mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-20 10:54:14 +01:00
Remove the semaphore for buffer swapping and make this occur during the receive
ISR. This leads to a possible condition where a copy is taking place in userspace and then a buffer swap interrupts it. However, the copy should always finish before the SPI DMA slave catches up to that place in memory at 10 MHz. This fixes a common condition where the userspace task (low priority) was not swapping buffers in time from user space and logs were corrupted.
This commit is contained in:
James Cotton
parent
179e66b754
commit
5b2376dbee
@ -35,7 +35,7 @@
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// Private constants
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#define OVEROSYNC_PACKET_SIZE 256
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#define MAX_QUEUE_SIZE 3
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#define MAX_QUEUE_SIZE 10
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#define STACK_SIZE_BYTES 512
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 0)
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@ -113,6 +113,7 @@ int32_t OveroSyncStart(void)
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overosync->active_transaction_id = 0;
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overosync->loading_transaction_id = 0;
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overosync->write_pointer = 0;
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// Process all registered objects and connect queue for updates
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UAVObjIterate(®isterObject);
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@ -160,7 +161,12 @@ static void overoSyncTask(void *parameters)
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// Kick off SPI transfers (once one is completed another will automatically transmit)
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overosync->transaction_done = true;
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overosync->sent_objects = 0;
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overosync->failed_objects = 0;
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overosync->received_objects = 0;
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transmitData();
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// Loop forever
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while (1) {
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// Wait for queue message
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@ -168,8 +174,8 @@ static void overoSyncTask(void *parameters)
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// Process event. This calls transmitData
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UAVTalkSendObject(uavTalkCon, ev.obj, ev.instId, false, 0);
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if(overosync->transaction_done)
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transmitData();
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//if(overosync->transaction_done)
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// transmitData();
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overosync_transfers++;
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}
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@ -193,6 +199,8 @@ static void transmitDataDone(bool crc_ok, uint8_t crc_val)
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overosync->transaction_done = true;
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transmitData();
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// Parse the data from overo
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for (uint32_t i = 0; rx_buffer[0] != 0 && i < sizeof(rx_buffer) ; i++)
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UAVTalkProcessInputStream(uavTalkCon, rx_buffer[i]);
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@ -238,8 +246,8 @@ static int32_t transmitData()
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uint8_t *tx_buffer, *rx_buffer;
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// Get lock to manipulate buffers
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if(xSemaphoreTake(overosync->buffer_lock, 1) == pdFALSE)
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return -1;
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/*if(xSemaphoreTake(overosync->buffer_lock, 1) == pdFALSE)
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return -1;*/
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overosync->transaction_done = false;
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@ -256,7 +264,7 @@ static int32_t transmitData()
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sizeof(overosync->transactions[overosync->loading_transaction_id].tx_buffer));
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overosync->write_pointer = 0;
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xSemaphoreGive(overosync->buffer_lock);
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//xSemaphoreGive(overosync->buffer_lock);
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xSemaphoreTake(overosync->transaction_lock, portMAX_DELAY);
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transactionsStarted++;
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@ -9,50 +9,9 @@
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650D8E2712DFE16400D05CC9 /* ahrs_comms.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_comms.h; sourceTree = "<group>"; };
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650D8E2B12DFE16400D05CC9 /* altitude.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = altitude.h; sourceTree = "<group>"; };
