Merge remote-tracking branch 'remotes/origin/james/revolution' into osd_test

Conflicts:
	ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "overo"]
+	path = overo
+	url = git@github.com:peabody124/op_overo.git

HISTORY.txt

@@ -1,5 +1,9 @@
 Short summary of changes.  For a complete list see the git log.
 
+2012-02-14
+New QML based system to allow more flexible UI.  Upgraded stabilization
+configuration.
+
 2012-01-02
 CC FW now supports USB Virtual Com Port (VCP/CDC) in addition to the original HID interface
 New ComUsbBridge module can bridge any serial port to the USB CDC port

Makefile

@@ -200,7 +200,9 @@ arm_sdk_clean:
 	$(V1) [ ! -d "$(ARM_SDK_DIR)" ] || $(RM) -r $(ARM_SDK_DIR)
 
 # Set up openocd tools
-OPENOCD_DIR := $(TOOLS_DIR)/openocd
+OPENOCD_DIR       := $(TOOLS_DIR)/openocd
+OPENOCD_WIN_DIR   := $(TOOLS_DIR)/openocd_win
+OPENOCD_BUILD_DIR := $(DL_DIR)/openocd-build
 
 .PHONY: openocd_install
 openocd_install: | $(DL_DIR) $(TOOLS_DIR)
@@ -211,42 +213,139 @@ openocd_install: openocd_clean
 	$(V1) wget -N -P "$(DL_DIR)" --trust-server-name "$(OPENOCD_URL)"
 
         # extract the source
-	$(V1) [ ! -d "$(DL_DIR)/openocd-build" ] || $(RM) -r "$(DL_DIR)/openocd-build"
+	$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -r "$(OPENOCD_BUILD_DIR)"
-	$(V1) mkdir -p "$(DL_DIR)/openocd-build"
+	$(V1) mkdir -p "$(OPENOCD_BUILD_DIR)"
-	$(V1) tar -C $(DL_DIR)/openocd-build -xjf "$(DL_DIR)/$(OPENOCD_FILE)"
+	$(V1) tar -C $(OPENOCD_BUILD_DIR) -xjf "$(DL_DIR)/$(OPENOCD_FILE)"
 
         # build and install
 	$(V1) mkdir -p "$(OPENOCD_DIR)"
 	$(V1) ( \
-	  cd $(DL_DIR)/openocd-build/openocd-0.5.0 ; \
+	  cd $(OPENOCD_BUILD_DIR)/openocd-0.5.0 ; \
 	  ./configure --prefix="$(OPENOCD_DIR)" --enable-ft2232_libftdi --enable-buspirate; \
 	  $(MAKE) --silent ; \
 	  $(MAKE) --silent install ; \
 	)
 
