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Merge branch 'master' of git://git.openpilot.org/OpenPilot

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This commit is contained in:
unknown 2011-04-28 16:36:27 +03:00
commit 507a7c13b6
47 changed files with 149 additions and 474 deletions
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30
flight/AHRS/Makefile
View File

@ -121,6 +121,7 @@ SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_hmc5843.c
SRC += $(PIOSCOMMON)/printf-stdarg.c
SRC += $(PIOSCOMMON)/pios_iap.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
## CMSIS for STM32
SRC += $(CMSISDIR)/core_cm3.c
@ -304,39 +305,16 @@ LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
# ---------------------------------------------------------------------------
# Options for OpenOCD flash-programming
# see openocd.pdf/openocd.texi for further information
#
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
# if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
OOCD_EXE=openocd
# debug level
OOCD_CL=-d0
# interface and board/target settings (using the OOCD target-library here)
UNAME := $(shell uname)
ifeq ($(UNAME), Darwin)
OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.ahrs.osx.cfg -f ../Project/OpenOCD/stm32.cfg
else
OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.ahrs.cfg -f ../Project/OpenOCD/stm32.cfg
endif
# initialize
OOCD_CL+=-c init
# show the targets
OOCD_CL+=-c targets
# commands to prepare flash-write
OOCD_CL+= -c "reset halt"
# flash erase
OOCD_CL+=-c "stm32x mass_erase 0"
# flash-write
# Program
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
# # terminate OOCD after programming
OOCD_CL+=-c shutdown
# ---------------------------------------------------------------------------
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f

29
flight/AHRS/ahrs.c
View File

@ -99,8 +99,6 @@ void affine_rotate(float scale[3][4], float rotation[3]);
void calibration(float result[3], float scale[3][4], float arg[3]);
/* Bootloader related functions and var*/
static uint32_t iap_calc_crc(void);
static void read_description(uint8_t *);
void firmwareiapobj_callback(AhrsObjHandle obj);
volatile uint8_t reset_count=0;
@ -1249,36 +1247,15 @@ void firmwareiapobj_callback(AhrsObjHandle obj)
}
}
}
else if(firmwareIAPObj.BoardType==BOARD_TYPE && firmwareIAPObj.crc!=iap_calc_crc())
else if(firmwareIAPObj.BoardType==BOARD_TYPE && firmwareIAPObj.crc!=PIOS_BL_HELPER_CRC_Memory_Calc())
{
read_description(firmwareIAPObj.Description);
firmwareIAPObj.crc=iap_calc_crc();
PIOS_BL_HELPER_FLASH_Read_Description(firmwareIAPObj.Description,SIZE_OF_DESCRIPTION);
firmwareIAPObj.crc=PIOS_BL_HELPER_CRC_Memory_Calc();
firmwareIAPObj.BoardRevision=BOARD_REVISION;
FirmwareIAPObjSet(&firmwareIAPObj);
}
}
static uint32_t iap_calc_crc(void)
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
CRC_ResetDR();
CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2);
return CRC_GetCRC();
}
static uint8_t *FLASH_If_Read(uint32_t SectorAddress)
{
return (uint8_t *) (SectorAddress);
}
static void read_description(uint8_t * array)
{
uint8_t x = 0;
for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + SIZE_OF_DESCRIPTION; ++i) {
array[x] = *FLASH_If_Read(i);
++x;
}
}
/**
* @}
*/

1
flight/AHRS/inc/pios_config.h
View File

@ -40,5 +40,6 @@
#define PIOS_INCLUDE_HMC5843
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_EXTI
#define PIOS_INCLUDE_BL_HELPER
#endif /* PIOS_CONFIG_H */

27
flight/Bootloaders/AHRS/Makefile
View File

@ -291,31 +291,8 @@ LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
# ---------------------------------------------------------------------------
# Options for OpenOCD flash-programming
# see openocd.pdf/openocd.texi for further information
#
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
# if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
OOCD_EXE=openocd
# debug level
OOCD_CL=-d0
# interface and board/target settings (using the OOCD target-library here)
UNAME := $(shell uname)
ifeq ($(UNAME), Darwin)
OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.ahrs.osx.cfg -f ../../Project/OpenOCD/stm32.cfg
else
OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.ahrs.cfg -f ../../Project/OpenOCD/stm32.cfg
endif
# initialize
OOCD_CL+=-c init
# show the targets
OOCD_CL+=-c targets
# commands to prepare flash-write
OOCD_CL+= -c "reset halt"
# flash erase
OOCD_CL+=-c "stm32x mass_erase 0"
# flash-write
# Program
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
@ -323,8 +300,6 @@ OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# ---------------------------------------------------------------------------
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f

