mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-18 03:52:11 +01:00
Delete overo stubs to move into submodule
This commit is contained in:
James Cotton
parent
ae01936808
commit
3bb571a1a7
@ -1,62 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @{
|
||||
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
|
||||
* @{
|
||||
* @file uavtalk.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Include file of the UAVTalk library
|
||||
* @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 UAVTALK_H
|
||||
#define UAVTALK_H
|
||||
|
||||
// Public types
|
||||
typedef int32_t (*UAVTalkOutputStream)(uint8_t* data, int32_t length);
|
||||
|
||||
typedef struct {
|
||||
uint32_t txBytes;
|
||||
uint32_t rxBytes;
|
||||
uint32_t txObjectBytes;
|
||||
uint32_t rxObjectBytes;
|
||||
uint32_t rxObjects;
|
||||
uint32_t txObjects;
|
||||
uint32_t txErrors;
|
||||
uint32_t rxErrors;
|
||||
} UAVTalkStats;
|
||||
|
||||
typedef void* UAVTalkConnection;
|
||||
|
||||
// Public functions
|
||||
UAVTalkConnection UAVTalkInitialize(UAVTalkOutputStream outputStream);
|
||||
int32_t UAVTalkSetOutputStream(UAVTalkConnection connection, UAVTalkOutputStream outputStream);
|
||||
UAVTalkOutputStream UAVTalkGetOutputStream(UAVTalkConnection connection);
|
||||
int32_t UAVTalkSendObject(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs);
|
||||
int32_t UAVTalkSendObjectRequest(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, int32_t timeoutMs);
|
||||
int32_t UAVTalkProcessInputStream(UAVTalkConnection connection, uint8_t rxbyte);
|
||||
void UAVTalkGetStats(UAVTalkConnection connection, UAVTalkStats *stats);
|
||||
void UAVTalkResetStats(UAVTalkConnection connection);
|
||||
|
||||
#endif // UAVTALK_H
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -1,112 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @{
|
||||
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
|
||||
* @{
|
||||
* @file uavtalk.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Private include file of the UAVTalk library
|
||||
* @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 UAVTALK_PRIV_H
|
||||
#define UAVTALK_PRIV_H
|
||||
|
||||
#include "uavobjectsinit.h"
|
||||
|
||||
// Private types and constants
|
||||
typedef struct {
|
||||
uint8_t sync;
|
||||
uint8_t type;
|
||||
uint16_t size;
|
||||
uint32_t objId;
|
||||
} uavtalk_min_header;
|
||||
#define UAVTALK_MIN_HEADER_LENGTH sizeof(uavtalk_min_header)
|
||||
|
||||
typedef struct {
|
||||
uint8_t sync;
|
||||
uint8_t type;
|
||||
uint16_t size;
|
||||
uint32_t objId;
|
||||
uint16_t instId;
|
||||
} uavtalk_max_header;
|
||||
#define UAVTALK_MAX_HEADER_LENGTH sizeof(uavtalk_max_header)
|
||||
|
||||
typedef uint8_t uavtalk_checksum;
|
||||
#define UAVTALK_CHECKSUM_LENGTH sizeof(uavtalk_checksum)
|
||||
#define UAVTALK_MAX_PAYLOAD_LENGTH (UAVOBJECTS_LARGEST + 1)
|
||||
#define UAVTALK_MIN_PACKET_LENGTH UAVTALK_MAX_HEADER_LENGTH + UAVTALK_CHECKSUM_LENGTH
|
||||
#define UAVTALK_MAX_PACKET_LENGTH UAVTALK_MIN_PACKET_LENGTH + UAVTALK_MAX_PAYLOAD_LENGTH
|
||||
|
||||
typedef enum {UAVTALK_STATE_SYNC, UAVTALK_STATE_TYPE, UAVTALK_STATE_SIZE, UAVTALK_STATE_OBJID, UAVTALK_STATE_INSTID, UAVTALK_STATE_DATA, UAVTALK_STATE_CS} UAVTalkRxState;
|
||||
|
||||
typedef struct {
|
||||
UAVObjHandle obj;
|
||||
uint8_t type;
|
||||
uint16_t packet_size;
|
||||
uint32_t objId;
|
||||
uint16_t instId;
|
||||
uint32_t length;
|
||||
uint8_t instanceLength;
|
||||
uint8_t cs;
|
||||
int32_t rxCount;
|
||||
UAVTalkRxState state;
|
||||
uint16_t rxPacketLength;
|
||||
} UAVTalkInputProcessor;
|
||||
|
||||
typedef struct {
|
||||
uint8_t canari;
|
||||
UAVTalkOutputStream outStream;
|
||||
xSemaphoreHandle lock;
|
||||
xSemaphoreHandle transLock;
|
||||
xSemaphoreHandle respSema;
|
||||
UAVObjHandle respObj;
|
||||
uint16_t respInstId;
|
||||
UAVTalkStats stats;
|
||||
UAVTalkInputProcessor iproc;
|
||||
uint8_t *rxBuffer;
|
||||
uint32_t txSize;
|
||||
uint8_t *txBuffer;
|
||||
} UAVTalkConnectionData;
|
||||
|
||||
#define UAVTALK_CANARI 0xCA
|
||||
#define UAVTALK_WAITFOREVER -1
|
||||
#define UAVTALK_NOWAIT 0
|
||||
#define UAVTALK_SYNC_VAL 0x3C
|
||||
#define UAVTALK_TYPE_MASK 0xF8
|
||||
#define UAVTALK_TYPE_VER 0x20
|
||||
#define UAVTALK_TYPE_OBJ (UAVTALK_TYPE_VER | 0x00)
|
||||
#define UAVTALK_TYPE_OBJ_REQ (UAVTALK_TYPE_VER | 0x01)
|
||||
#define UAVTALK_TYPE_OBJ_ACK (UAVTALK_TYPE_VER | 0x02)
|
||||
#define UAVTALK_TYPE_ACK (UAVTALK_TYPE_VER | 0x03)
|
||||
#define UAVTALK_TYPE_NACK (UAVTALK_TYPE_VER | 0x04)
|
||||
|
||||
//macros
|
||||
#define CHECKCONHANDLE(handle,variable,failcommand) \
|
||||
variable = (UAVTalkConnectionData*) handle; \
|
||||
if (variable == NULL || variable->canari != UAVTALK_CANARI) { \
|
||||
failcommand; \
|
||||
}
|
||||
|
||||
#endif // UAVTALK__PRIV_H
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -1,763 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @{
|
||||
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
|
||||
* @{
|
||||
*
|
||||
* @file uavtalk.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief UAVTalk library, implements to telemetry protocol. See the wiki for more details.
|
||||
* This library should not be called directly by the application, it is only used by the
|
||||
* Telemetry module.