         # delete the extracted source when we're done
-	$(V1) [ ! -d "$(DL_DIR)/openocd-build" ] || $(RM) -rf "$(DL_DIR)/openocd-build"
+	$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
+
+.PHONY: ftd2xx_install
+
+FTD2XX_DIR := $(DL_DIR)/ftd2xx
+
+ftd2xx_install: | $(DL_DIR)
+ftd2xx_install: FTD2XX_URL  := http://www.ftdichip.com/Drivers/CDM/Beta/CDM20817.zip
+ftd2xx_install: FTD2XX_FILE := CDM20817.zip
+ftd2xx_install: ftd2xx_clean
+        # download the file only if it's newer than what we already have
+	$(V0) @echo " DOWNLOAD     $(FTD2XX_URL)"
+	$(V1) wget -q -N -P "$(DL_DIR)" "$(FTD2XX_URL)"
+
+        # extract the source
+	$(V0) @echo " EXTRACT      $(FTD2XX_FILE) -> $(FTD2XX_DIR)"
+	$(V1) mkdir -p "$(FTD2XX_DIR)"
+	$(V1) unzip -q -d "$(FTD2XX_DIR)" "$(DL_DIR)/$(FTD2XX_FILE)"
+
+.PHONY: ftd2xx_clean
+ftd2xx_clean:
+	$(V0) @echo " CLEAN        $(FTD2XX_DIR)"
+	$(V1) [ ! -d "$(FTD2XX_DIR)" ] || $(RM) -r "$(FTD2XX_DIR)"
+
+.PHONY: ftd2xx_install
+
+LIBUSB_WIN_DIR := $(DL_DIR)/libusb-win32-bin-1.2.6.0
+
+libusb_win_install: | $(DL_DIR)
+libusb_win_install: LIBUSB_WIN_URL  := http://sourceforge.net/projects/libusb-win32/files/libusb-win32-releases/1.2.6.0/libusb-win32-bin-1.2.6.0.zip/download
+libusb_win_install: LIBUSB_WIN_FILE := libusb-win32-bin-1.2.6.0.zip
+libusb_win_install: libusb_win_clean
+        # download the file only if it's newer than what we already have
+	$(V0) @echo " DOWNLOAD     $(LIBUSB_WIN_URL)"
+	$(V1) wget -q -N -P "$(DL_DIR)" --trust-server-name "$(LIBUSB_WIN_URL)"
+
+        # extract the source
+	$(V0) @echo " EXTRACT      $(LIBUSB_WIN_FILE) -> $(LIBUSB_WIN_DIR)"
+	$(V1) mkdir -p "$(LIBUSB_WIN_DIR)"
+	$(V1) unzip -q -d "$(DL_DIR)" "$(DL_DIR)/$(LIBUSB_WIN_FILE)"
+
+        # fixup .h file needed by openocd build
+	$(V0) @echo " FIXUP        $(LIBUSB_WIN_DIR)"
+	$(V1) ln -s "$(LIBUSB_WIN_DIR)/include/lusb0_usb.h" "$(LIBUSB_WIN_DIR)/include/usb.h"
+
+.PHONY: libusb_win_clean
+libusb_win_clean:
+	$(V0) @echo " CLEAN        $(LIBUSB_WIN_DIR)"
+	$(V1) [ ! -d "$(LIBUSB_WIN_DIR)" ] || $(RM) -r "$(LIBUSB_WIN_DIR)"
+
+.PHONY: openocd_git_win_install
+
+openocd_git_win_install: | $(DL_DIR) $(TOOLS_DIR)
+openocd_git_win_install: OPENOCD_URL  := git://openocd.git.sourceforge.net/gitroot/openocd/openocd
+openocd_git_win_install: OPENOCD_REV  := c59a4419fcc5568d59fbaee775132f91cb7fd26b
+openocd_git_win_install: openocd_win_clean libusb_win_install ftd2xx_install
+        # download the source
+	$(V0) @echo " DOWNLOAD     $(OPENOCD_URL) @ $(OPENOCD_REV)"
+	$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
+	$(V1) mkdir -p "$(OPENOCD_BUILD_DIR)"
+	$(V1) git clone --depth 1 --no-checkout $(OPENOCD_URL) "$(DL_DIR)/openocd-build"
+	$(V1) ( \
+	  cd $(OPENOCD_BUILD_DIR) ; \
+	  git checkout -q $(OPENOCD_REV) ; \
+	)
+
+        # apply patches
+	$(V0) @echo " PATCH        $(OPENOCD_BUILD_DIR)"
+	$(V1) ( \
+	  cd $(OPENOCD_BUILD_DIR) ; \
+	  git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0001-armv7m-remove-dummy-FP-regs-for-new-gdb.patch ; \
+	  git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0002-rtos-add-stm32_stlink-to-FreeRTOS-targets.patch ; \
+	)
+
+        # build and install
+	$(V0) @echo " BUILD        $(OPENOCD_WIN_DIR)"
+	$(V1) mkdir -p "$(OPENOCD_WIN_DIR)"
+	$(V1) ( \
+	  cd $(OPENOCD_BUILD_DIR) ; \
+	  ./bootstrap ; \
+	  ./configure --enable-maintainer-mode --prefix="$(OPENOCD_WIN_DIR)" \
+		--build=i686-pc-linux-gnu --host=i586-mingw32msvc \
+		CPPFLAGS=-I$(LIBUSB_WIN_DIR)/include \
+		LDFLAGS=-L$(LIBUSB_WIN_DIR)/lib/gcc \
+		--enable-ft2232_ftd2xx --with-ftd2xx-win32-zipdir=$(FTD2XX_DIR) \
+		--disable-werror \
+		--enable-stlink ; \
+	  $(MAKE) ; \
+	  $(MAKE) install ; \
+	)
+
+        # delete the extracted source when we're done
+	$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
+
+.PHONY: openocd_win_clean
+openocd_win_clean:
+	$(V0) @echo " CLEAN        $(OPENOCD_WIN_DIR)"
+	$(V1) [ ! -d "$(OPENOCD_WIN_DIR)" ] || $(RM) -r "$(OPENOCD_WIN_DIR)"
 