1
flight/Bootloaders/AHRS/inc/pios_config.h
View File

@ -35,6 +35,7 @@
#define PIOS_INCLUDE_SPI
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
#define PIOS_INCLUDE_GPIO
#endif /* PIOS_CONFIG_H */

8
flight/Bootloaders/AHRS/main.c
View File

@ -96,7 +96,7 @@ int main() {
}
PIOS_Board_Init();
boot_status = idle;
Fw_crc = crc_memory_calc();
Fw_crc = PIOS_BL_HELPER_CRC_Memory_Calc();
PIOS_LED_On(LED1);
while (1) {
process_spi_request();
@ -146,7 +146,7 @@ void process_spi_request(void) {
case OPAHRS_MSG_V0_REQ_FWUP_VERIFY:
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
Fw_crc = crc_memory_calc();
Fw_crc = PIOS_BL_HELPER_CRC_Memory_Calc();
lfsm_user_set_tx_v0(&user_tx_v0);
boot_status = idle;
PIOS_LED_Off(LED1);
@ -216,7 +216,7 @@ void process_spi_request(void) {
uint32_t adr=user_rx_v0.payload.user.v.req.fwdn_data.adress;
for(uint8_t x=0;x<4;++x)
{
user_tx_v0.payload.user.v.rsp.fw_dn.data[x]=*FLASH_If_Read(adr+x);
user_tx_v0.payload.user.v.rsp.fw_dn.data[x]=*PIOS_BL_HELPER_FLASH_If_Read(adr+x);
}
lfsm_user_set_tx_v0(&user_tx_v0);
break;
@ -226,7 +226,7 @@ void process_spi_request(void) {
user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
lfsm_user_set_tx_v0(&user_tx_v0);
PIOS_LED_On(LED1);
if (FLASH_Start() == TRUE) {
if (PIOS_BL_HELPER_FLASH_Start() == TRUE) {
boot_status = started;
PIOS_LED_Off(LED1);
} else {

28
flight/Bootloaders/BootloaderUpdater/Makefile
View File

@ -330,32 +330,8 @@ else
quote =
endif
# ---------------------------------------------------------------------------
# Options for OpenOCD flash-programming
# see openocd.pdf/openocd.texi for further information
#
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
# if OpenOCD is in the $PATH just set OOCD_EXE=openocd
OOCD_EXE=openocd
# debug level
OOCD_CL=-d0
# interface and board/target settings (using the OOCD target-library here)
UNAME := $(shell uname)
ifeq ($(UNAME), Darwin)
OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../../Project/OpenOCD/stm32.cfg
else
OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../../Project/OpenOCD/stm32.cfg
endif
# initialize
OOCD_CL+=-c init
# show the targets
OOCD_CL+=-c targets
# commands to prepare flash-write
OOCD_CL+= -c "reset halt"
# flash erase
OOCD_CL+=-c "stm32x mass_erase 0"
# flash-write
# Program
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
@ -363,8 +339,6 @@ OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# ---------------------------------------------------------------------------
# Define programs and commands.
CC = $(TCHAIN_PREFIX)gcc

27
flight/Bootloaders/CopterControl/Makefile
View File

@ -370,31 +370,8 @@ LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
# ---------------------------------------------------------------------------
# Options for OpenOCD flash-programming
# see openocd.pdf/openocd.texi for further information
#
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
# if OpenOCD is in the $PATH just set OOCD_EXE=openocd
OOCD_EXE=openocd
# debug level
OOCD_CL=-d0
# interface and board/target settings (using the OOCD target-library here)
UNAME := $(shell uname)
ifeq ($(UNAME), Darwin)
OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../../Project/OpenOCD/stm32.cfg
else
OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../../Project/OpenOCD/stm32.cfg
endif
# initialize
OOCD_CL+=-c init
# show the targets
OOCD_CL+=-c targets
# commands to prepare flash-write
OOCD_CL+= -c "reset halt"
# flash erase
OOCD_CL+=-c "stm32x mass_erase 0"
# flash-write
# Program
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
@ -402,8 +379,6 @@ OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# ---------------------------------------------------------------------------
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f

1
flight/Bootloaders/CopterControl/inc/pios_config.h
View File

@ -31,6 +31,7 @@
#ifndef PIOS_CONFIG_H
#define PIOS_CONFIG_H
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
#define USB_HID
/* Enable/Disable PiOS Modules */
#define PIOS_INCLUDE_DELAY