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@ -71,6 +30,7 @@
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@ -2847,8 +2807,6 @@
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@ -3291,8 +3249,6 @@
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@ -3386,321 +3339,6 @@
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||||
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||||
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||||
);
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||||
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||||
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|
||||
);
|
||||
path = Actuator;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E2212DFE16400D05CC9 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E2312DFE16400D05CC9 /* actuator.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E2412DFE16400D05CC9 /* AHRSComms */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E2512DFE16400D05CC9 /* ahrs_comms.c */,
|
||||
650D8E2612DFE16400D05CC9 /* inc */,
|
||||
);
|
||||
path = AHRSComms;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E2612DFE16400D05CC9 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E2712DFE16400D05CC9 /* ahrs_comms.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E2812DFE16400D05CC9 /* Altitude */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65FAB9081482072E000FF8B2 /* revolution */,
|
||||
650D8E2912DFE16400D05CC9 /* altitude.c */,
|
||||
650D8E2A12DFE16400D05CC9 /* inc */,
|
||||
);
|
||||
path = Altitude;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E2A12DFE16400D05CC9 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E2B12DFE16400D05CC9 /* altitude.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E2E12DFE16400D05CC9 /* Battery */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E2F12DFE16400D05CC9 /* battery.c */,
|
||||
650D8E3012DFE16400D05CC9 /* inc */,
|
||||
);
|
||||
path = Battery;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E3012DFE16400D05CC9 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E3112DFE16400D05CC9 /* battery.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E3212DFE16400D05CC9 /* Example */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E3312DFE16400D05CC9 /* example.c */,
|
||||
650D8E3412DFE16400D05CC9 /* examplemodevent.c */,
|
||||
650D8E3512DFE16400D05CC9 /* examplemodperiodic.c */,
|
||||
650D8E3612DFE16400D05CC9 /* examplemodthread.c */,
|
||||
650D8E3712DFE16400D05CC9 /* inc */,
|
||||
);
|
||||
path = Example;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E3712DFE16400D05CC9 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E3812DFE16400D05CC9 /* examplemodevent.h */,
|
||||
650D8E3912DFE16400D05CC9 /* examplemodperiodic.h */,
|
||||
650D8E3A12DFE16400D05CC9 /* examplemodthread.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E3B12DFE16400D05CC9 /* FirmwareIAP */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E3C12DFE16400D05CC9 /* firmwareiap.c */,
|
||||
650D8E3D12DFE16400D05CC9 /* inc */,
|
||||
);
|
||||
path = FirmwareIAP;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E3D12DFE16400D05CC9 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E3E12DFE16400D05CC9 /* firmwareiap.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E3F12DFE16400D05CC9 /* FlightPlan */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E4012DFE16400D05CC9 /* flightplan.c */,
|
||||
650D8E4112DFE16400D05CC9 /* flightplans */,
|
||||
650D8E4312DFE16400D05CC9 /* inc */,
|
||||
650D8E4512DFE16400D05CC9 /* lib */,
|
||||
);
|
||||
path = FlightPlan;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E4112DFE16400D05CC9 /* flightplans */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E4212DFE16400D05CC9 /* test.py */,
|
||||
);
|
||||
path = flightplans;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E4312DFE16400D05CC9 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E4412DFE16400D05CC9 /* flightplan.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E4512DFE16400D05CC9 /* lib */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E4612DFE16400D05CC9 /* uavobjects.py */,
|
||||
);
|
||||
path = lib;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E4712DFE16400D05CC9 /* GPS */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65FAA03F133B669400F6F5CD /* GTOP_BIN.c */,
|
||||
650D8E4812DFE16400D05CC9 /* GPS.c */,
|
||||
650D8E4912DFE16400D05CC9 /* inc */,
|
||||
650D8E4C12DFE16400D05CC9 /* NMEA.c */,
|
||||
);
|
||||
path = GPS;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E4912DFE16400D05CC9 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E4A12DFE16400D05CC9 /* GPS.h */,
|
||||
650D8E4B12DFE16400D05CC9 /* NMEA.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E4D12DFE16400D05CC9 /* Guidance */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E4E12DFE16400D05CC9 /* guidance.c */,
|
||||
650D8E4F12DFE16400D05CC9 /* inc */,
|
||||
);
|
||||
path = Guidance;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E4F12DFE16400D05CC9 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E5012DFE16400D05CC9 /* guidance.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E5112DFE16400D05CC9 /* ManualControl */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E5212DFE16400D05CC9 /* inc */,
|
||||
650D8E5412DFE16400D05CC9 /* manualcontrol.c */,
|
||||
);
|
||||
path = ManualControl;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E5212DFE16400D05CC9 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E5312DFE16400D05CC9 /* manualcontrol.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E5512DFE16400D05CC9 /* MK */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E5612DFE16400D05CC9 /* MKSerial */,