 .PHONY: openocd_git_install
 
 openocd_git_install: | $(DL_DIR) $(TOOLS_DIR)
 openocd_git_install: OPENOCD_URL  := git://openocd.git.sourceforge.net/gitroot/openocd/openocd
-openocd_git_install: OPENOCD_REV  := bce7009e31b23250d4325637c7b7cdbae0efed9a
+openocd_git_install: OPENOCD_REV  := c59a4419fcc5568d59fbaee775132f91cb7fd26b
 openocd_git_install: openocd_clean
         # download the source
 	$(V0) @echo " DOWNLOAD     $(OPENOCD_URL) @ $(OPENOCD_REV)"
-	$(V1) [ ! -d "$(DL_DIR)/openocd-build" ] || $(RM) -rf "$(DL_DIR)/openocd-build"
+	$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
-	$(V1) mkdir -p "$(DL_DIR)/openocd-build"
+	$(V1) mkdir -p "$(OPENOCD_BUILD_DIR)"
-	$(V1) git clone --depth 1 --no-checkout $(OPENOCD_URL) "$(DL_DIR)/openocd-build"
+	$(V1) git clone --depth 1 --no-checkout $(OPENOCD_URL) "$(OPENOCD_BUILD_DIR)"
 	$(V1) ( \
-	  cd $(DL_DIR)/openocd-build ; \
+	  cd $(OPENOCD_BUILD_DIR) ; \
 	  git checkout -q $(OPENOCD_REV) ; \
 	)
 
         # apply patches
 	$(V0) @echo " PATCH        $(OPENOCD_DIR)"
 	$(V1) ( \
-	  cd $(DL_DIR)/openocd-build ; \
+	  cd $(OPENOCD_BUILD_DIR) ; \
 	  git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0001-armv7m-remove-dummy-FP-regs-for-new-gdb.patch ; \
 	  git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0002-rtos-add-stm32_stlink-to-FreeRTOS-targets.patch ; \
 	)
@@ -255,7 +354,7 @@ openocd_git_install: openocd_clean
 	$(V0) @echo " BUILD        $(OPENOCD_DIR)"
 	$(V1) mkdir -p "$(OPENOCD_DIR)"
 	$(V1) ( \
-	  cd $(DL_DIR)/openocd-build ; \
+	  cd $(OPENOCD_BUILD_DIR) ; \
 	  ./bootstrap ; \
 	  ./configure --enable-maintainer-mode --prefix="$(OPENOCD_DIR)" --enable-ft2232_libftdi --enable-buspirate --enable-stlink ; \
 	  $(MAKE) ; \
@@ -263,7 +362,7 @@ openocd_git_install: openocd_clean
 	)
 
         # delete the extracted source when we're done
-	$(V1) [ ! -d "$(DL_DIR)/openocd-build" ] || $(RM) -r "$(DL_DIR)/openocd-build"
+	$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
 
