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Code Issues Releases Activity

Start initializing objects in the modules that consume them. Shouldn't affect

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OP yet but not tested.
This commit is contained in:
James Cotton 2011-06-18 11:59:02 -05:00
parent 9720a8444f
commit 5044ea36de
15 changed files with 79 additions and 24 deletions
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4
flight/CopterControl/Makefile
View File

@ -65,7 +65,9 @@ endif
FLASH_TOOL = OPENOCD
# List of modules to include
MODULES = Telemetry Attitude Stabilization Actuator ManualControl FirmwareIAP
MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP
# Telemetry must be last to grab the optional modules
MODULES += Telemetry
# Paths
OPSYSTEM = ./System

1
flight/CopterControl/System/pios_board.c
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@ -694,7 +694,6 @@ void PIOS_Board_Init(void) {
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
UAVObjectsInitializeAll();
/* Initialize the alarms library */
AlarmsInitialize();

4
flight/Modules/AHRSComms/ahrs_comms.c
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@ -72,6 +72,10 @@ static void ahrscommsTask(void *parameters);
int32_t AHRSCommsInitialize(void)
{
// Start main task
AHRSStatusInitialize();
AHRSCalibrationInitialize();
AttitudeRawInitialize();
xTaskCreate(ahrscommsTask, (signed char *)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_AHRSCOMMS, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_AHRS);

7
flight/Modules/Actuator/actuator.c
View File

@ -95,6 +95,13 @@ int32_t ActuatorInitialize()
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
ActuatorSettingsInitialize();
ActuatorDesiredInitialize();
MixerSettingsInitialize();
#if defined(DIAGNOSTICS)
MixerStatusInitialize();
#endif
// Listen for ExampleObject1 updates
ActuatorDesiredConnectQueue(queue);

6
flight/Modules/Altitude/altitude.c
View File

@ -68,6 +68,12 @@ static void altitudeTask(void *parameters);
*/
int32_t AltitudeInitialize()
{
BaroAltitudeInitialize();
#if defined(PIOS_INCLUDE_HCSR04)
SonarAltitudeInitialze();
#endif
// Start main task
xTaskCreate(altitudeTask, (signed char *)"Altitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ALTITUDE, taskHandle);

4
flight/Modules/Attitude/attitude.c
View File

@ -96,6 +96,10 @@ static bool zero_during_arming = false;
*/
int32_t AttitudeInitialize(void)
{
AttitudeActualInitialize();
AttitudeRawInitialize();
AttitudeSettingsInitialize();
// Initialize quaternion
AttitudeActualData attitude;
AttitudeActualGet(&attitude);

3
flight/Modules/Battery/battery.c
View File

@ -77,6 +77,9 @@ static void onTimer(UAVObjEvent* ev);
*/
int32_t BatteryInitialize(void)
{
BatteryStateInitialze();
BatterySettingsInitialize();
static UAVObjEvent ev;
memset(&ev,0,sizeof(UAVObjEvent));

3
flight/Modules/FirmwareIAP/firmwareiap.c
View File

@ -91,6 +91,9 @@ static void resetTask(UAVObjEvent *);
int32_t FirmwareIAPInitialize()
{
FirmwareIAPObjInitialize();
const struct pios_board_info * bdinfo = &pios_board_info_blob;
data.BoardType= bdinfo->board_type;

4
flight/Modules/GPS/GPS.c
View File

@ -111,6 +111,10 @@ static uint32_t numParsingErrors;
int32_t GPSInitialize(void)
{
GPSPositionInitialize();
GPSTimeInitialize();
HomeLocationInitialize();
signed portBASE_TYPE xReturn;
// TODO: Get gps settings object

7
flight/Modules/ManualControl/manualcontrol.c
View File

@ -149,6 +149,13 @@ int32_t ManualControlInitialize()
/* Check the assumptions about uavobject enum's are correct */
if(!assumptions)
return -1;
AccessoryDesiredInitialize();
ManualControlSettingsInitialize();
ManualControlCommandInitialize();
FlightStatusInitialize();
StabilizationDesiredInitialize();
// Start main task
xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle);