16
flight/Bootloaders/CopterControl/op_dfu.c
View File

@ -116,10 +116,10 @@ void DataDownload(DownloadAction action) {
}
break;
case Self_flash:
SendBuffer[6 + (x * 4)] = *FLASH_If_Read(offset);
SendBuffer[7 + (x * 4)] = *FLASH_If_Read(offset + 1);
SendBuffer[8 + (x * 4)] = *FLASH_If_Read(offset + 2);
SendBuffer[9 + (x * 4)] = *FLASH_If_Read(offset + 3);
SendBuffer[6 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset);
SendBuffer[7 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 1);
SendBuffer[8 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 2);
SendBuffer[9 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 3);
break;
}
*/
@ -178,7 +178,7 @@ void processComand(uint8_t *xReceive_Buffer) {
uint8_t result = 0;
switch (currentProgrammingDestination) {
case Self_flash:
result = FLASH_Ini();
result = PIOS_BL_HELPER_FLASH_Ini();
break;
case Remote_flash_via_spi:
result = TRUE;
@ -214,7 +214,7 @@ void processComand(uint8_t *xReceive_Buffer) {
if (TransferType == FW) {
switch (currentProgrammingDestination) {
case Self_flash:
result = FLASH_Start();
result = PIOS_BL_HELPER_FLASH_Start();
break;
case Remote_flash_via_spi:
result = FALSE;
@ -459,7 +459,7 @@ uint8_t isBiggerThanAvailable(DFUTransfer type, uint32_t size) {
uint32_t CalcFirmCRC() {
switch (currentProgrammingDestination) {
case Self_flash:
return crc_memory_calc();
return PIOS_BL_HELPER_CRC_Memory_Calc();
break;
case Remote_flash_via_spi:
return 0;
@ -484,7 +484,7 @@ bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
break;
case Self_flash:
for (uint8_t x = 0; x < 4; ++x) {
buffer[x] = *FLASH_If_Read(adr + x);
buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
}
return TRUE;
break;

27
flight/Bootloaders/OpenPilot/Makefile
View File

@ -371,31 +371,8 @@ LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
# ---------------------------------------------------------------------------
# Options for OpenOCD flash-programming
# see openocd.pdf/openocd.texi for further information
#
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
# if OpenOCD is in the $PATH just set OOCD_EXE=openocd
OOCD_EXE=openocd
# debug level
OOCD_CL=-d0
# interface and board/target settings (using the OOCD target-library here)
UNAME := $(shell uname)
ifeq ($(UNAME), Darwin)
OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../../Project/OpenOCD/stm32.cfg
else
OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../../Project/OpenOCD/stm32.cfg
endif
# initialize
OOCD_CL+=-c init
# show the targets
OOCD_CL+=-c targets
# commands to prepare flash-write
OOCD_CL+= -c "reset halt"
# flash erase
OOCD_CL+=-c "stm32x mass_erase 0"
# flash-write
# Program
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
@ -403,8 +380,6 @@ OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# ---------------------------------------------------------------------------
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f

1
flight/Bootloaders/OpenPilot/inc/pios_config.h
View File

@ -31,6 +31,7 @@
#ifndef PIOS_CONFIG_H
#define PIOS_CONFIG_H
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
#define USB_HID
/* Enable/Disable PiOS Modules */
#define PIOS_INCLUDE_DELAY

8
flight/Bootloaders/OpenPilot/op_dfu.c
View File

@ -158,7 +158,7 @@ void processComand(uint8_t *xReceive_Buffer) {
uint8_t result = 0;
switch (currentProgrammingDestination) {
case Self_flash:
result = FLASH_Ini();
result = PIOS_BL_HELPER_FLASH_Ini();
break;
case Remote_flash_via_spi:
result = TRUE;
@ -195,7 +195,7 @@ void processComand(uint8_t *xReceive_Buffer) {
if (TransferType == FW) {
switch (currentProgrammingDestination) {
case Self_flash:
result = FLASH_Start();
result = PIOS_BL_HELPER_FLASH_Start();
break;
case Remote_flash_via_spi:
PIOS_OPAHRS_bl_FwupStart(&rsp);
@ -525,7 +525,7 @@ uint32_t CalcFirmCRC() {
struct opahrs_msg_v0 rsp;
switch (currentProgrammingDestination) {
case Self_flash:
return crc_memory_calc();
return PIOS_BL_HELPER_CRC_Memory_Calc();
break;
case Remote_flash_via_spi:
PIOS_OPAHRS_bl_FwupVerify(&rsp);
@ -574,7 +574,7 @@ bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
break;
case Self_flash:
for (uint8_t x = 0; x < 4; ++x) {
buffer[x] = *FLASH_If_Read(adr + x);
buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
}
return TRUE;
break;