 .PHONY: openocd_clean
 openocd_clean:

artwork/Dials/deluxe/lineardial-horizontal.svg

@@ -14,8 +14,8 @@
    height="70.597504"
    id="svg10068"
    version="1.1"
-   inkscape:version="0.48.1 "
+   inkscape:version="0.48.2 r9819"
-   sodipodi:docname="lineardial-horizontal.svg"
+   sodipodi:docname="lineardial-horizontal-old2.svg"
    inkscape:export-filename="H:\Documents\Hobbies\W433\My Gauges\vbat-001.png"
    inkscape:export-xdpi="103.61"
    inkscape:export-ydpi="103.61"
@@ -25,15 +25,19 @@
     <linearGradient
        id="linearGradient4439">
       <stop
-         style="stop-color:#1a1a1a;stop-opacity:1"
+         style="stop-color:#666666;stop-opacity:0;"
          offset="0"
          id="stop4441" />
       <stop
          id="stop4443"
-         offset="0.19742694"
+         offset="0.31684026"
-         style="stop-color:#808080;stop-opacity:1" />
+         style="stop-color:#a3a3a3;stop-opacity:1;" />
       <stop
-         style="stop-color:#000000;stop-opacity:1"
+         style="stop-color:#757575;stop-opacity:0.90517241;"
+         offset="0.62995511"
+         id="stop3987" />
+      <stop
+         style="stop-color:#666666;stop-opacity:0;"
          offset="1"
          id="stop4445" />
     </linearGradient>
@@ -57,15 +61,11 @@
       <stop
          id="stop4389"
          offset="0"
-         style="stop-color:#4d4d4d;stop-opacity:1" />
+         style="stop-color:#8a8a8a;stop-opacity:1;" />
       <stop
-         style="stop-color:#000000;stop-opacity:1"
+         style="stop-color:#181818;stop-opacity:1;"
-         offset="0.60976541"
-         id="stop4391" />
-      <stop
-         id="stop4393"
          offset="1"
-         style="stop-color:#4d4d4d;stop-opacity:1" />
+         id="stop4391" />
     </linearGradient>
     <linearGradient
        id="linearGradient4361">
@@ -237,15 +237,15 @@
       <stop
          id="stop3905"
          offset="0"
-         style="stop-color:#000000;stop-opacity:1" />
+         style="stop-color:#676767;stop-opacity:1;" />
       <stop
          style="stop-color:#ffffff;stop-opacity:1"
-         offset="0.3220683"
+         offset="0.43894145"
          id="stop3907" />
       <stop
          id="stop3909"
          offset="1"
-         style="stop-color:#000000;stop-opacity:1" />
+         style="stop-color:#7d7d7d;stop-opacity:1;" />
     </linearGradient>
     <linearGradient
        id="linearGradient5375">
@@ -425,46 +425,34 @@
     </linearGradient>
     <linearGradient
        id="linearGradient5116">
-      <stop
-         style="stop-color:#000000;stop-opacity:1"
-         offset="0"
-         id="stop5118" />
       <stop
          id="stop5124"
-         offset="0.35911319"
+         offset="0"
-         style="stop-color:#dcaf28;stop-opacity:1" />
+         style="stop-color:#ffc001;stop-opacity:1;" />
       <stop
-         style="stop-color:#000000;stop-opacity:1"
+         style="stop-color:#844700;stop-opacity:1;"
          offset="1"
          id="stop5120" />
     </linearGradient>
     <linearGradient
        id="linearGradient5106">
-      <stop
-         style="stop-color:#000000;stop-opacity:1"
-         offset="0"
-         id="stop5108" />
       <stop
          id="stop5114"
-         offset="0.36023793"
+         offset="0"
          style="stop-color:#00a000;stop-opacity:1" />
       <stop
-         style="stop-color:#000000;stop-opacity:1"
+         style="stop-color:#003d00;stop-opacity:1;"
          offset="1"
          id="stop5110" />
     </linearGradient>
     <linearGradient
        id="linearGradient5096">
-      <stop
-         style="stop-color:#100000;stop-opacity:1"
-         offset="0"
-         id="stop5098" />
       <stop
          id="stop5104"
-         offset="0.36453304"
+         offset="0"
-         style="stop-color:#aa0000;stop-opacity:1" />
+         style="stop-color:#e60000;stop-opacity:1;" />
       <stop
-         style="stop-color:#0c0000;stop-opacity:1"
+         style="stop-color:#710000;stop-opacity:1;"
          offset="1"
          id="stop5100" />
     </linearGradient>
@@ -687,7 +675,7 @@
        x2="87.074203"
        y2="168.83261"
        gradientUnits="userSpaceOnUse"
-       gradientTransform="matrix(0,0.99999995,-0.99999975,0,-11.23354,-270.8763)" />
+       gradientTransform="matrix(0,1.0110991,-1.0062411,0,-10.360287,-272.19756)" />
     <linearGradient
        inkscape:collect="always"
        xlink:href="#linearGradient5106"
@@ -697,7 +685,7 @@
        x2="86.644958"
        y2="173.46591"
        gradientUnits="userSpaceOnUse"
-       gradientTransform="matrix(0,0.99999997,-1,0,-11.23354,-270.8763)" />
+       gradientTransform="matrix(0,1.0224134,-1.0048488,0,-10.554719,-273.54528)" />
     <linearGradient
        inkscape:collect="always"
        xlink:href="#linearGradient5116"
@@ -707,7 +695,7 @@
        x2="86.547356"
        y2="168.82289"
