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Code Issues Releases Activity

make optional modules check themselves if they should start or not

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This commit is contained in:
Corvus Corax 2011-11-11 11:39:57 +01:00
parent e03e3c2ed8
commit 61ecc0d310
2 changed files with 49 additions and 17 deletions
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36
flight/Modules/CameraStab/camerastab.c
View File

@ -51,6 +51,7 @@
#include "attitudeactual.h"
#include "camerastabsettings.h"
#include "cameradesired.h"
#include "hwsettings.h"
//
// Configuration
@ -61,6 +62,8 @@
// Private variables
static uint8_t camerastabEnabled = 0;
// Private functions
static void attitudeUpdated(UAVObjEvent* ev);
static float bound(float val);
@ -72,16 +75,33 @@ static float bound(float val);
int32_t CameraStabInitialize(void)
{
static UAVObjEvent ev;
ev.obj = AttitudeActualHandle();
ev.instId = 0;
ev.event = 0;
CameraStabSettingsInitialize();
CameraDesiredInitialize();
HwSettingsInitialize();
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
if (optionalModules[HWSETTINGS_OPTIONALMODULES_CAMERASTAB]==HWSETTINGS_OPTIONALMODULES_ENABLED) {
camerastabEnabled=1;
} else {
camerastabEnabled=0;
}
EventPeriodicCallbackCreate(&ev, attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
if (camerastabEnabled) {
return 0;
AttitudeActualInitialize();
ev.obj = AttitudeActualHandle();
ev.instId = 0;
ev.event = 0;
CameraStabSettingsInitialize();
CameraDesiredInitialize();
EventPeriodicCallbackCreate(&ev, attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
return 0;
}
return -1;
}
/* stub: module has no module thread */
@ -90,6 +110,8 @@ int32_t CameraStabStart(void)
return 0;
}
MODULE_INITCALL(CameraStabInitialize, CameraStabStart)
static void attitudeUpdated(UAVObjEvent* ev)
{
if (ev->obj != AttitudeActualHandle())

30
flight/Modules/GPS/GPS.c
View File

@ -78,6 +78,7 @@ static float GravityAccel(float latitude, float longitude, float altitude);
// Private variables
static uint32_t gpsPort;
static uint8_t gpsEnabled = 0;
static xTaskHandle gpsTaskHandle;
@ -98,14 +99,16 @@ static uint32_t numParsingErrors;
int32_t GPSStart(void)
{
if (gpsPort) {
// Start gps task
xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_GPS, gpsTaskHandle);
return 0;
}
if (gpsEnabled) {
if (gpsPort) {
// Start gps task
xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_GPS, gpsTaskHandle);
return 0;
}
AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL);
AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL);
}
return -1;
}
@ -117,8 +120,16 @@ int32_t GPSStart(void)
int32_t GPSInitialize(void)
{
gpsPort = PIOS_COM_GPS;
HwSettingsInitialize();
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
if (optionalModules[HWSETTINGS_OPTIONALMODULES_GPS]==HWSETTINGS_OPTIONALMODULES_ENABLED) {
gpsEnabled=1;
} else {
gpsEnabled=0;
}
if (gpsPort) {
if (gpsPort && gpsEnabled) {
GPSPositionInitialize();
#if !defined(PIOS_GPS_MINIMAL)
GPSTimeInitialize();
@ -138,8 +149,7 @@ int32_t GPSInitialize(void)
return -1;
}
// optional module, gets initialized separately
//MODULE_INITCALL(GPSInitialize, GPSStart)
MODULE_INITCALL(GPSInitialize, GPSStart)
// ****************
/**