_top = _irq_stack_top;
|
||||
. = ALIGN(4);
|
||||
} > SRAM
|
||||
|
||||
. = ALIGN(4);
|
||||
_end = . ;
|
||||
|
||||
|
||||
@ -1,3 +1,10 @@
|
||||
/* This is the size of the stack for all FreeRTOS IRQs */
|
||||
_irq_stack_size = 0x180;
|
||||
/* This is the size of the stack for early init: life span is until scheduler starts */
|
||||
_init_stack_size = 0x80;
|
||||
/* there is probably a way to get that from the MEMORY section */
|
||||
_eram = ORIGIN(SRAM) + LENGTH(SRAM);
|
||||
|
||||
/* Stub out these functions since we don't use them anyway */
|
||||
PROVIDE ( vPortSVCHandler = 0 ) ;
|
||||
PROVIDE ( xPortPendSVHandler = 0 ) ;
|
||||
@ -5,8 +12,6 @@ PROVIDE ( xPortSysTickHandler = 0 ) ;
|
||||
|
||||
PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
|
||||
|
||||
_estack = 0x20004FF0;
|
||||
|
||||
/* Section Definitions */
|
||||
SECTIONS
|
||||
{
|
||||
@ -29,6 +34,16 @@ SECTIONS
|
||||
__uavobj_initcall_end = .;
|
||||
} >FLASH
|
||||
|
||||
/* module sections */
|
||||
.initcallmodule.init :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
__module_initcall_start = .;
|
||||
KEEP(*(.initcallmodule.init))
|
||||
. = ALIGN(4);
|
||||
__module_initcall_end = .;
|
||||
} >FLASH
|
||||
|
||||
.ARM.extab :
|
||||
{
|
||||
*(.ARM.extab* .gnu.linkonce.armextab.*)
|
||||
@ -43,6 +58,23 @@ SECTIONS
|
||||
_etext = .;
|
||||
_sidata = .;
|
||||
|
||||
/*
|
||||
* This stack is used both as the initial sp during early init as well as ultimately
|
||||
* being used as the STM32's MSP (Main Stack Pointer) which is the same stack that
|
||||
* is used for _all_ interrupt handlers. The end of this stack should be placed
|
||||
* against the lowest address in RAM so that a stack overrun results in a hard fault
|
||||
* at the first access beyond the end of the stack.
|
||||
*/
|
||||
.irq_stack :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
_irq_stack_end = . ;
|
||||
. = . + _irq_stack_size ;
|
||||
. = ALIGN(4);
|
||||
_irq_stack_top = . - 4 ;
|
||||
. = ALIGN(4);
|
||||
} > SRAM
|
||||
|
||||
.data : AT (_etext)
|
||||
{
|
||||
_sdata = .;
|
||||
@ -51,6 +83,8 @@ SECTIONS
|
||||
_edata = . ;
|
||||
} > SRAM
|
||||
|
||||
|
||||
|
||||
/* .bss section which is used for uninitialized data */
|
||||
.bss (NOLOAD) :
|
||||
{
|
||||
@ -60,6 +94,27 @@ SECTIONS
|
||||
. = ALIGN(4);
|
||||
_ebss = . ;
|
||||
} > SRAM
|
||||
|
||||
.heap (NOLOAD) :
|
||||
{
|
||||
_sheap = . ;
|
||||
_sheap_pre_rtos = . ;
|
||||
*(.heap)
|
||||
. = ALIGN(4);
|
||||
_eheap = . ;
|
||||
_eheap_pre_rtos = . ;
|
||||
_init_stack_end = . ;
|
||||
_sheap_post_rtos = . ;
|
||||
. = . + _init_stack_size ;
|
||||
. = ALIGN(4);
|
||||
_eheap_post_rtos = . ;
|
||||
_init_stack_top = . - 4 ;
|
||||
} > SRAM
|
||||
|
||||
|
||||
/* keep the heap section at the end of the SRAM */
|
||||
/* this will allow to claim the remaining bytes not used
|
||||
/* at run time! (done by the reset vector).