|
||||
* @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 "openpilot.h"
|
||||
#include "uavtalk_priv.h"
|
||||
|
||||
|
||||
// Private functions
|
||||
static int32_t objectTransaction(UAVTalkConnectionData *connection, UAVObjHandle objectId, uint16_t instId, uint8_t type, int32_t timeout);
|
||||
static int32_t sendObject(UAVTalkConnectionData *connection, UAVObjHandle obj, uint16_t instId, uint8_t type);
|
||||
static int32_t sendSingleObject(UAVTalkConnectionData *connection, UAVObjHandle obj, uint16_t instId, uint8_t type);
|
||||
static int32_t sendNack(UAVTalkConnectionData *connection, uint32_t objId);
|
||||
static int32_t receiveObject(UAVTalkConnectionData *connection, uint8_t type, uint32_t objId, uint16_t instId, uint8_t* data, int32_t length);
|
||||
static void updateAck(UAVTalkConnectionData *connection, UAVObjHandle obj, uint16_t instId);
|
||||
|
||||
/**
|
||||
* Initialize the UAVTalk library
|
||||
* \param[in] connection UAVTalkConnection to be used
|
||||
* \param[in] outputStream Function pointer that is called to send a data buffer
|
||||
* \return 0 Success
|
||||
* \return -1 Failure
|
||||
*/
|
||||
UAVTalkConnection UAVTalkInitialize(UAVTalkOutputStream outputStream)
|
||||
{
|
||||
// allocate object
|
||||
UAVTalkConnectionData * connection = pvPortMalloc(sizeof(UAVTalkConnectionData));
|
||||
if (!connection) return 0;
|
||||
connection->canari = UAVTALK_CANARI;
|
||||
connection->iproc.rxPacketLength = 0;
|
||||
connection->iproc.state = UAVTALK_STATE_SYNC;
|
||||
connection->outStream = outputStream;
|
||||
connection->lock = xSemaphoreCreateRecursiveMutex();
|
||||
connection->transLock = xSemaphoreCreateRecursiveMutex();
|
||||
// allocate buffers
|
||||
connection->rxBuffer = pvPortMalloc(UAVTALK_MAX_PACKET_LENGTH);
|
||||
if (!connection->rxBuffer) return 0;
|
||||
connection->txBuffer = pvPortMalloc(UAVTALK_MAX_PACKET_LENGTH);
|
||||
if (!connection->txBuffer) return 0;
|
||||
vSemaphoreCreateBinary(connection->respSema);
|
||||
xSemaphoreTake(connection->respSema, 0); // reset to zero
|
||||
UAVTalkResetStats( (UAVTalkConnection) connection );
|
||||
return (UAVTalkConnection) connection;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the communication output stream
|
||||
* \param[in] connection UAVTalkConnection to be used
|
||||
* \param[in] outputStream Function pointer that is called to send a data buffer
|
||||
* \return 0 Success
|
||||
* \return -1 Failure
|
||||
*/
|
||||
int32_t UAVTalkSetOutputStream(UAVTalkConnection connectionHandle, UAVTalkOutputStream outputStream)
|
||||
{
|
||||
|
||||
UAVTalkConnectionData *connection;
|
||||
CHECKCONHANDLE(connectionHandle,connection,return -1);
|
||||
|
||||
// Lock
|
||||
xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY);
|
||||
|
||||
// set output stream
|
||||
connection->outStream = outputStream;
|
||||
|
||||
// Release lock
|
||||
xSemaphoreGiveRecursive(connection->lock);
|
||||
|
||||
return 0;
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Get current output stream
|
||||
* \param[in] connection UAVTalkConnection to be used
|
||||
* @return UAVTarlkOutputStream the output stream used
|
||||
*/
|
||||
UAVTalkOutputStream UAVTalkGetOutputStream(UAVTalkConnection connectionHandle)
|
||||
{
|
||||
UAVTalkConnectionData *connection;
|
||||
CHECKCONHANDLE(connectionHandle,connection,return NULL);
|
||||
return connection->outStream;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get communication statistics counters
|
||||
* \param[in] connection UAVTalkConnection to be used
|
||||
* @param[out] statsOut Statistics counters
|
||||
*/
|
||||
void UAVTalkGetStats(UAVTalkConnection connectionHandle, UAVTalkStats* statsOut)
|
||||
{
|
||||
UAVTalkConnectionData *connection;
|
||||
CHECKCONHANDLE(connectionHandle,connection,return );
|
||||
|
||||
// Lock
|
||||
xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY);
|
||||
|
||||
// Copy stats
|
||||
memcpy(statsOut, &connection->stats, sizeof(UAVTalkStats));
|
||||
|
||||
// Release lock
|
||||
xSemaphoreGiveRecursive(connection->lock);
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the statistics counters.
|
||||
* \param[in] connection UAVTalkConnection to be used
|
||||
*/
|
||||
void UAVTalkResetStats(UAVTalkConnection connectionHandle)
|
||||
{
|
||||
UAVTalkConnectionData *connection;
|
||||
CHECKCONHANDLE(connectionHandle,connection,return);
|
||||
|
||||
// Lock
|
||||
xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY);
|
||||
|
||||
// Clear stats
|
||||
memset(&connection->stats, 0, sizeof(UAVTalkStats));
|
||||
|
||||
// Release lock
|
||||
xSemaphoreGiveRecursive(connection->lock);
|
||||
}
|
||||
|
||||
/**
|
||||
* Request an update for the specified object, on success the object data would have been
|
||||
* updated by the GCS.
|
||||
* \param[in] connection UAVTalkConnection to be used
|
||||
* \param[in] obj Object to update
|
||||
* \param[in] instId The instance ID or UAVOBJ_ALL_INSTANCES for all instances.
|
||||
* \param[in] timeout Time to wait for the response, when zero it will return immediately
|
||||
* \return 0 Success
|
||||
* \return -1 Failure
|
||||
*/
|
||||
int32_t UAVTalkSendObjectRequest(UAVTalkConnection connectionHandle, UAVObjHandle obj, uint16_t instId, int32_t timeout)
|
||||
{
|
||||
UAVTalkConnectionData *connection;
|
||||
CHECKCONHANDLE(connectionHandle,connection,return -1);
|
||||
return objectTransaction(connection, obj, instId, UAVTALK_TYPE_OBJ_REQ, timeout);
|
||||
}
|
||||
|
||||
/**
|
||||
* Send the specified object through the telemetry link.
|
||||
* \param[in] connection UAVTalkConnection to be used
|
||||
* \param[in] obj Object to send
|
||||
* \param[in] instId The instance ID or UAVOBJ_ALL_INSTANCES for all instances.
|
||||
* \param[in] acked Selects if an ack is required (1:ack required, 0: ack not required)
|
||||
* \param[in] timeoutMs Time to wait for the ack, when zero it will return immediately
|
||||
* \return 0 Success
|
||||
* \return -1 Failure
|
||||
*/
|
||||
int32_t UAVTalkSendObject(UAVTalkConnection connectionHandle, UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs)
|
||||
{
|
||||
UAVTalkConnectionData *connection;
|
||||
CHECKCONHANDLE(connectionHandle,connection,return -1);
|
||||
// Send object
|
||||
if (acked == 1)
|
||||
{
|
||||
return objectTransaction(connection, obj, instId, UAVTALK_TYPE_OBJ_ACK, timeoutMs);
|
||||
}
|
||||
else
|
||||
{
|
||||
return objectTransaction(connection, obj, instId, UAVTALK_TYPE_OBJ, timeoutMs);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Execute the requested transaction on an object.
