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https://bitbucket.org/librepilot/librepilot.git
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Need to use slightly different code to generate the InitMods.c function for
simulation because of the Attitude/Revolution format.
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@ -40,6 +40,7 @@ void PIOS_WDG_Clear(void);
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#define PIOS_WDG_ACTUATOR 0x0001
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#define PIOS_WDG_STABILIZATION 0x0002
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#define PIOS_WDG_ATTITUDE 0x0004
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#define PIOS_WDG_MANUAL 0x0008
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#endif
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@ -53,9 +53,12 @@ FLASH_TOOL = OPENOCD
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USE_THUMB_MODE = YES
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# List of modules to include
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MODULES = Telemetry Actuator #Stabilization ManualControl FlightPlan
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MODULES = Telemetry Actuator ManualControl Stabilization
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MODULES += Attitude/Revolution
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#MODULES += SimulatedAttitude
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MOD_GEN = Telemetry Actuator ManualControl Stabilization Attitude
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# MCU name, submodel and board
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# - MCU used for compiler-option (-mtune)
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# - MODEL used for linker-script name (-T) and passed as define
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@ -173,6 +176,7 @@ SRC += $(PIOSPOSIX)/pios_rcvr.c
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SRC += $(FLIGHTLIB)/fifo_buffer.c
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SRC += $(FLIGHTLIB)/WorldMagModel.c
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SRC += $(FLIGHTLIB)/CoordinateConversions.c
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SRC += $(FLIGHTLIB)/insgps13state.c
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SRC += $(FLIGHTLIB)/taskmonitor.c
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## RTOS and RTOS Portable
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@ -435,13 +439,13 @@ gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTD
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${OUTDIR}/InitMods.c: Makefile.osx
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@echo ${MSG_MODINIT}
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@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
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@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c
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@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Start(void);}${quote} >> ${OUTDIR}/InitMods.c
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@echo ${quote}${foreach MOD, ${MOD_GEN}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c
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@echo ${quote}${foreach MOD, ${MOD_GEN}, extern unsigned int ${MOD}Start(void);}${quote} >> ${OUTDIR}/InitMods.c
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@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
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@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
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@echo ${quote}${foreach MOD, ${MOD_GEN}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
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@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
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@echo ${quote}void StartModules() {${quote} >> ${OUTDIR}/InitMods.c
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@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Start();}${quote} >> ${OUTDIR}/InitMods.c
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@echo ${quote}${foreach MOD, ${MOD_GEN}, ${MOD}Start();}${quote} >> ${OUTDIR}/InitMods.c
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@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
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# Generate code for PyMite
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@ -29,10 +29,12 @@
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#include <openpilot.h>
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#include <uavobjectsinit.h>
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#include "attituderaw.h"
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#include "attitudeactual.h"
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#include "positionactual.h"
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#include "velocityactual.h"
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#include "accels.h"
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#include "baroaltitude.h"
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#include "gpsposition.h"
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#include "gyros.h"
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#include "gyrosbias.h"
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#include "magnetometer.h"
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#include "manualcontrolsettings.h"
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#include "pios_rcvr_priv.h"
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@ -133,6 +135,13 @@ void PIOS_Board_Init(void) {
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UAVObjInitialize();
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UAVObjectsInitializeAll();
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AccelsInitialize();
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BaroAltitudeInitialize();
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MagnetometerInitialize();
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GPSPositionInitialize();
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GyrosInitialize();
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GyrosBiasInitialize();
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/* Initialize the alarms library */
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AlarmsInitialize();
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