|
||||
);
|
||||
path = MK;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E5612DFE16400D05CC9 /* MKSerial */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E5712DFE16400D05CC9 /* inc */,
|
||||
650D8E5912DFE16400D05CC9 /* MKSerial.c */,
|
||||
);
|
||||
path = MKSerial;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E5712DFE16400D05CC9 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E5812DFE16400D05CC9 /* MkSerial.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E5A12DFE16400D05CC9 /* Osd */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E5B12DFE16400D05CC9 /* OsdEtStd */,
|
||||
);
|
||||
path = Osd;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E5B12DFE16400D05CC9 /* OsdEtStd */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E5C12DFE16400D05CC9 /* OsdEtStd.c */,
|
||||
);
|
||||
path = OsdEtStd;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E5D12DFE16400D05CC9 /* Stabilization */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E5E12DFE16400D05CC9 /* inc */,
|
||||
650D8E6012DFE16400D05CC9 /* stabilization.c */,
|
||||
);
|
||||
path = Stabilization;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E5E12DFE16400D05CC9 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E5F12DFE16400D05CC9 /* stabilization.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E6112DFE16400D05CC9 /* System */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E6212DFE16400D05CC9 /* inc */,
|
||||
650D8E6412DFE16400D05CC9 /* systemmod.c */,
|
||||
);
|
||||
path = System;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E6212DFE16400D05CC9 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E6312DFE16400D05CC9 /* systemmod.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E6512DFE16400D05CC9 /* Telemetry */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E6612DFE16400D05CC9 /* inc */,
|
||||
650D8E6812DFE16400D05CC9 /* telemetry.c */,
|
||||
);
|
||||
path = Telemetry;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E6612DFE16400D05CC9 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
650D8E6712DFE16400D05CC9 /* telemetry.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
650D8E6A12DFE17500D05CC9 /* UAVObjects */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
@ -3733,23 +3371,6 @@
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
65140DF81496927D00E01D11 /* Sensors */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65140DF91496927D00E01D11 /* inc */,
|
||||
65140DFB1496927D00E01D11 /* sensors.c */,
|
||||
);
|
||||
path = Sensors;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
65140DF91496927D00E01D11 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65140DFA1496927D00E01D11 /* sensors.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
652A445414D1169E00835B68 /* revolution */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
@ -3807,8 +3428,8 @@
|
||||
65FF4BB313791C3300146BE4 /* Bootloaders */,
|
||||
65F93B9012EE09280047DB36 /* PipXtreme */,
|
||||
65E6DF7012E02E8E00058553 /* CopterControl */,
|
||||
650D8E1F12DFE16400D05CC9 /* Modules */,
|
||||
657CEEB6121DBC63007A1FBE /* Libraries */,
|
||||
652EF83814DF229C00C461BB /* Modules */,
|
||||
65E8F02F11EFF25C00BBF654 /* PiOS */,
|
||||
65E6DF9012E0313E00058553 /* PipXtreme */,
|
||||
650D8E6A12DFE17500D05CC9 /* UAVObjects */,
|
||||
@ -8316,24 +7937,6 @@
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
65C35F6512F0DC2D004811C2 /* Attitude */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65FA9B76147095D40019A260 /* revolution */,
|
||||
65C35F6612F0DC2D004811C2 /* attitude.c */,
|
||||
65C35F6712F0DC2D004811C2 /* inc */,
|
||||
);
|
||||
path = Attitude;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
65C35F6712F0DC2D004811C2 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65C35F6812F0DC2D004811C2 /* attitude.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
65E6DF7012E02E8E00058553 /* CopterControl */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
@ -9142,41 +8745,6 @@
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
65FA9B76147095D40019A260 /* revolution */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65FA9B77147095D40019A260 /* attitude.c */,
|
||||
65FA9B78147095D40019A260 /* inc */,
|
||||
);
|
||||
path = revolution;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
65FA9B78147095D40019A260 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65FA9B79147095D40019A260 /* attitude.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
65FAB9081482072E000FF8B2 /* revolution */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65FAB9091482072E000FF8B2 /* altitude.c */,
|
||||
65FAB90A1482072E000FF8B2 /* inc */,
|
||||
);
|
||||
name = revolution;
|
||||
path = Revolution;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
65FAB90A1482072E000FF8B2 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65FAB90B1482072E000FF8B2 /* altitude.h */,
|
||||
);
|
||||
path = inc;
|
||||
sourceTree = "<group>";
|
||||
};
|
||||
65FF4BB313791C3300146BE4 /* Bootloaders */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
|
||||
@ -250,8 +250,8 @@ endif
|
||||
# common architecture-specific flags from the device-specific library makefile
|
||||
CFLAGS += $(ARCHFLAGS)
|
||||
|
||||
|
||||
CFLAGS += -DDIAGNOSTICS
|
||||
CFLAGS += -DDIAG_TASKS
|
||||
|
||||
# This is not the best place for these. Really should abstract out
|
||||
# to the board file or something
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user