27
flight/Bootloaders/PipXtreme/Makefile
View File

@ -370,31 +370,8 @@ LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
# ---------------------------------------------------------------------------
# Options for OpenOCD flash-programming
# see openocd.pdf/openocd.texi for further information
#
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
# if OpenOCD is in the $PATH just set OOCD_EXE=openocd
OOCD_EXE=openocd
# debug level
OOCD_CL=-d0
# interface and board/target settings (using the OOCD target-library here)
UNAME := $(shell uname)
ifeq ($(UNAME), Darwin)
OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../../Project/OpenOCD/stm32.cfg
else
OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../../Project/OpenOCD/stm32.cfg
endif
# initialize
OOCD_CL+=-c init
# show the targets
OOCD_CL+=-c targets
# commands to prepare flash-write
OOCD_CL+= -c "reset halt"
# flash erase
OOCD_CL+=-c "stm32x mass_erase 0"
# flash-write
# Program
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
@ -402,8 +379,6 @@ OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# ---------------------------------------------------------------------------
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f

1
flight/Bootloaders/PipXtreme/inc/pios_config.h
View File

@ -31,6 +31,7 @@
#ifndef PIOS_CONFIG_H
#define PIOS_CONFIG_H
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
#define USB_HID
/* Enable/Disable PiOS Modules */
#define PIOS_INCLUDE_DELAY

16
flight/Bootloaders/PipXtreme/op_dfu.c
View File

@ -116,10 +116,10 @@ void DataDownload(DownloadAction action) {
}
break;
case Self_flash:
SendBuffer[6 + (x * 4)] = *FLASH_If_Read(offset);
SendBuffer[7 + (x * 4)] = *FLASH_If_Read(offset + 1);
SendBuffer[8 + (x * 4)] = *FLASH_If_Read(offset + 2);
SendBuffer[9 + (x * 4)] = *FLASH_If_Read(offset + 3);
SendBuffer[6 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset);
SendBuffer[7 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 1);
SendBuffer[8 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 2);
SendBuffer[9 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 3);
break;
}
*/
@ -178,7 +178,7 @@ void processComand(uint8_t *xReceive_Buffer) {
uint8_t result = 0;
switch (currentProgrammingDestination) {
case Self_flash:
result = FLASH_Ini();
result = PIOS_BL_HELPER_FLASH_Ini();
break;
case Remote_flash_via_spi:
result = TRUE;
@ -214,7 +214,7 @@ void processComand(uint8_t *xReceive_Buffer) {
if (TransferType == FW) {
switch (currentProgrammingDestination) {
case Self_flash:
result = FLASH_Start();
result = PIOS_BL_HELPER_FLASH_Start();
break;
case Remote_flash_via_spi:
result = FALSE;
@ -459,7 +459,7 @@ uint8_t isBiggerThanAvailable(DFUTransfer type, uint32_t size) {
uint32_t CalcFirmCRC() {
switch (currentProgrammingDestination) {
case Self_flash:
return crc_memory_calc();
return PIOS_BL_HELPER_CRC_Memory_Calc();
break;
case Remote_flash_via_spi:
return 0;
@ -484,7 +484,7 @@ bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
break;
case Self_flash:
for (uint8_t x = 0; x < 4; ++x) {
buffer[x] = *FLASH_If_Read(adr + x);
buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
}
return TRUE;
break;

27
flight/CopterControl/Makefile
View File

@ -216,6 +216,7 @@ SRC += $(PIOSCOMMON)/pios_adxl345.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_i2c_esc.c
SRC += $(PIOSCOMMON)/pios_iap.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/printf-stdarg.c
## Libraries for flight calculations
SRC += $(FLIGHTLIB)/fifo_buffer.c
@ -477,31 +478,8 @@ LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
# ---------------------------------------------------------------------------
# Options for OpenOCD flash-programming
# see openocd.pdf/openocd.texi for further information
#
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
# if OpenOCD is in the $PATH just set OOCD_EXE=openocd
OOCD_EXE=openocd
# debug level
OOCD_CL=-d0
# interface and board/target settings (using the OOCD target-library here)
UNAME := $(shell uname)
ifeq ($(UNAME), Darwin)
OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../Project/OpenOCD/stm32.cfg
else
OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../Project/OpenOCD/stm32.cfg
endif
# initialize
OOCD_CL+=-c init
# show the targets
OOCD_CL+=-c targets
# commands to prepare flash-write
OOCD_CL+= -c "reset halt"
# flash erase
OOCD_CL+=-c "stm32x mass_erase 0"
# flash-write
# Program
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
@ -509,7 +487,6 @@ OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# ---------------------------------------------------------------------------
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f

1
flight/CopterControl/System/alarms.c
View File

@ -77,7 +77,6 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
{
alarms.Alarm[alarm] = severity;
SystemAlarmsSet(&alarms);
SystemAlarmsUpdated(); // force telemetry update since the alarm was changed
}
// Release lock