|
||||
* \param[in] connection UAVTalkConnection to be used
|
||||
* \param[in] obj Object
|
||||
* \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES for all instances.
|
||||
* \param[in] type Transaction type
|
||||
* UAVTALK_TYPE_OBJ: send object,
|
||||
* UAVTALK_TYPE_OBJ_REQ: request object update
|
||||
* UAVTALK_TYPE_OBJ_ACK: send object with an ack
|
||||
* \return 0 Success
|
||||
* \return -1 Failure
|
||||
*/
|
||||
static int32_t objectTransaction(UAVTalkConnectionData *connection, UAVObjHandle obj, uint16_t instId, uint8_t type, int32_t timeoutMs)
|
||||
{
|
||||
int32_t respReceived;
|
||||
|
||||
// Send object depending on if a response is needed
|
||||
if (type == UAVTALK_TYPE_OBJ_ACK || type == UAVTALK_TYPE_OBJ_REQ)
|
||||
{
|
||||
// Get transaction lock (will block if a transaction is pending)
|
||||
xSemaphoreTakeRecursive(connection->transLock, portMAX_DELAY);
|
||||
// Send object
|
||||
xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY);
|
||||
connection->respObj = obj;
|
||||
connection->respInstId = instId;
|
||||
sendObject(connection, obj, instId, type);
|
||||
xSemaphoreGiveRecursive(connection->lock);
|
||||
// Wait for response (or timeout)
|
||||
respReceived = xSemaphoreTake(connection->respSema, timeoutMs/portTICK_RATE_MS);
|
||||
// Check if a response was received
|
||||
if (respReceived == pdFALSE)
|
||||
{
|
||||
// Cancel transaction
|
||||
xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY);
|
||||
xSemaphoreTake(connection->respSema, 0); // non blocking call to make sure the value is reset to zero (binary sema)
|
||||
connection->respObj = 0;
|
||||
xSemaphoreGiveRecursive(connection->lock);
|
||||
xSemaphoreGiveRecursive(connection->transLock);
|
||||
return -1;
|
||||
}
|
||||
else
|
||||
{
|
||||
xSemaphoreGiveRecursive(connection->transLock);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
else if (type == UAVTALK_TYPE_OBJ)
|
||||
{
|
||||
xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY);
|
||||
sendObject(connection, obj, instId, UAVTALK_TYPE_OBJ);
|
||||
xSemaphoreGiveRecursive(connection->lock);
|
||||
return 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Process an byte from the telemetry stream.
|
||||
* \param[in] connection UAVTalkConnection to be used
|
||||
* \param[in] rxbyte Received byte
|
||||
* \return 0 Success
|
||||
* \return -1 Failure
|
||||
*/
|
||||
int32_t UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte)
|
||||
{
|
||||
UAVTalkConnectionData *connection;
|
||||
CHECKCONHANDLE(connectionHandle,connection,return -1);
|
||||
|
||||
UAVTalkInputProcessor *iproc = &connection->iproc;
|
||||
++connection->stats.rxBytes;
|
||||
|
||||
if (iproc->rxPacketLength < 0xffff)
|
||||
iproc->rxPacketLength++; // update packet byte count
|
||||
|
||||
// Receive state machine
|
||||
switch (iproc->state)
|
||||
{
|
||||
case UAVTALK_STATE_SYNC:
|
||||
if (rxbyte != UAVTALK_SYNC_VAL)
|
||||
break;
|
||||
|
||||
// Initialize and update the CRC
|
||||
iproc->cs = PIOS_CRC_updateByte(0, rxbyte);
|
||||
|
||||
iproc->rxPacketLength = 1;
|
||||
|
||||
iproc->state = UAVTALK_STATE_TYPE;
|
||||
break;
|
||||
|
||||
case UAVTALK_STATE_TYPE:
|
||||
|
||||
// update the CRC
|
||||
iproc->cs = PIOS_CRC_updateByte(iproc->cs, rxbyte);
|
||||
|
||||
if ((rxbyte & UAVTALK_TYPE_MASK) != UAVTALK_TYPE_VER)
|
||||
{
|
||||
iproc->state = UAVTALK_STATE_SYNC;
|
||||
break;
|
||||
}
|
||||
|
||||
iproc->type = rxbyte;
|
||||
|
||||
iproc->packet_size = 0;
|
||||
|
||||
iproc->state = UAVTALK_STATE_SIZE;
|
||||
iproc->rxCount = 0;
|
||||
break;
|
||||
|
||||
case UAVTALK_STATE_SIZE:
|
||||
|
||||
// update the CRC
|
||||
iproc->cs = PIOS_CRC_updateByte(iproc->cs, rxbyte);
|
||||
|
||||
if (iproc->rxCount == 0)
|
||||
{
|
||||
iproc->packet_size += rxbyte;
|
||||
iproc->rxCount++;
|
||||
break;
|
||||
}
|
||||
|
||||
iproc->packet_size += rxbyte << 8;
|
||||
|
||||
if (iproc->packet_size < UAVTALK_MIN_HEADER_LENGTH || iproc->packet_size > UAVTALK_MAX_HEADER_LENGTH + UAVTALK_MAX_PAYLOAD_LENGTH)
|
||||
{ // incorrect packet size
|
||||
iproc->state = UAVTALK_STATE_SYNC;
|
||||
break;
|
||||
}
|
||||
|
||||
iproc->rxCount = 0;
|
||||
iproc->objId = 0;
|
||||
iproc->state = UAVTALK_STATE_OBJID;
|
||||
break;
|
||||
|
||||
case UAVTALK_STATE_OBJID:
|
||||
|
||||
// update the CRC
|
||||
iproc->cs = PIOS_CRC_updateByte(iproc->cs, rxbyte);
|
||||
|
||||
iproc->objId += rxbyte << (8*(iproc->rxCount++));
|
||||
|
||||
if (iproc->rxCount < 4)
|
||||
break;
|
||||
|
||||
// Search for object, if not found reset state machine
|
||||
// except if we got a OBJ_REQ for an object which does not
|
||||
// exist, in which case we'll send a NACK
|
||||
|
||||
iproc->obj = UAVObjGetByID(iproc->objId);
|
||||
if (iproc->obj == 0 && iproc->type != UAVTALK_TYPE_OBJ_REQ)
|
||||
{
|
||||
connection->stats.rxErrors++;
|
||||
iproc->state = UAVTALK_STATE_SYNC;
|
||||
break;
|
||||
}
|
||||
|
||||
// Determine data length
|
||||
if (iproc->type == UAVTALK_TYPE_OBJ_REQ || iproc->type == UAVTALK_TYPE_ACK || iproc->type == UAVTALK_TYPE_NACK)
|
||||
{
|
||||
iproc->length = 0;
|
||||
iproc->instanceLength = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
iproc->length = UAVObjGetNumBytes(iproc->obj);
|
||||
iproc->instanceLength = (UAVObjIsSingleInstance(iproc->obj) ? 0 : 2);
|
||||
}
|