|
||||
|
||||
. = ALIGN(4);
|
||||
_end = . ;
|
||||
|
||||
@ -250,6 +250,7 @@ SECTIONS
|
||||
. = . + _irq_stack_size ;
|
||||
. = ALIGN(4);
|
||||
_irq_stack_top = . - 4 ;
|
||||
_init_stack_top = _irq_stack_top;
|
||||
. = ALIGN(4);
|
||||
} >RAM
|
||||
|
||||
|
||||
@ -223,6 +223,7 @@ SECTIONS
|
||||
. = . + _irq_stack_size ;
|
||||
. = ALIGN(4);
|
||||
_irq_stack_top = . - 4 ;
|
||||
_init_stack_top = _irq_stack_top;
|
||||
. = ALIGN(4);
|
||||
} >RAM
|
||||
|
||||
@ -364,5 +365,3 @@ SECTIONS
|
||||
.debug_typenames 0 : { *(.debug_typenames) }
|
||||
.debug_varnames 0 : { *(.debug_varnames) }
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -1,5 +1,9 @@
|
||||
/* This is the size of the stack for early init and for all FreeRTOS IRQs */
|
||||
_irq_stack_size = 0x400;
|
||||
/* This is the size of the stack for early init: life span is until scheduler starts */
|
||||
_init_stack_size = 0x400;
|
||||
/* there is probably a way to get that from the MEMORY section */
|
||||
_eram = ORIGIN(RAM) + LENGTH(RAM);
|
||||
|
||||
/* Check valid alignment for VTOR */
|
||||
ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
|
||||
@ -191,6 +195,16 @@ SECTIONS
|
||||
__uavobj_initcall_end = .;
|
||||
} >FLASH
|
||||
|
||||
/* module sections */
|
||||
.initcallmodule.init :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
__module_initcall_start = .;
|
||||
KEEP(*(.initcallmodule.init))
|
||||
. = ALIGN(4);
|
||||
__module_initcall_end = .;
|
||||
} >FLASH
|
||||
|
||||
/* the program code is stored in the .text section, which goes to Flash */
|
||||
.text :
|
||||
{
|
||||
@ -261,6 +275,26 @@ SECTIONS
|
||||
_ebss = . ;
|
||||
} >RAM
|
||||
|
||||
.heap (NOLOAD) :
|
||||
{
|
||||
_sheap = . ;
|
||||
_sheap_pre_rtos = . ;
|
||||
*(.heap)
|
||||
. = ALIGN(4);
|
||||
_eheap = . ;
|
||||
_eheap_pre_rtos = . ;
|
||||
_init_stack_end = . ;
|
||||
_sheap_post_rtos = . ;
|
||||
. = . + _init_stack_size ;
|
||||
. = ALIGN(4);
|
||||
_eheap_post_rtos = . ;
|
||||
_init_stack_top = . - 4 ;
|
||||
} > RAM
|
||||
|
||||
/* keep the heap section at the end of the SRAM */
|
||||
/* this will allow to claim the remaining bytes not used
|
||||
/* at run time! (done by the reset vector).
|
||||
|
||||
PROVIDE ( end = _ebss );
|
||||
PROVIDE ( _end = _ebss );
|
||||
|
||||
|
||||
@ -36,6 +36,8 @@
|
||||
.global g_pfnVectors
|
||||
.global SystemInit_ExtMemCtl_Dummy
|
||||
.global Default_Handler
|
||||
.global xPortIncreaseHeapSize
|
||||
.global Stack_Change
|
||||
|
||||
/* start address for the initialization values of the .data section.