1
flight/CopterControl/System/inc/pios_config.h
View File

@ -65,6 +65,7 @@
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_EXTI
#define PIOS_INCLUDE_WDG
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_ADXL345
#define PIOS_INCLUDE_FLASH

28
flight/INS/Makefile
View File

@ -313,39 +313,15 @@ LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
# ---------------------------------------------------------------------------
# Options for OpenOCD flash-programming
# see openocd.pdf/openocd.texi for further information
#
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
# if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
OOCD_EXE=openocd
# debug level
OOCD_CL=-d0
# interface and board/target settings (using the OOCD target-library here)
UNAME := $(shell uname)
ifeq ($(UNAME), Darwin)
OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../Project/OpenOCD/stm32.cfg
else
OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../Project/OpenOCD/stm32.cfg
endif
# initialize
OOCD_CL+=-c init
# show the targets
OOCD_CL+=-c targets
# commands to prepare flash-write
OOCD_CL+= -c "reset halt"
# flash erase
OOCD_CL+=-c "stm32x mass_erase 0"
# flash-write
# Program
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
# # terminate OOCD after programming
OOCD_CL+=-c shutdown
# ---------------------------------------------------------------------------
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f

52
flight/Modules/FirmwareIAP/firmwareiap.c
View File

@ -47,7 +47,6 @@
#define RESET_DELAY 500 /* delay between sending reset ot INS */
#define TICKS2MS(t) ((t)/portTICK_RATE_MS)
#define MS2TICKS(m) ((m)*portTICK_RATE_MS)
@ -59,18 +58,12 @@ const uint32_t iap_time_3_high_end = 5000;
// Private types
// Private variables
const static uint8_t version[] = { 0, 0, 1 };
const static uint16_t SVN = 12345;
static uint8_t reset_count = 0;
static portTickType lastResetSysTime;
// Private functions
static void FirmwareIAPCallback(UAVObjEvent* ev);
static uint32_t iap_calc_crc(void);
static void read_description(uint8_t *);
FirmwareIAPObjData data;
static uint32_t get_time(void);
@ -97,7 +90,8 @@ static void resetTask(UAVObjEvent *);
int32_t FirmwareIAPInitialize()
{
data.BoardType= BOARD_TYPE;
read_description(data.Description);
PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
data.BoardRevision= BOARD_REVISION;
data.ArmReset=0;
data.crc = 0;
@ -130,11 +124,12 @@ static void FirmwareIAPCallback(UAVObjEvent* ev)
this_time = get_time();
delta = this_time - last_time;
last_time = this_time;
if((data.BoardType==BOARD_TYPE)&&(data.crc != iap_calc_crc()))
if((data.BoardType==BOARD_TYPE)&&(data.crc != PIOS_BL_HELPER_CRC_Memory_Calc()))
{
read_description(data.Description);
PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
data.BoardRevision=BOARD_REVISION;
data.crc = iap_calc_crc();
data.crc = PIOS_BL_HELPER_CRC_Memory_Calc();
FirmwareIAPObjSet( &data );
}
if((data.ArmReset==1)&&(iap_state!=IAP_STATE_RESETTING))
@ -213,41 +208,6 @@ static uint32_t get_time(void)
return TICKS2MS(ticks);
}
/*!
* \brief Calculate the CRC value of the code in flash.
* \param None
* \return calculated CRC value using STM32's builtin CRC hardware
*
* \note
* I copied this function as the function crc calc function in pios_bl_helper.c
* is only included when the PIOS_BL_HELPER is defined, but this also includes
* the flash unlock and erase functions. It is safer to only have the flash
* functions in the bootloader.
*
*/
static uint32_t iap_calc_crc(void)
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
CRC_ResetDR();
CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2);
return CRC_GetCRC();
}
static uint8_t *FLASH_If_Read(uint32_t SectorAddress)
{
return (uint8_t *) (SectorAddress);
}
static void read_description(uint8_t * array)
{
uint8_t x = 0;
for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + SIZE_OF_DESCRIPTION; ++i) {
array[x] = *FLASH_If_Read(i);
++x;
}
}
/**
* Executed by event dispatcher callback to reset INS before resetting OP
*/

3
flight/Modules/GPS/GPS.c
View File

@ -322,11 +322,12 @@ static void gpsTask(void *parameters)
else
{ // we appear to be receiving GPS sentences OK, we've had an update
GPSPositionGet(&GpsData);
#ifdef PIOS_GPS_SETS_HOMELOCATION
HomeLocationData home;
HomeLocationGet(&home);
GPSPositionGet(&GpsData);
if ((GpsData.Status == GPSPOSITION_STATUS_FIX3D) && (home.Set == HOMELOCATION_SET_FALSE))
setHomeLocation(&GpsData);
#endif