11
flight/Modules/Stabilization/stabilization.c
View File

@ -40,8 +40,6 @@
#include "attitudeactual.h"
#include "attituderaw.h"
#include "flightstatus.h"
#include "systemsettings.h"
#include "ahrssettings.h"
#include "manualcontrol.h" // Just to get a macro
#include "CoordinateConversions.h"
@ -92,7 +90,12 @@ static void SettingsUpdatedCb(UAVObjEvent * ev);
int32_t StabilizationInitialize()
{
// Initialize variables
StabilizationSettingsInitialize();
ActuatorDesiredInitialize();
#if defined(DIAGNOSTICS)
RateDesiredInitialize();
#endif
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
@ -125,7 +128,6 @@ static void stabilizationTask(void* parameters)
RateDesiredData rateDesired;
AttitudeActualData attitudeActual;
AttitudeRawData attitudeRaw;
SystemSettingsData systemSettings;
FlightStatusData flightStatus;
SettingsUpdatedCb((UAVObjEvent *) NULL);
@ -153,7 +155,6 @@ static void stabilizationTask(void* parameters)
StabilizationDesiredGet(&stabDesired);
AttitudeActualGet(&attitudeActual);
AttitudeRawGet(&attitudeRaw);
SystemSettingsGet(&systemSettings);
#if defined(DIAGNOSTICS)
RateDesiredGet(&rateDesired);

29
flight/Modules/System/systemmod.c
View File

@ -43,7 +43,9 @@
#include "objectpersistence.h"
#include "flightstatus.h"
#include "systemstats.h"
#include "systemsettings.h"
#include "i2cstats.h"
#include "taskinfo.h"
#include "watchdogstatus.h"
#include "taskmonitor.h"
#include "pios_config.h"
@ -78,11 +80,12 @@ static int32_t stackOverflow;
// Private functions
static void objectUpdatedCb(UAVObjEvent * ev);
static void updateStats();
static void updateI2Cstats();
static void updateWDGstats();
static void updateSystemAlarms();
static void systemTask(void *parameters);
#if defined(DIAGNOSTICS)
static void updateI2Cstats();
static void updateWDGstats();
#endif
/**
* Initialise the module, called on startup.
* \returns 0 on success or -1 if initialisation failed
@ -106,6 +109,16 @@ static void systemTask(void *parameters)
// System initialization
OpenPilotInit();
// Must registers objects here for system thread because ObjectManager started in OpenPilotInit
SystemSettingsInitialize();
SystemStatsInitialize();
ObjectPersistenceInitialize();
#if defined(DIAGNOSTICS)
TaskInfoInitialize();
I2CStatsInitialize();
WatchdogStatusInitialize();
#endif
// Register task
TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
@ -124,9 +137,10 @@ static void systemTask(void *parameters)
// Update the system alarms
updateSystemAlarms();
#if defined(DIAGNOSTICS)
updateI2Cstats();
updateWDGstats();
#endif
// Update the task status object
TaskMonitorUpdateAll();
@ -228,9 +242,7 @@ static void objectUpdatedCb(UAVObjEvent * ev)
/**
* Called periodically to update the I2C statistics
*/
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
static void updateI2Cstats() {} //Posix and win32 don't have I2C
#else
#if defined(DIAGNOSTICS)
static void updateI2Cstats()
{
#if defined(PIOS_INCLUDE_I2C)
@ -250,7 +262,6 @@ static void updateI2Cstats()
I2CStatsSet(&i2cStats);
#endif
}
#endif
static void updateWDGstats()
{
@ -259,6 +270,8 @@ static void updateWDGstats()
watchdogStatus.ActiveFlags = PIOS_WDG_GetActiveFlags();
WatchdogStatusSet(&watchdogStatus);
}
#endif
/**
* Called periodically to update the system stats