||||
|
||||
// Check length and determine next state
|
||||
if (iproc->length >= UAVTALK_MAX_PAYLOAD_LENGTH)
|
||||
{
|
||||
connection->stats.rxErrors++;
|
||||
iproc->state = UAVTALK_STATE_SYNC;
|
||||
break;
|
||||
}
|
||||
|
||||
// Check the lengths match
|
||||
if ((iproc->rxPacketLength + iproc->instanceLength + iproc->length) != iproc->packet_size)
|
||||
{ // packet error - mismatched packet size
|
||||
connection->stats.rxErrors++;
|
||||
iproc->state = UAVTALK_STATE_SYNC;
|
||||
break;
|
||||
}
|
||||
|
||||
iproc->instId = 0;
|
||||
if (iproc->obj == 0)
|
||||
{
|
||||
// If this is a NACK, we skip to Checksum
|
||||
iproc->state = UAVTALK_STATE_CS;
|
||||
iproc->rxCount = 0;
|
||||
|
||||
}
|
||||
// Check if this is a single instance object (i.e. if the instance ID field is coming next)
|
||||
else if (UAVObjIsSingleInstance(iproc->obj))
|
||||
{
|
||||
// If there is a payload get it, otherwise receive checksum
|
||||
if (iproc->length > 0)
|
||||
iproc->state = UAVTALK_STATE_DATA;
|
||||
else
|
||||
iproc->state = UAVTALK_STATE_CS;
|
||||
|
||||
iproc->rxCount = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
iproc->state = UAVTALK_STATE_INSTID;
|
||||
iproc->rxCount = 0;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case UAVTALK_STATE_INSTID:
|
||||
|
||||
// update the CRC
|
||||
iproc->cs = PIOS_CRC_updateByte(iproc->cs, rxbyte);
|
||||
|
||||
iproc->instId += rxbyte << (8*(iproc->rxCount++));
|
||||
|
||||
if (iproc->rxCount < 2)
|
||||
break;
|
||||
|
||||
iproc->rxCount = 0;
|
||||
|
||||
// If there is a payload get it, otherwise receive checksum
|
||||
if (iproc->length > 0)
|
||||
iproc->state = UAVTALK_STATE_DATA;
|
||||
else
|
||||
iproc->state = UAVTALK_STATE_CS;
|
||||
|
||||
break;
|
||||
|
||||
case UAVTALK_STATE_DATA:
|
||||
|
||||
// update the CRC
|
||||
iproc->cs = PIOS_CRC_updateByte(iproc->cs, rxbyte);
|
||||
|
||||
connection->rxBuffer[iproc->rxCount++] = rxbyte;
|
||||
if (iproc->rxCount < iproc->length)
|
||||
break;
|
||||
|
||||
iproc->state = UAVTALK_STATE_CS;
|
||||
iproc->rxCount = 0;
|
||||
break;
|
||||
|
||||
case UAVTALK_STATE_CS:
|
||||
|
||||
// the CRC byte
|
||||
if (rxbyte != iproc->cs)
|
||||
{ // packet error - faulty CRC
|
||||
connection->stats.rxErrors++;
|
||||
iproc->state = UAVTALK_STATE_SYNC;
|
||||
break;
|
||||
}
|
||||
|
||||
if (iproc->rxPacketLength != (iproc->packet_size + 1))
|
||||
{ // packet error - mismatched packet size
|
||||
connection->stats.rxErrors++;
|
||||
iproc->state = UAVTALK_STATE_SYNC;
|
||||
break;
|
||||
}
|
||||
|
||||
xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY);
|
||||
receiveObject(connection, iproc->type, iproc->objId, iproc->instId, connection->rxBuffer, iproc->length);
|
||||
connection->stats.rxObjectBytes += iproc->length;
|
||||
connection->stats.rxObjects++;
|
||||
xSemaphoreGiveRecursive(connection->lock);
|
||||
|
||||
iproc->state = UAVTALK_STATE_SYNC;
|
||||
break;
|
||||
|
||||
default:
|
||||
connection->stats.rxErrors++;
|
||||
iproc->state = UAVTALK_STATE_SYNC;
|
||||
}
|
||||
|
||||
// Done
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Receive an object. This function process objects received through the telemetry stream.
|
||||
* \param[in] connection UAVTalkConnection to be used
|
||||
* \param[in] type Type of received message (UAVTALK_TYPE_OBJ, UAVTALK_TYPE_OBJ_REQ, UAVTALK_TYPE_OBJ_ACK, UAVTALK_TYPE_ACK, UAVTALK_TYPE_NACK)
|
||||
* \param[in] objId ID of the object to work on
|
||||
* \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES for all instances.
|
||||
* \param[in] data Data buffer
|
||||
* \param[in] length Buffer length
|
||||
* \return 0 Success
|
||||
* \return -1 Failure
|
||||
*/
|
||||
static int32_t receiveObject(UAVTalkConnectionData *connection, uint8_t type, uint32_t objId, uint16_t instId, uint8_t* data, int32_t length)
|
||||
{
|
||||
UAVObjHandle obj;
|
||||
int32_t ret = 0;
|
||||
|
||||
// Get the handle to the Object. Will be zero
|
||||
// if object does not exist.
|
||||
obj = UAVObjGetByID(objId);
|
||||
|
||||
// Process message type
|
||||
switch (type) {
|
||||
case UAVTALK_TYPE_OBJ:
|
||||
// All instances, not allowed for OBJ messages
|
||||
if (instId != UAVOBJ_ALL_INSTANCES)
|
||||
{
|
||||
// Unpack object, if the instance does not exist it will be created!
|
||||
UAVObjUnpack(obj, instId, data);
|
||||
// Check if an ack is pending
|
||||
updateAck(connection, obj, instId);
|
||||
}
|
||||
else
|
||||
{
|
||||
ret = -1;
|
||||
}
|
||||
break;
|
||||
case UAVTALK_TYPE_OBJ_ACK:
|
||||
// All instances, not allowed for OBJ_ACK messages
|
||||
if (instId != UAVOBJ_ALL_INSTANCES)
|
||||
{
|
||||
// Unpack object, if the instance does not exist it will be created!
|
||||
if ( UAVObjUnpack(obj, instId, data) == 0 )
|
||||
{
|
||||
// Transmit ACK
|
||||
sendObject(connection, obj, instId, UAVTALK_TYPE_ACK);
|
||||
}
|
||||
else
|
||||
{
|
||||
ret = -1;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
ret = -1;
|
||||
}
|
||||
break;
|
||||
case UAVTALK_TYPE_OBJ_REQ:
|
||||
// Send requested object if message is of type OBJ_REQ
|
||||
if (obj == 0)
|
||||
sendNack(connection, objId);
|
||||
else
|
||||
sendObject(connection, obj, instId, UAVTALK_TYPE_OBJ);
|
||||
break;
|
||||
case UAVTALK_TYPE_NACK:
|
||||
// Do nothing on flight side, let it time out.