28
flight/OpenPilot/Makefile
View File

@ -208,6 +208,7 @@ SRC += $(PIOSCOMMON)/pios_bmp085.c
SRC += $(PIOSCOMMON)/pios_hcsr04.c
SRC += $(PIOSCOMMON)/pios_i2c_esc.c
SRC += $(PIOSCOMMON)/pios_iap.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/printf-stdarg.c
SRC += $(FLIGHTLIB)/ahrs_spi_comm.c
SRC += $(FLIGHTLIB)/ahrs_comm_objects.c
@ -459,31 +460,8 @@ LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
# ---------------------------------------------------------------------------
# Options for OpenOCD flash-programming
# see openocd.pdf/openocd.texi for further information
#
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
# if OpenOCD is in the $PATH just set OOCD_EXE=openocd
OOCD_EXE=openocd
# debug level
OOCD_CL=-d0
# interface and board/target settings (using the OOCD target-library here)
UNAME := $(shell uname)
ifeq ($(UNAME), Darwin)
OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../Project/OpenOCD/stm32.cfg
else
OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../Project/OpenOCD/stm32.cfg
endif
# initialize
OOCD_CL+=-c init
# show the targets
OOCD_CL+=-c targets
# commands to prepare flash-write
OOCD_CL+= -c "reset halt"
# flash erase
OOCD_CL+=-c "stm32x mass_erase 0"
# flash-write
# Program
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
@ -491,7 +469,7 @@ OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# ---------------------------------------------------------------------------
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f

1
flight/OpenPilot/System/alarms.c
View File

@ -77,7 +77,6 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
{
alarms.Alarm[alarm] = severity;
SystemAlarmsSet(&alarms);
SystemAlarmsUpdated(); // force telemetry update since the alarm was changed
}
// Release lock

1
flight/OpenPilot/System/inc/pios_config.h
View File

@ -66,6 +66,7 @@
#define PIOS_INCLUDE_RTC
#define PIOS_INCLUDE_WDG
#define PIOS_INCLUDE_I2C_ESC
#define PIOS_INCLUDE_BL_HELPER
/* Defaults for Logging */
#define LOG_FILENAME "PIOS.LOG"

20
flight/PiOS/Common/pios_bl_helper.c
View File

@ -33,18 +33,19 @@
#if defined(PIOS_INCLUDE_BL_HELPER)
#include "stm32f10x_flash.h"
uint8_t *FLASH_If_Read(uint32_t SectorAddress)
uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress)
{
return (uint8_t *) (SectorAddress);
}
uint8_t FLASH_Ini()
#if defined(PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT)
uint8_t PIOS_BL_HELPER_FLASH_Ini()
{
FLASH_Unlock();
return 1;
}
uint8_t FLASH_Start()
uint8_t PIOS_BL_HELPER_FLASH_Start()
{
uint32_t pageAdress;
pageAdress = START_OF_USER_CODE;
@ -70,24 +71,27 @@ uint8_t FLASH_Start()
return (fail == TRUE) ? 0 : 1;
}
#endif
uint32_t crc_memory_calc()
uint32_t PIOS_BL_HELPER_CRC_Memory_Calc()
{
PIOS_BL_HELPER_CRC_Ini();
CRC_ResetDR();
CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2);
return CRC_GetCRC();
}
void read_description(uint8_t * array)
void PIOS_BL_HELPER_FLASH_Read_Description(uint8_t * array, uint8_t size)
{
uint8_t x = 0;
for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + SIZE_OF_DESCRIPTION; ++i) {
array[x] = *FLASH_If_Read(i);
if (size>SIZE_OF_DESCRIPTION) size = SIZE_OF_DESCRIPTION;
for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + size; ++i) {
array[x] = *PIOS_BL_HELPER_FLASH_If_Read(i);
++x;
}
}
void CRC_Ini()
void PIOS_BL_HELPER_CRC_Ini()
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
}

21
flight/PiOS/STM32F10x/pios_sys.c
View File

@ -134,6 +134,27 @@ uint32_t PIOS_SYS_getCPUFlashSize(void)
return ((uint32_t) MEM16(0x1FFFF7E0) * 1000);
}
/**
* Returns the serial number as a string
* param[out] str pointer to a string which can store at least 32 digits + zero terminator!
* (24 digits returned for STM32)
* return < 0 if feature not supported
*/
int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array)
{
int i;
/* Stored in the so called "electronic signature" */
for (i = 0; i < 12; ++i) {
uint8_t b = MEM8(0x1ffff7e8 + i);
array[i] = b;
}
/* No error */
return 0;
}
/**
* Returns the serial number as a string
* param[out] str pointer to a string which can store at least 32 digits + zero terminator!