|
||||
defined in linker script */
|
||||
@ -71,6 +73,35 @@ Reset_Handler:
|
||||
/* restore original stack pointer */
|
||||
LDR r0, =_irq_stack_top
|
||||
MSR msp, r0
|
||||
LDR r2, =_init_stack_top
|
||||
MSR psp, r2
|
||||
/* check if irq and init stack are the same */
|
||||
/* if they are, we don't do stack swap */
|
||||
/* and lets bypass the monitoring as well for now */
|
||||
cmp r0, r2
|
||||
beq SectionBssInit
|
||||
/* DO
|
||||
* - stay in thread process mode
|
||||
* - stay in privilege level
|
||||
* - use process stack
|
||||
*/
|
||||
movs r0, #2
|
||||
MSR control, r0
|
||||
ISB
|
||||
/* Fill IRQ stack for watermark monitoring */
|
||||
ldr r2, =_irq_stack_end
|
||||
b LoopFillIRQStack
|
||||
|
||||
FillIRQStack:
|
||||
movw r3, #0xA5A5
|
||||
str r3, [r2], #4
|
||||
|
||||
LoopFillIRQStack:
|
||||
ldr r3, = _irq_stack_top
|
||||
cmp r2, r3
|
||||
bcc FillIRQStack
|
||||
|
||||
SectionBssInit:
|
||||
/* Copy the data segment initializers from flash to SRAM */
|
||||
movs r1, #0
|
||||
b LoopCopyDataInit
|
||||
@ -100,9 +131,37 @@ LoopFillZerobss:
|
||||
bcc FillZerobss
|
||||
/* Call the application's entry point.*/
|
||||
bl main
|
||||
bx lr
|
||||
/* will never return here */
|
||||
bx lr
|
||||
.size Reset_Handler, .-Reset_Handler
|
||||
|
||||
/**
|
||||
* @brief This is the code that swaps stack (from end of heap to irq_stack).
|
||||
* Also reclaim the heap that was used as a stack.
|
||||
* @param None
|
||||
* @retval : None
|
||||
*/
|
||||
.section .text.Stack_Change
|
||||
.weak Stack_Change
|
||||
.type Stack_Change, %function
|
||||
Stack_Change:
|
||||
mov r4, lr
|
||||
/* Switches stack back momentarily to MSP */
|
||||
movs r0, #0
|
||||
msr control, r0
|
||||
Heap_Reclaim:
|
||||
/* add heap_post_rtos to the heap (if the capability/function exist) */
|
||||
/* Also claim the unused memory (between end of heap to end of memory */
|
||||
/* CAREFULL: the heap section must be the last section in RAM in order this to work */
|
||||
ldr r0, = _init_stack_size
|
||||
ldr r1, = _eheap_post_rtos
|
||||
ldr r2, = _eram
|
||||
subs r2, r2, r1
|
||||
adds r0, r0, r2
|
||||
bl xPortIncreaseHeapSize
|
||||
bx r4
|
||||
.size Stack_Change, .-Stack_Change
|
||||
|
||||
/**
|
||||
* @brief Dummy SystemInit_ExtMemCtl function
|
||||
* @param None
|
||||
@ -114,12 +173,12 @@ SystemInit_ExtMemCtl_Dummy:
|
||||
.size SystemInit_ExtMemCtl_Dummy, .-SystemInit_ExtMemCtl_Dummy
|
||||
|
||||
/**
|
||||
* @brief This is the code that gets called when the processor receives an
|
||||
* @brief This is the code that gets called when the processor receives an
|
||||
* unexpected interrupt. This simply enters an infinite loop, preserving
|
||||
* the system state for examination by a debugger.
|
||||
*
|
||||
* @param None
|
||||
* @retval : None
|
||||
* @param None
|
||||
* @retval : None
|
||||
*/
|
||||
.section .text.Default_Handler,"ax",%progbits
|
||||
Default_Handler:
|
||||
@ -272,13 +331,13 @@ g_pfnVectors:
|
||||
|
||||
.weak NMI_Handler
|
||||
.thumb_set NMI_Handler,Default_Handler
|
||||
|
||||
|
||||
.weak HardFault_Handler
|
||||
.thumb_set HardFault_Handler,Default_Handler
|
||||
|
||||
|
||||
.weak MemManage_Handler
|
||||
.thumb_set MemManage_Handler,Default_Handler
|
||||
|
||||
|
||||
.weak BusFault_Handler
|
||||
.thumb_set BusFault_Handler,Default_Handler
|
||||
|
||||
|
||||
@ -33,6 +33,8 @@
|
||||
|
||||
.global g_pfnVectors
|
||||
.global Default_Handler
|
||||
.global xPortIncreaseHeapSize
|
||||
.global Stack_Change
|
||||
|
||||
/* start address for the initialization values of the .data section.