|
||||
break;
|
||||
case UAVTALK_TYPE_ACK:
|
||||
// All instances, not allowed for ACK messages
|
||||
if (instId != UAVOBJ_ALL_INSTANCES)
|
||||
{
|
||||
// Check if an ack is pending
|
||||
updateAck(connection, obj, instId);
|
||||
}
|
||||
else
|
||||
{
|
||||
ret = -1;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
ret = -1;
|
||||
}
|
||||
// Done
|
||||
return ret;
|
||||
}
|
||||
|
||||
/**
|
||||
* Check if an ack is pending on an object and give response semaphore
|
||||
* \param[in] connection UAVTalkConnection to be used
|
||||
* \param[in] obj Object
|
||||
* \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES for all instances.
|
||||
*/
|
||||
static void updateAck(UAVTalkConnectionData *connection, UAVObjHandle obj, uint16_t instId)
|
||||
{
|
||||
if (connection->respObj == obj && (connection->respInstId == instId || connection->respInstId == UAVOBJ_ALL_INSTANCES))
|
||||
{
|
||||
xSemaphoreGive(connection->respSema);
|
||||
connection->respObj = 0;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Send an object through the telemetry link.
|
||||
* \param[in] connection UAVTalkConnection to be used
|
||||
* \param[in] obj Object handle to send
|
||||
* \param[in] instId The instance ID or UAVOBJ_ALL_INSTANCES for all instances
|
||||
* \param[in] type Transaction type
|
||||
* \return 0 Success
|
||||
* \return -1 Failure
|
||||
*/
|
||||
static int32_t sendObject(UAVTalkConnectionData *connection, UAVObjHandle obj, uint16_t instId, uint8_t type)
|
||||
{
|
||||
uint32_t numInst;
|
||||
uint32_t n;
|
||||
|
||||
// If all instances are requested and this is a single instance object, force instance ID to zero
|
||||
if ( instId == UAVOBJ_ALL_INSTANCES && UAVObjIsSingleInstance(obj) )
|
||||
{
|
||||
instId = 0;
|
||||
}
|
||||
|
||||
// Process message type
|
||||
if ( type == UAVTALK_TYPE_OBJ || type == UAVTALK_TYPE_OBJ_ACK )
|
||||
{
|
||||
if (instId == UAVOBJ_ALL_INSTANCES)
|
||||
{
|
||||
// Get number of instances
|
||||
numInst = UAVObjGetNumInstances(obj);
|
||||
// Send all instances
|
||||
for (n = 0; n < numInst; ++n)
|
||||
{
|
||||
sendSingleObject(connection, obj, n, type);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
return sendSingleObject(connection, obj, instId, type);
|
||||
}
|
||||
}
|
||||
else if (type == UAVTALK_TYPE_OBJ_REQ)
|
||||
{
|
||||
return sendSingleObject(connection, obj, instId, UAVTALK_TYPE_OBJ_REQ);
|
||||
}
|
||||
else if (type == UAVTALK_TYPE_ACK)
|
||||
{
|
||||
if ( instId != UAVOBJ_ALL_INSTANCES )
|
||||
{
|
||||
return sendSingleObject(connection, obj, instId, UAVTALK_TYPE_ACK);
|
||||
}
|
||||
else
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Send an object through the telemetry link.
|
||||
* \param[in] connection UAVTalkConnection to be used
|
||||
* \param[in] obj Object handle to send
|
||||
* \param[in] instId The instance ID (can NOT be UAVOBJ_ALL_INSTANCES, use sendObject() instead)
|
||||
* \param[in] type Transaction type
|
||||
* \return 0 Success
|
||||
* \return -1 Failure
|
||||
*/
|
||||
static int32_t sendSingleObject(UAVTalkConnectionData *connection, UAVObjHandle obj, uint16_t instId, uint8_t type)
|
||||
{
|
||||
int32_t length;
|
||||
int32_t dataOffset;
|
||||
uint32_t objId;
|
||||
|
||||
if (!connection->outStream) return -1;
|
||||
|
||||
// Setup type and object id fields
|
||||
objId = UAVObjGetID(obj);
|
||||
connection->txBuffer[0] = UAVTALK_SYNC_VAL; // sync byte
|
||||
connection->txBuffer[1] = type;
|
||||
// data length inserted here below
|
||||
connection->txBuffer[4] = (uint8_t)(objId & 0xFF);
|
||||
connection->txBuffer[5] = (uint8_t)((objId >> 8) & 0xFF);
|
||||
connection->txBuffer[6] = (uint8_t)((objId >> 16) & 0xFF);
|
||||
connection->txBuffer[7] = (uint8_t)((objId >> 24) & 0xFF);
|
||||
|
||||
// Setup instance ID if one is required
|
||||
if (UAVObjIsSingleInstance(obj))
|
||||
{
|
||||
dataOffset = 8;
|
||||
}
|
||||
else
|
||||
{
|
||||
connection->txBuffer[8] = (uint8_t)(instId & 0xFF);
|
||||
connection->txBuffer[9] = (uint8_t)((instId >> 8) & 0xFF);
|
||||
dataOffset = 10;
|
||||
}
|
||||
|
||||
// Determine data length
|
||||
if (type == UAVTALK_TYPE_OBJ_REQ || type == UAVTALK_TYPE_ACK)
|
||||
{
|
||||
length = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
length = UAVObjGetNumBytes(obj);
|
||||
}
|
||||
|
||||
// Check length
|
||||
if (length >= UAVTALK_MAX_PAYLOAD_LENGTH)
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Copy data (if any)
|
||||
if (length > 0)
|
||||
{
|
||||
if ( UAVObjPack(obj, instId, &connection->txBuffer[dataOffset]) < 0 )
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
// Store the packet length
|
||||
connection->txBuffer[2] = (uint8_t)((dataOffset+length) & 0xFF);
|
||||
connection->txBuffer[3] = (uint8_t)(((dataOffset+length) >> 8) & 0xFF);
|
||||
|
||||
// Calculate checksum
|
||||
connection->txBuffer[dataOffset+length] = PIOS_CRC_updateCRC(0, connection->txBuffer, dataOffset+length);
|
||||
|
||||
uint16_t tx_msg_len = dataOffset+length+UAVTALK_CHECKSUM_LENGTH;
|
||||
int32_t rc = (*connection->outStream)(connection->txBuffer, tx_msg_len);
|
||||
|
||||
if (rc == tx_msg_len) {
|
||||
// Update stats
|
||||
++connection->stats.txObjects;
|
||||
connection->stats.txBytes += tx_msg_len;
|
||||
connection->stats.txObjectBytes += length;
|
||||
}
|
||||
|
||||
// Done
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Send a NACK through the telemetry link.