12
flight/PiOS/inc/pios_bl_helper.h
View File

@ -31,16 +31,16 @@
#ifndef PIOS_BL_HELPER_H_
#define PIOS_BL_HELPER_H_
extern uint8_t *FLASH_If_Read(uint32_t SectorAddress);
extern uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress);
extern uint8_t FLASH_Ini();
extern uint8_t PIOS_BL_HELPER_FLASH_Ini();
extern uint32_t crc_memory_calc();
extern uint32_t PIOS_BL_HELPER_CRC_Memory_Calc();
extern void read_description(uint8_t * array);
extern void PIOS_BL_HELPER_FLASH_Read_Description(uint8_t * array, uint8_t size);
extern uint8_t FLASH_Start();
extern uint8_t PIOS_BL_HELPER_FLASH_Start();
extern void CRC_Ini();
extern void PIOS_BL_HELPER_CRC_Ini();
#endif /* PIOS_BL_HELPER_H_ */

1
flight/PiOS/inc/pios_sys.h
View File

@ -36,6 +36,7 @@
extern void PIOS_SYS_Init(void);
extern int32_t PIOS_SYS_Reset(void);
extern uint32_t PIOS_SYS_getCPUFlashSize(void);
extern int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array);
extern int32_t PIOS_SYS_SerialNumberGet(char *str);
#endif /* PIOS_SYS_H */

27
flight/PipXtreme/Makefile
View File

@ -349,31 +349,8 @@ LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
# ---------------------------------------------------------------------------
# Options for OpenOCD flash-programming
# see openocd.pdf/openocd.texi for further information
#
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
# if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
OOCD_EXE=openocd
# debug level
OOCD_CL=-d0
# interface and board/target settings (using the OOCD target-library here)
UNAME := $(shell uname)
ifeq ($(UNAME), Darwin)
OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.pipxtreme.osx.cfg -f ../Project/OpenOCD/stm32.cfg
else
OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.pipxtreme.cfg -f ../Project/OpenOCD/stm32.cfg
endif
# initialize
OOCD_CL+=-c init
# show the targets
OOCD_CL+=-c targets
# commands to prepare flash-write
OOCD_CL+= -c "reset halt"
# flash erase
OOCD_CL+=-c "stm32x mass_erase 0"
# flash-write
# Program
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
@ -381,8 +358,6 @@ OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# ---------------------------------------------------------------------------
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f

15
flight/Project/OpenOCD/floss-jtag.ahrs.cfg
View File

@ -1,15 +0,0 @@
#
# Floss JTAG for AHRS
#
interface ft2232
ft2232_vid_pid 0x0403 0x6010
ft2232_device_desc "Dual RS232-HS"
#ft2232_bus_addr "002:103"
#ft2232_serial "1234567890"
ft2232_layout "usbjtag"
ft2232_latency 2
gdb_port 3334
tcl_port 6667
telnet_port 4445

15
flight/Project/OpenOCD/floss-jtag.openpilot.cfg
View File

@ -1,15 +0,0 @@
#
# Floss JTAG OpenPilot
#
interface ft2232
ft2232_vid_pid 0x0403 0x6010
ft2232_device_desc "Dual RS232-HS"
#ft2232_bus_addr "002:088"
#ft2232_serial "1234567890"
ft2232_layout "usbjtag"
ft2232_latency 2
gdb_port 3333
tcl_port 6666
telnet_port 4444

15
flight/Project/OpenOCD/floss-jtag.openpilot.osx.cfg
View File

@ -1,15 +0,0 @@
#
# Floss JTAG OpenPilot
#
interface ft2232
ft2232_vid_pid 0x0403 0x6010
#ft2232_device_desc "Dual RS232-HS"
#ft2232_bus_addr "002:088"
#ft2232_serial "1234567890"
ft2232_layout "usbjtag"
ft2232_latency 2
gdb_port 3333
tcl_port 6666
telnet_port 4444

15
flight/Project/OpenOCD/floss-jtag.pipxtreme.cfg
View File

@ -1,15 +0,0 @@
#
# Floss JTAG for AHRS
#
interface ft2232
ft2232_vid_pid 0x0403 0x6010
ft2232_device_desc "Dual RS232-HS"
#ft2232_bus_addr "002:103"
#ft2232_serial "1234567890"
ft2232_layout "usbjtag"
ft2232_latency 2
gdb_port 3334
tcl_port 6667
telnet_port 4445