        gradientUnits="userSpaceOnUse"
-       gradientTransform="matrix(0,1,-1,0,-11.23354,-270.8763)" />
+       gradientTransform="matrix(0,1,-1.0055415,0,-10.459485,-270.8763)" />
     <linearGradient
        inkscape:collect="always"
        xlink:href="#linearGradient5129"
@@ -932,7 +920,7 @@
        xlink:href="#linearGradient3903"
        id="linearGradient3899"
        gradientUnits="userSpaceOnUse"
-       gradientTransform="matrix(0,-0.99999988,1.7142859,0,35.373449,-317.43383)"
+       gradientTransform="matrix(0,-0.99937716,1.7523173,0,32.05963,-317.33185)"
        x1="-150.75359"
        y1="68.860146"
        x2="-150.75359"
@@ -1120,16 +1108,16 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="3.1841238"
+     inkscape:zoom="5.5410688"
-     inkscape:cx="140.38399"
+     inkscape:cx="55.238424"
      inkscape:cy="35.455778"
      inkscape:document-units="px"
-     inkscape:current-layer="layer5"
+     inkscape:current-layer="background"
      showgrid="false"
-     inkscape:window-width="1366"
+     inkscape:window-width="1680"
-     inkscape:window-height="706"
+     inkscape:window-height="957"
-     inkscape:window-x="-8"
+     inkscape:window-x="-5"
-     inkscape:window-y="-8"
+     inkscape:window-y="2"
      inkscape:window-maximized="1"
      inkscape:object-paths="true"
      showguides="true"
@@ -1163,8 +1151,7 @@
      inkscape:label="Dark background"
      id="g2932"
      inkscape:groupmode="layer"
-     transform="translate(-368.2988,-507.08981)"
+     transform="translate(-368.2988,-507.08981)">
-     sodipodi:insensitive="true">
     <g
        id="background"
        inkscape:label="#g4447">
@@ -1225,17 +1212,16 @@
      id="layer5"
      inkscape:label="Green Zone"
      style="display:inline"
-     transform="translate(-140.85549,-141.35611)"
+     transform="translate(-140.85549,-141.35611)">
-     sodipodi:insensitive="true">
     <rect
        inkscape:label="#rect5741"
        style="fill:url(#linearGradient5112);fill-opacity:1;stroke:none;display:inline"
        id="green"
-       width="260.53882"
+       width="261.80212"
-       height="32.20755"
+       height="32.929432"
-       x="-411.77084"
+       x="-413.03415"
-       y="-184.00433"
+       y="-184.72621"
-       ry="2.3767958"
+       ry="2.430068"
        inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
        inkscape:export-xdpi="88.809998"
        inkscape:export-ydpi="88.809998"
@@ -1246,17 +1232,16 @@
      id="layer4"
      inkscape:label="Yellow Zone"
      style="display:none"
-     transform="translate(-140.85549,-141.35611)"
+     transform="translate(-140.85549,-141.35611)">
-     sodipodi:insensitive="true">
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        inkscape:export-xdpi="88.809998"
        inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
        ry="2.4231479"
        y="-184.63248"
-       x="-411.45679"
+       x="-412.90054"
        height="32.835663"
-       width="260.53882"
+       width="261.98257"
        id="yellow"
        style="fill:url(#linearGradient5122);fill-opacity:1;stroke:none;display:inline"
        inkscape:label="#rect5741"
@@ -1267,17 +1252,16 @@
      id="layer3"
      inkscape:label="Red zone"
      style="display:none"
-     transform="translate(-140.85549,-141.35611)"
+     transform="translate(-140.85549,-141.35611)">
-     sodipodi:insensitive="true">
     <rect
        inkscape:label="#rect5741"
        style="fill:url(#linearGradient5102);fill-opacity:1;stroke:none;display:inline"
        id="red"
-       width="260.23901"
+       width="261.86325"
-       height="32.519711"
+       height="32.880653"
-       x="-411.38739"
+       x="-413.01163"
-       y="-184.35484"
+       y="-184.71579"
-       ry="2.399832"
+       ry="2.4264681"
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        inkscape:export-xdpi="88.809998"
        inkscape:export-ydpi="88.809998"
@@ -1288,17 +1272,18 @@
      id="layer6"
      inkscape:label="Indicator"
      style="display:inline"
-     transform="translate(-140.85549,-141.35611)"
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     <rect
-       style="fill:url(#linearGradient3899);fill-opacity:1;stroke:#000000;stroke-width:0.2964696;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+       style="fill:url(#linearGradient3899);fill-opacity:1;stroke:#000000;stroke-width:0.4;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
        id="needle"
-       width="32.035065"
+       width="33.114704"
-       height="6.0045304"
+       height="5.0989962"
-       x="152.63882"
+       x="151.5576"
-       y="-157.12926"
+       y="-156.22531"
        inkscape:label="#rect5246"
-       transform="matrix(0,1,-1,0,0,0)" />
+       transform="matrix(0,1,-1,0,0,0)"
+       ry="2.5494981"
+       rx="1.9392394" />
   </g>
   <g
      inkscape:groupmode="layer"