|
||||
* \param[in] connection UAVTalkConnection to be used
|
||||
* \param[in] objId Object ID to send a NACK for
|
||||
* \return 0 Success
|
||||
* \return -1 Failure
|
||||
*/
|
||||
static int32_t sendNack(UAVTalkConnectionData *connection, uint32_t objId)
|
||||
{
|
||||
int32_t dataOffset;
|
||||
|
||||
if (!connection->outStream) return -1;
|
||||
|
||||
connection->txBuffer[0] = UAVTALK_SYNC_VAL; // sync byte
|
||||
connection->txBuffer[1] = UAVTALK_TYPE_NACK;
|
||||
// data length inserted here below
|
||||
connection->txBuffer[4] = (uint8_t)(objId & 0xFF);
|
||||
connection->txBuffer[5] = (uint8_t)((objId >> 8) & 0xFF);
|
||||
connection->txBuffer[6] = (uint8_t)((objId >> 16) & 0xFF);
|
||||
connection->txBuffer[7] = (uint8_t)((objId >> 24) & 0xFF);
|
||||
|
||||
dataOffset = 8;
|
||||
|
||||
// Store the packet length
|
||||
connection->txBuffer[2] = (uint8_t)((dataOffset) & 0xFF);
|
||||
connection->txBuffer[3] = (uint8_t)(((dataOffset) >> 8) & 0xFF);
|
||||
|
||||
// Calculate checksum
|
||||
connection->txBuffer[dataOffset] = PIOS_CRC_updateCRC(0, connection->txBuffer, dataOffset);
|
||||
|
||||
uint16_t tx_msg_len = dataOffset+UAVTALK_CHECKSUM_LENGTH;
|
||||
int32_t rc = (*connection->outStream)(connection->txBuffer, tx_msg_len);
|
||||
|
||||
if (rc == tx_msg_len) {
|
||||
// Update stats
|
||||
connection->stats.txBytes += tx_msg_len;
|
||||
}
|
||||
|
||||
// Done
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -1,478 +0,0 @@
|
||||
#####
|
||||
# Project: Overo Server
|
||||
#
|
||||
# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2012.
|
||||
#
|
||||
#
|
||||
# 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
|
||||
#####
|
||||
|
||||
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
|
||||
TOP := $(realpath $(WHEREAMI)/../../)
|
||||
include $(TOP)/make/firmware-defs.mk
|
||||
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
|
||||
|
||||
# Target file name (without extension).
|
||||
TARGET := fw_$(BOARD_NAME)
|
||||
|
||||
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
|
||||
OUTDIR := $(TOP)/build/$(TARGET)
|
||||
|
||||
# Set developer code and compile options
|
||||
# Set to YES for debugging
|
||||
DEBUG ?= NO
|
||||
|
||||
# Set to YES when using Code Sourcery toolchain
|
||||
CODE_SOURCERY ?= NO
|
||||
|
||||
ifeq ($(CODE_SOURCERY), YES)
|
||||
REMOVE_CMD = cs-rm
|
||||
else
|
||||
REMOVE_CMD = rm
|
||||
endif
|
||||
|
||||
FLASH_TOOL = OPENOCD
|
||||
|
||||
# List of modules to include
|
||||
MODULES = Sensors Attitude/revolution ManualControl Stabilization Altitude/revolution Actuator GPS Telemetry FirmwareIAP
|
||||
PYMODULES =
|
||||
#FlightPlan
|
||||
|
||||
# Paths
|
||||
OPSYSTEM = ./System
|
||||
OPSYSTEMINC = $(OPSYSTEM)/inc
|
||||
OPUAVTALK = ../UAVTalk
|
||||
OPUAVTALKINC = $(OPUAVTALK)/inc
|
||||
OPUAVOBJ = ../UAVObjects
|
||||
OPUAVOBJINC = $(OPUAVOBJ)/inc
|
||||
PIOS = ../PiOS
|
||||
PIOSINC = $(PIOS)/inc
|
||||
OPMODULEDIR = ../Modules
|
||||
FLIGHTLIB = ../Libraries
|
||||
FLIGHTLIBINC = ../Libraries/inc
|
||||
PIOSSTM32F4XX = $(PIOS)/STM32F4xx
|
||||
PIOSCOMMON = $(PIOS)/Common
|
||||
PIOSBOARDS = $(PIOS)/Boards
|
||||
PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries
|
||||
APPLIBDIR = $(PIOSSTM32F4XX)/Libraries
|
||||
STMLIBDIR = $(APPLIBDIR)
|
||||
STMSPDDIR = $(STMLIBDIR)/STM32F4xx_StdPeriph_Driver
|
||||
STMSPDSRCDIR = $(STMSPDDIR)/src
|
||||
STMSPDINCDIR = $(STMSPDDIR)/inc
|
||||
OPUAVOBJ = ../UAVObjects
|
||||
OPUAVOBJINC = $(OPUAVOBJ)/inc
|
||||
BOOT = ../Bootloaders/INS
|
||||
BOOTINC = $(BOOT)/inc
|
||||
PYMITE = $(FLIGHTLIB)/PyMite
|
||||
PYMITELIB = $(PYMITE)/lib
|
||||
PYMITEPLAT = $(PYMITE)/platform/openpilot
|
||||
PYMITETOOLS = $(PYMITE)/tools
|
||||
PYMITEVM = $(PYMITE)/vm
|
||||
PYMITEINC = $(PYMITEVM)
|
||||
PYMITEINC += $(PYMITEPLAT)
|
||||
PYMITEINC += $(OUTDIR)
|
||||
FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
|
||||
FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
|
||||
HWDEFSINC = ../board_hw_defs/$(BOARD_NAME)
|
||||
UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
|
||||
|
||||
SRC =
|
||||
# optional component libraries
|
||||
include $(PIOSCOMMONLIB)/FreeRTOS/library.mk
|
||||
#include $(PIOSCOMMONLIB)/dosfs/library.mk
|
||||
include $(PIOSCOMMONLIB)/msheap/library.mk
|
||||
|
||||
|
||||
# List C source files here. (C dependencies are automatically generated.)
|
||||
# use file-extension c for "c-only"-files
|
||||
|
||||
## PyMite files and modules
|
||||
SRC += $(OUTDIR)/pmlib_img.c
|
||||
SRC += $(OUTDIR)/pmlib_nat.c
|
||||
SRC += $(OUTDIR)/pmlibusr_img.c
|
||||
SRC += $(OUTDIR)/pmlibusr_nat.c
|
||||
PYSRC += $(wildcard ${PYMITEVM}/*.c)
|
||||
PYSRC += $(wildcard ${PYMITEPLAT}/*.c)
|
||||
PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
|
||||
SRC += $(PYSRC)
|
||||
|
||||
## MODULES
|
||||
SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
|
||||
## OPENPILOT CORE:
|
||||
SRC += ${OPMODULEDIR}/System/systemmod.c
|
||||
SRC += $(OPSYSTEM)/revolution.c
|
||||
SRC += $(OPSYSTEM)/pios_board.c
|
||||
SRC += $(OPSYSTEM)/alarms.c
|
||||
SRC += $(OPUAVTALK)/uavtalk.c
|
||||
SRC += $(OPUAVOBJ)/uavobjectmanager.c
|
||||
SRC += $(OPUAVOBJ)/eventdispatcher.c
|
||||
|
||||
#ifeq ($(DEBUG),YES)
|
||||
SRC += $(OPSYSTEM)/dcc_stdio.c
|
||||
SRC += $(OPSYSTEM)/cm3_fault_handlers.c
|
||||
#endif
|
||||
|
||||
SRC += $(FLIGHTLIB)/CoordinateConversions.c
|
||||
SRC += $(FLIGHTLIB)/fifo_buffer.c
|
||||
SRC += $(FLIGHTLIB)/WorldMagModel.c
|
||||
SRC += $(FLIGHTLIB)/insgps13state.c
|
||||
SRC += $(FLIGHTLIB)/taskmonitor.c
|
||||
|
||||
## PIOS Hardware (STM32F4xx)
|
||||
include $(PIOS)/STM32F4xx/library.mk
|
||||
|
||||
## PIOS Hardware (Common)
|
||||
SRC += $(PIOSCOMMON)/pios_mpu6000.c
|
||||
SRC += $(PIOSCOMMON)/pios_bma180.c
|
||||
SRC += $(PIOSCOMMON)/pios_l3gd20.c
|
||||
SRC += $(PIOSCOMMON)/pios_hmc5883.c
|
||||
SRC += $(PIOSCOMMON)/pios_ms5611.c
|
||||
SRC += $(PIOSCOMMON)/pios_crc.c
|
||||
SRC += $(PIOSCOMMON)/pios_com.c
|
||||
SRC += $(PIOSCOMMON)/pios_rcvr.c
|
||||
SRC += $(PIOSCOMMON)/pios_flash_jedec.c
|
||||
SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c
|
||||
SRC += $(PIOSCOMMON)/printf-stdarg.c
|
||||
|
||||
include ./UAVObjects.inc
|
||||
SRC += $(UAVOBJSRC)