|
||||
defined in linker script */
|
||||
@ -61,6 +63,47 @@ defined in linker script */
|
||||
.type Reset_Handler, %function
|
||||
Reset_Handler:
|
||||
|
||||
/*
|
||||
* From COrtex-M3 reference manual:
|
||||
* - Handler IRQ always use SP_main
|
||||
* - Process use SP_main or SP_process
|
||||
* Here, we will use beginning of SRAM for IRQ (SP_main)
|
||||
* and end of heap for initialization (SP_process).
|
||||
* Once the schedule starts, all threads will use their own stack
|
||||
* from heap and NOBOBY should use SP_process again.
|
||||
*/
|
||||
/* Do set/reset the stack pointers */
|
||||
LDR r0, =_irq_stack_top
|
||||
MSR msp, r0
|
||||
LDR r2, =_init_stack_top
|
||||
MSR psp, r2
|
||||
/* check if irq and init stack are the same */
|
||||
/* if they are, we don't do stack swap */
|
||||
/* and lets bypass the monitoring as well for now */
|
||||
cmp r0, r2
|
||||
beq SectionBssInit
|
||||
/* DO
|
||||
* - stay in thread process mode
|
||||
* - stay in privilege level
|
||||
* - use process stack
|
||||
*/
|
||||
movs r0, #2
|
||||
MSR control, r0
|
||||
ISB
|
||||
/* Fill IRQ stack for watermark monitoring */
|
||||
ldr r2, =_irq_stack_end
|
||||
b LoopFillIRQStack
|
||||
|
||||
FillIRQStack:
|
||||
movw r3, #0xA5A5
|
||||
str r3, [r2], #4
|
||||
|
||||
LoopFillIRQStack:
|
||||
ldr r3, = _irq_stack_top
|
||||
cmp r2, r3
|
||||
bcc FillIRQStack
|
||||
|
||||
SectionBssInit:
|
||||
/* Copy the data segment initializers from flash to SRAM */
|
||||
movs r1, #0
|
||||
b LoopCopyDataInit
|
||||
@ -90,16 +133,45 @@ LoopFillZerobss:
|
||||
bcc FillZerobss
|
||||
/* Call the application's entry point.*/
|
||||
bl main
|
||||
/* will never return here */
|
||||
bx lr
|
||||
.size Reset_Handler, .-Reset_Handler
|
||||
|
||||
/**
|
||||
* @brief This is the code that gets called when the processor receives an
|
||||
* @brief This is the code that swaps stack (from end of heap to irq_stack).
|
||||
* Also reclaim the heap that was used as a stack.
|
||||
* @param None
|
||||
* @retval : None
|
||||
*/
|
||||
.section .text.Stack_Change
|
||||
.weak Stack_Change
|
||||
.type Stack_Change, %function
|
||||
Stack_Change:
|
||||
mov r4, lr
|
||||
/* Switches stack back momentarily to MSP */
|
||||
movs r0, #0
|
||||
msr control, r0
|
||||
Heap_Reclaim:
|
||||
/* add heap_post_rtos to the heap (if the capability/function exist) */
|
||||
/* Also claim the unused memory (between end of heap to end of memory */
|
||||
/* CAREFULL: the heap section must be the last section in RAM in order this to work */
|
||||
ldr r0, = _init_stack_size
|
||||
ldr r1, = _eheap_post_rtos
|
||||
ldr r2, = _eram
|
||||
subs r2, r2, r1
|
||||
adds r0, r0, r2
|
||||
bl xPortIncreaseHeapSize
|
||||
bx r4
|
||||
.size Stack_Change, .-Stack_Change
|
||||
|
||||
|
||||
/**
|
||||
* @brief This is the code that gets called when the processor receives an
|
||||
* unexpected interrupt. This simply enters an infinite loop, preserving
|
||||
* the system state for examination by a debugger.
|
||||
*
|
||||
* @param None
|
||||
* @retval : None
|
||||
* @param None
|
||||
* @retval : None
|
||||
*/
|
||||
.section .text.Default_Handler,"ax",%progbits
|
||||
Default_Handler:
|
||||
@ -119,7 +191,7 @@ Infinite_Loop:
|
||||
|
||||
|
||||
g_pfnVectors:
|
||||
.word _estack
|
||||
.word _irq_stack_top
|
||||
.word Reset_Handler
|
||||
.word NMI_Handler
|
||||
.word HardFault_Handler
|
||||
|
||||
@ -41,7 +41,21 @@
|
||||
/*
|
||||
* Used for initialization calls..