15
flight/Project/OpenOCD/floss-jtag.pipxtreme.osx.cfg
View File

@ -1,15 +0,0 @@
#
# Floss JTAG OpenPilot
#
interface ft2232
ft2232_vid_pid 0x0403 0x6010
#ft2232_device_desc "Dual RS232-HS"
#ft2232_bus_addr "002:088"
#ft2232_serial "1234567890"
ft2232_layout "usbjtag"
ft2232_latency 2
gdb_port 3334
tcl_port 6666
telnet_port 4444

0
flight/Project/OpenOCD/floss-jtag.cfg → flight/Project/OpenOCD/floss-jtag.reva.cfg
View File

0
flight/Project/OpenOCD/floss-jtag.ahrs.osx.cfg → flight/Project/OpenOCD/foss-jtag.revb.ahrs.cfg
View File

0
flight/Project/OpenOCD/floss-jtag-revb.cfg → flight/Project/OpenOCD/foss-jtag.revb.cfg
View File

2
flight/Project/gdb/pipx
View File

@ -1,5 +1,5 @@
define connect
target remote localhost:3334
target remote localhost:3333
monitor cortex_m3 vector_catch all
file ./Build/PipXtreme.elf
end

4
flight/UAVObjects/inc/uavobjectmanager.h
View File

@ -63,10 +63,10 @@ typedef struct {
uint8_t gcsAccess; /** Defines the access level for the local GCS transactions (readonly and readwrite), not used in the flight s/w */
uint8_t telemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
uint8_t telemetryUpdateMode; /** Update mode used by the telemetry module (UAVObjUpdateMode) */
int32_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
uint32_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
uint8_t gcsTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
uint8_t gcsTelemetryUpdateMode; /** Update mode used by the GCS (UAVObjUpdateMode) */
int32_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
uint32_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
uint8_t loggingUpdateMode; /** Update mode used by the logging module (UAVObjUpdateMode) */
uint32_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
} __attribute__((packed)) UAVObjMetadata;

2
ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
View File

@ -408,7 +408,7 @@ bool UAVTalk::receiveObject(quint8 type, quint32 objId, quint16 instId, quint8*
UAVObject* obj = NULL;
bool error = false;
bool allInstances = (instId == ALL_INSTANCES? true : false);
bool allInstances = (instId == ALL_INSTANCES);
// Process message type
switch (type) {

BIN
hardware/Production/FOSS JTAG/BOM/FOSS JTAG BOM.xls
View File

Binary file not shown.

BIN
hardware/Production/FOSS JTAG/FOSS JTAG Schematic.pdf
View File

Binary file not shown.

BIN
hardware/Production/FOSS JTAG/FOSS JTAG.SchDoc
View File

Binary file not shown.

22
make/firmware-defs.mk
View File

@ -143,3 +143,25 @@ $($(1):.c=.s) : %.s : %.c
$(V1) $(CC) -S $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
endef
# ---------------------------------------------------------------------------
# # Options for OpenOCD flash-programming
# see openocd.pdf/openocd.texi for further information
# #
# OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
# if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
OOCD_EXE=openocd
# debug level
OOCD_CL=-d0
# interface and board/target settings (using the OOCD target-library here)
OOCD_CL+=-s $(TOP)/flight/Project/OpenOCD
OOCD_CL+=-f foss-jtag.revb.cfg -f stm32.cfg
# initialize
OOCD_CL+=-c init
# show the targets
OOCD_CL+=-c targets
# commands to prepare flash-write
OOCD_CL+= -c "reset halt"
# flash erase
OOCD_CL+=-c "stm32x mass_erase 0"
# flash-write

5
shared/uavobjectdefinition/firmwareiapobj.xml
View File

@ -1,8 +1,9 @@
<xml>
<object name="FirmwareIAPObj" singleinstance="true" settings="false">
<description>Firmware IAP</description>
<description>Queries board for SN, model, revision, and sends reset command</description>
<field name="Command" units="" type="uint16" elements="1"/>
<field name="Description" units="" type="uint8" elements="100"/>
<field name="Description" units="" type="uint8" elements="40"/>
<field name="CPUSerial" units="" type="uint8" elements="12" />
<field name="BoardRevision" units="" type="uint16" elements="1"/>
<field name="BoardType" units="" type="uint8" elements="1"/>
<field name="ArmReset" units="" type="uint8" elements="1"/>

2
shared/uavobjectdefinition/systemalarms.xml
View File

@ -5,7 +5,7 @@
elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,SDCard,Telemetry,ManualControl,Actuator,Attitude,Stabilization,Guidance,AHRSComms,Battery,FlightTime,I2C,GPS" defaultvalue="Uninitialised"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="periodic" period="4000"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="periodic" period="1000"/>
</object>
</xml>