|
||||
|
||||
# List C source files here which must be compiled in ARM-Mode (no -mthumb).
|
||||
# use file-extension c for "c-only"-files
|
||||
## just for testing, timer.c could be compiled in thumb-mode too
|
||||
SRCARM =
|
||||
|
||||
# List C++ source files here.
|
||||
# use file-extension .cpp for C++-files (not .C)
|
||||
CPPSRC =
|
||||
|
||||
# List C++ source files here which must be compiled in ARM-Mode.
|
||||
# use file-extension .cpp for C++-files (not .C)
|
||||
#CPPSRCARM = $(TARGET).cpp
|
||||
CPPSRCARM =
|
||||
|
||||
# List Assembler source files here.
|
||||
# Make them always end in a capital .S. Files ending in a lowercase .s
|
||||
# will not be considered source files but generated files (assembler
|
||||
# output from the compiler), and will be deleted upon "make clean"!
|
||||
# Even though the DOS/Win* filesystem matches both .s and .S the same,
|
||||
# it will preserve the spelling of the filenames, and gcc itself does
|
||||
# care about how the name is spelled on its command-line.
|
||||
|
||||
|
||||
# List Assembler source files here which must be assembled in ARM-Mode..
|
||||
ASRCARM =
|
||||
|
||||
# List any extra directories to look for include files here.
|
||||
# Each directory must be seperated by a space.
|
||||
EXTRAINCDIRS += $(PIOS)
|
||||
EXTRAINCDIRS += $(PIOSINC)
|
||||
EXTRAINCDIRS += $(OPSYSTEMINC)
|
||||
EXTRAINCDIRS += $(OPUAVTALK)
|
||||
EXTRAINCDIRS += $(OPUAVTALKINC)
|
||||
EXTRAINCDIRS += $(OPUAVOBJ)
|
||||
EXTRAINCDIRS += $(OPUAVOBJINC)
|
||||
EXTRAINCDIRS += $(UAVOBJSYNTHDIR)
|
||||
EXTRAINCDIRS += $(FLIGHTLIBINC)
|
||||
EXTRAINCDIRS += $(PIOSSTM32F4XX)
|
||||
EXTRAINCDIRS += $(PIOSCOMMON)
|
||||
EXTRAINCDIRS += $(PIOSBOARDS)
|
||||
EXTRAINCDIRS += $(STMSPDINCDIR)
|
||||
EXTRAINCDIRS += $(CMSISDIR)
|
||||
EXTRAINCDIRS += $(OPUAVSYNTHDIR)
|
||||
EXTRAINCDIRS += $(BOOTINC)
|
||||
EXTRAINCDIRS += $(PYMITEINC)
|
||||
EXTRAINCDIRS += $(HWDEFSINC)
|
||||
|
||||
# Generate intermediate code
|
||||
gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h
|
||||
|
||||
$(PYSRC): gencode
|
||||
|
||||
PYTHON = python
|
||||
|
||||
# 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, $@)
|
||||
@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
|
||||
@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
|
||||
@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
|
||||
EXTRAINCDIRS += ${foreach MOD, ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
|
||||
|
||||
# List any extra directories to look for library files here.
|
||||
# Also add directories where the linker should search for
|
||||
# includes from linker-script to the list
|
||||
# Each directory must be seperated by a space.
|
||||
EXTRA_LIBDIRS =
|
||||
|
||||
# Extra Libraries
|
||||
# Each library-name must be seperated by a space.
|
||||
# i.e. to link with libxyz.a, libabc.a and libefsl.a:
|
||||
# EXTRA_LIBS = xyz abc efsl
|
||||
# for newlib-lpc (file: libnewlibc-lpc.a):
|
||||
# EXTRA_LIBS = newlib-lpc
|
||||
EXTRA_LIBS =
|
||||
|
||||
# Path to Linker-Scripts
|
||||
LINKERSCRIPTPATH = $(PIOSSTM32F4XX)
|
||||
|
||||
# Optimization level, can be [0, 1, 2, 3, s].
|
||||
# 0 = turn off optimization. s = optimize for size.
|
||||
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
|
||||
|
||||
ifeq ($(DEBUG),YES)
|
||||
CFLAGS += -O0
|
||||
CFLAGS += -DGENERAL_COV
|
||||
CFLAGS += -finstrument-functions -ffixed-r10
|
||||
else
|
||||
CFLAGS += -Os
|
||||
endif
|
||||
|
||||
|
||||
|
||||
# common architecture-specific flags from the device-specific library makefile
|
||||
CFLAGS += $(ARCHFLAGS)
|
||||
|
||||
|
||||
CFLAGS += -DDIAGNOSTICS
|
||||
|
||||
# This is not the best place for these. Really should abstract out
|
||||
# to the board file or something
|
||||
CFLAGS += -DSTM32F4XX
|
||||
CFLAGS += -DMEM_SIZE=1024000000
|
||||
|
||||
# Output format. (can be ihex or binary or both)
|
||||
# binary to create a load-image in raw-binary format i.e. for SAM-BA,
|
||||
# ihex to create a load-image in Intel hex format
|
||||
#LOADFORMAT = ihex
|
||||
#LOADFORMAT = binary
|
||||
LOADFORMAT = both
|
||||
|
||||
# Debugging format.
|
||||
DEBUGF = dwarf-2
|
||||
|
||||
# Place project-specific -D (define) and/or
|
||||
# -U options for C here.
|
||||
CDEFS += -DSTM32F10X_$(MODEL)
|
||||
CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ)
|
||||
CDEFS += -DUSE_STDPERIPH_DRIVER
|
||||
CDEFS += -DUSE_$(BOARD)