|
||||
*/
|
||||
#define MODULE_EXEC_NOORDER_FLAG 0xFA000000
|
||||
#define MODULE_EXEC_FIRST_FLAG 0xFA000001
|
||||
#define MODULE_EXEC_LAST_FLAG 0xFA000002
|
||||
|
||||
typedef int32_t (*initcall_t)(void);
|
||||
typedef struct {
|
||||
uint32_t flag;
|
||||
uint32_t param_minit;
|
||||
initcall_t fn_minit;
|
||||
uint32_t param_tinit;
|
||||
initcall_t fn_tinit;
|
||||
} initmodule_t;
|
||||
|
||||
/* Init module section */
|
||||
extern initmodule_t __module_initcall_start[], __module_initcall_end[];
|
||||
|
||||
/* initcalls are now grouped by functionality into separate
|
||||
* subsections. Ordering inside the subsections is determined
|
||||
@ -55,7 +69,26 @@ typedef int32_t (*initcall_t)(void);
|
||||
static initcall_t __initcall_##fn##id __attribute__((__used__)) \
|
||||
__attribute__((__section__(".initcall" level ".init"))) = fn
|
||||
|
||||
#define uavobj_initcall(fn) __define_initcall("uavobj",fn,1)
|
||||
#define __define_module_initcall(level,ifn,iparam,sfn,sparam, param) \
|
||||
static initmodule_t __initcall_##fn __attribute__((__used__)) \
|
||||
__attribute__((__section__(".initcall" level ".init"))) = { .flag = param, .param_minit = iparam, .fn_minit = ifn, .param_tinit = sparam, .fn_tinit = sfn };
|
||||
|
||||
#define UAVOBJ_INITCALL(fn) __define_initcall("uavobj",fn,1)
|
||||
#define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags) __define_module_initcall("module", ifn, iparam, sfn, sparam, flags)
|
||||
|
||||
#define MODULE_INITIALISE_ALL { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \
|
||||
if (fn->fn_minit && ( (fn->flag & MODULE_EXEC_FIRST_FLAG) == MODULE_EXEC_FIRST_FLAG) ) \
|
||||
(fn->fn_minit)(); \
|
||||
for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \
|
||||
if (fn->fn_minit && ( (fn->flag & (MODULE_EXEC_LAST_FLAG | MODULE_EXEC_FIRST_FLAG)) == MODULE_EXEC_NOORDER_FLAG) ) \
|
||||
(fn->fn_minit)(); \
|
||||
for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \
|
||||
if (fn->fn_minit && ( (fn->flag & MODULE_EXEC_LAST_FLAG) == MODULE_EXEC_LAST_FLAG) ) \
|
||||
(fn->fn_minit)(); }
|
||||
|
||||
#define MODULE_TASKCREATE_ALL { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \
|
||||
if (fn->fn_tinit) \
|
||||
(fn->fn_tinit)(); }
|
||||
|
||||
#endif /* PIOS_INITCALL_H */
|
||||
|
||||
|
||||
@ -64,7 +64,7 @@ int32_t $(NAME)Initialize(void)
|
||||
}
|
||||
}
|
||||
|
||||
uavobj_initcall($(NAME)Initialize);
|
||||
UAVOBJ_INITCALL($(NAME)Initialize);
|
||||
|
||||
/**
|
||||
* Initialize object fields and metadata with the default values.
|
||||
|
||||
@ -3,6 +3,7 @@
|
||||
<description>CPU and memory usage from OpenPilot computer. </description>
|
||||
<field name="FlightTime" units="ms" type="uint32" elements="1"/>
|
||||
<field name="HeapRemaining" units="bytes" type="uint16" elements="1"/>
|
||||
<field name="IRQStackRemaining" units="bytes" type="uint16" elements="1"/>
|
||||
<field name="CPULoad" units="%" type="uint8" elements="1"/>
|
||||
<field name="CPUTemp" units="C" type="int8" elements="1"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user