4
flight/Modules/Telemetry/telemetry.c
View File

@ -89,6 +89,10 @@ int32_t TelemetryInitialize(void)
{
UAVObjEvent ev;
FlightTelemetryStatsInitialize();
GCSTelemetryStatsInitialize();
TelemetrySettingsInitialize();
// Initialize vars
timeOfLastObjectUpdate = 0;

12
flight/OpenPilot/System/alarms.c
View File

@ -41,14 +41,12 @@ static xSemaphoreHandle lock;
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
/**
* Initialize the alarms library
* Initialize the alarms library
*/
int32_t AlarmsInitialize(void)
{
SystemAlarmsInitialize();
lock = xSemaphoreCreateRecursiveMutex();
//do not change the default states of the alarms, let the init code generated by the uavobjectgenerator handle that
//AlarmsClearAll();
//AlarmsDefaultAll();
return 0;
}
@ -56,7 +54,7 @@ int32_t AlarmsInitialize(void)
* Set an alarm
* @param alarm The system alarm to be modified
* @param severity The alarm severity
* @return 0 if success, -1 if an error
* @return 0 if success, -1 if an error
*/
int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
{
@ -151,7 +149,7 @@ void AlarmsClearAll()
/**
* Check if there are any alarms with the given or higher severity
* @return 0 if no alarms are found, 1 if at least one alarm is found
* @return 0 if no alarms are found, 1 if at least one alarm is found
*/
int32_t AlarmsHasWarnings()
{
@ -208,5 +206,5 @@ static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
/**
* @}
* @}
*/
*/

4
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -2677,7 +2677,6 @@
65C35E7912EFB2F3004811C2 /* watchdogstatus.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = watchdogstatus.xml; sourceTree = "<group>"; };
65C35E9E12F0A834004811C2 /* uavobjecttemplate.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjecttemplate.c; sourceTree = "<group>"; };
65C35E9F12F0A834004811C2 /* uavobjectsinittemplate.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjectsinittemplate.c; sourceTree = "<group>"; };
65C35EA012F0A834004811C2 /* uavobjectsinit_cc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjectsinit_cc.c; sourceTree = "<group>"; };
65C35EA112F0A834004811C2 /* uavobjectmanager.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjectmanager.c; sourceTree = "<group>"; };
65C35EA312F0A834004811C2 /* eventdispatcher.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = eventdispatcher.h; sourceTree = "<group>"; };
65C35EA412F0A834004811C2 /* uavobjectmanager.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = uavobjectmanager.h; sourceTree = "<group>"; };
@ -2689,6 +2688,7 @@
65C35F6812F0DC2D004811C2 /* attitude.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = attitude.h; sourceTree = "<group>"; };
65C9903C13A871B90082BD60 /* camerastab.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = camerastab.c; sourceTree = "<group>"; };
65C9903E13A871B90082BD60 /* camerastab.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = camerastab.h; sourceTree = "<group>"; };
65C9908E13AC5D8D0082BD60 /* uavobjectsinit_linker.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjectsinit_linker.c; sourceTree = "<group>"; };
65D2CA841248F9A400B1E7D6 /* mixersettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixersettings.xml; sourceTree = "<group>"; };
65D2CA851248F9A400B1E7D6 /* mixerstatus.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixerstatus.xml; sourceTree = "<group>"; };
65E410AE12F65AEA00725888 /* attitudesettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = attitudesettings.xml; sourceTree = "<group>"; };
@ -3515,9 +3515,9 @@
650D8E6A12DFE17500D05CC9 /* UAVObjects */ = {
isa = PBXGroup;
children = (
65C9908E13AC5D8D0082BD60 /* uavobjectsinit_linker.c */,
65C35E9E12F0A834004811C2 /* uavobjecttemplate.c */,
65C35E9F12F0A834004811C2 /* uavobjectsinittemplate.c */,
65C35EA012F0A834004811C2 /* uavobjectsinit_cc.c */,
65C35EA112F0A834004811C2 /* uavobjectmanager.c */,
65C35EA212F0A834004811C2 /* inc */,
65C35EA812F0A834004811C2 /* eventdispatcher.c */,