|
||||
|
||||
# Place project-specific -D and/or -U options for
|
||||
# Assembler with preprocessor here.
|
||||
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
|
||||
ADEFS = -D__ASSEMBLY__
|
||||
|
||||
# Compiler flag to set the C Standard level.
|
||||
# c89 - "ANSI" C
|
||||
# gnu89 - c89 plus GCC extensions
|
||||
# c99 - ISO C99 standard (not yet fully implemented)
|
||||
# gnu99 - c99 plus GCC extensions
|
||||
CSTANDARD = -std=gnu99
|
||||
|
||||
#-----
|
||||
|
||||
# Compiler flags.
|
||||
|
||||
# -g*: generate debugging information
|
||||
# -O*: optimization level
|
||||
# -f...: tuning, see GCC manual and avr-libc documentation
|
||||
# -Wall...: warning level
|
||||
# -Wa,...: tell GCC to pass this to the assembler.
|
||||
# -adhlns...: create assembler listing
|
||||
#
|
||||
# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
|
||||
|
||||
CFLAGS += -g$(DEBUGF)
|
||||
|
||||
CFLAGS += -ffast-math
|
||||
|
||||
CFLAGS += -mcpu=$(MCU)
|
||||
CFLAGS += $(CDEFS)
|
||||
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
|
||||
|
||||
CFLAGS += -mapcs-frame
|
||||
CFLAGS += -fomit-frame-pointer
|
||||
ifeq ($(CODE_SOURCERY), YES)
|
||||
CFLAGS += -fpromote-loop-indices
|
||||
endif
|
||||
|
||||
#CFLAGS += -Wall
|
||||
#CFLAGS += -Werror
|
||||
CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
|
||||
# Compiler flags to generate dependency files:
|
||||
CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
|
||||
|
||||
# flags only for C
|
||||
#CONLYFLAGS += -Wnested-externs
|
||||
CONLYFLAGS += $(CSTANDARD)
|
||||
|
||||
# Assembler flags.
|
||||
# -Wa,...: tell GCC to pass this to the assembler.
|
||||
# -ahlns: create listing
|
||||
ASFLAGS = $(ARCHFLAGS) -mthumb -I. -x assembler-with-cpp
|
||||
ASFLAGS += $(ADEFS)
|
||||
ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
|
||||
ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
|
||||
|
||||
MATH_LIB = -lm
|
||||
|
||||
# Linker flags.
|
||||
# -Wl,...: tell GCC to pass this to linker.
|
||||
# -Map: create map file
|
||||
# --cref: add cross reference to map file
|
||||
LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
|
||||
LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
|
||||
LDFLAGS += -lc
|
||||
LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
|
||||
LDFLAGS += $(MATH_LIB)
|
||||
LDFLAGS += -lc -lgcc
|
||||
|
||||
#Linker scripts
|
||||
LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
|
||||
|
||||
|
||||
# Define programs and commands.
|
||||
REMOVE = $(REMOVE_CMD) -f
|
||||
PYHON = python
|
||||
|
||||
# List of all source files.
|
||||
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
|
||||
# List of all source files without directory and file-extension.
|
||||
ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
|
||||
|
||||
# Define all object files.
|
||||
ALLOBJ = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
|
||||
|
||||
# Define all listing files (used for make clean).
|
||||
LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
|
||||
# Define all depedency-files (used for make clean).
|
||||
DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
|
||||
|
||||
# Default target.
|
||||
all: gccversion build
|
||||
|
||||
ifeq ($(LOADFORMAT),ihex)
|
||||
build: elf hex lss sym
|
||||
else
|
||||
ifeq ($(LOADFORMAT),binary)
|
||||
build: elf bin lss sym
|
||||
else
|
||||
ifeq ($(LOADFORMAT),both)
|
||||
build: elf hex bin lss sym
|
||||
else
|
||||
$(error "$(MSG_FORMATERROR) $(FORMAT)")
|
||||
endif
|
||||
endif
|
||||
endif
|
||||
|
||||
|
||||
# Link: create ELF output file from object files.
|
||||
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
|
||||
|
||||
# Assemble: create object files from assembler source files.
|
||||
$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
|
||||
|
||||
# Assemble: create object files from assembler source files. ARM-only
|
||||
$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C source files.
|
||||
$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C source files. ARM-only
|
||||
$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C++ source files.
|
||||
$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C++ source files. ARM-only
|
||||
$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create assembler files from C source files. ARM/Thumb
|
||||
$(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
|
||||
|
||||
# Compile: create assembler files from C source files. ARM only
|
||||
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
|
||||
|
||||
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
|
||||
|
||||
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
|
||||
|
||||
# Add jtag targets (program and wipe)
|
||||
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
|
||||
|
||||
.PHONY: elf lss sym hex bin bino opfw
|
||||
elf: $(OUTDIR)/$(TARGET).elf
|
||||
lss: $(OUTDIR)/$(TARGET).lss
|
||||
sym: $(OUTDIR)/$(TARGET).sym
|
||||
hex: $(OUTDIR)/$(TARGET).hex
|
||||
bin: $(OUTDIR)/$(TARGET).bin
|
||||
bino: $(OUTDIR)/$(TARGET).bin.o
|
||||
opfw: $(OUTDIR)/$(TARGET).opfw
|
||||
|
||||
# Display sizes of sections.
|
||||
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
|
||||
|
||||
# Generate Doxygen documents
|
||||
docs:
|
||||
doxygen $(DOXYGENDIR)/doxygen.cfg
|
||||
|
||||
# Install: install binary file with prefix/suffix into install directory
|
||||
install: $(OUTDIR)/$(TARGET).opfw
|
||||
ifneq ($(INSTALL_DIR),)
|
||||
@echo $(MSG_INSTALLING) $(call toprel, $<)
|
||||
$(V1) mkdir -p $(INSTALL_DIR)
|
||||
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
|
||||
else
|
||||
$(error INSTALL_DIR must be specified for $@)
|
||||
endif
|
||||
|
||||
# Target: clean project.
|
||||
clean: clean_list
|
||||
|
||||
clean_list :
|
||||
@echo $(MSG_CLEANING)
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).map
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).elf
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).hex
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o
|
||||
$(V1) $(REMOVE) $(ALLOBJ)
|
||||
$(V1) $(REMOVE) $(LSTFILES)
|
||||
$(V1) $(REMOVE) $(DEPFILES)
|
||||
$(V1) $(REMOVE) $(SRC:.c=.s)
|
||||
$(V1) $(REMOVE) $(SRCARM:.c=.s)
|
||||
$(V1) $(REMOVE) $(CPPSRC:.cpp=.s)
|
||||
$(V1) $(REMOVE) $(CPPSRCARM:.cpp=.s)
|
||||
|
||||
# Create output files directory
|
||||
# all known MS Windows OS define the ComSpec environment variable
|
||||
ifdef ComSpec
|
||||
$(shell md $(subst /,\\,$(OUTDIR)) 2>NUL)
|
||||
else
|
||||
$(shell mkdir -p $(OUTDIR) 2>/dev/null)
|
||||
endif
|
||||
|
||||
# Include the dependency files.
|
||||
ifdef ComSpec
|
||||
-include $(shell md $(subst /,\\,$(OUTDIR))\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
|
||||
else
|
||||
-include $(shell mkdir $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
|
||||
endif
|
||||
|
||||
# Listing of phony targets.
|
||||
.PHONY : all build clean clean_list install
|
||||
Loading…
x
Reference in New Issue
Block a user