artwork/Dials/deluxe/lineardial-vertical.svg

@@ -14,20 +14,31 @@
    height="322.58304"
    id="svg10068"
    version="1.1"
-   inkscape:version="0.48.1 "
+   inkscape:version="0.48.2 r9819"
-   sodipodi:docname="lineardial-vertical.svg"
+   sodipodi:docname="lineardial-vertical-old2.svg"
    inkscape:export-filename="H:\Documents\Hobbies\W433\My Gauges\vbat-001.png"
    inkscape:export-xdpi="103.61"
    inkscape:export-ydpi="103.61"
    style="display:inline">
   <defs
      id="defs10070">
+    <linearGradient
+       id="linearGradient3894">
+      <stop
+         style="stop-color:#171717;stop-opacity:1;"
+         offset="0"
+         id="stop3896" />
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     <linearGradient
        id="linearGradient3903">
       <stop
          id="stop3905"
          offset="0"
-         style="stop-color:#000000;stop-opacity:1" />
+         style="stop-color:#656565;stop-opacity:1;" />
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          offset="0.39386007"
@@ -35,7 +46,7 @@
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     <linearGradient
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@@ -215,46 +230,34 @@
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+         offset="0"
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+         offset="0"
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@@ -475,7 +478,8 @@
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        inkscape:collect="always"
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@@ -484,7 +488,8 @@
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@@ -493,7 +498,8 @@
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-       gradientUnits="userSpaceOnUse" />
+       gradientUnits="userSpaceOnUse"
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@@ -711,7 +717,8 @@
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        y1="353.9455"
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@@ -727,11 +734,21 @@
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        id="linearGradient3899"
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-       gradientTransform="matrix(0.99999998,0,0,1.7142857,306.20028,-235.50286)"
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        x1="-172.33069"
        y1="74.562233"
-       x2="-135.50557"
+       x2="-136.75557"
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+       y2="74.015358" />
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+       gradientTransform="matrix(1.0187536,0,0,1.2873355,10.177224,-58.104213)" />
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@@ -740,16 +757,16 @@
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+     inkscape:current-layer="layer4"
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+     inkscape:window-height="957"
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@@ -765,7 +782,7 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title />
+        <dc:title></dc:title>
         <dc:creator>
           <cc:Agent>
             <dc:title>Edouard Lafargue</dc:title>
@@ -779,8 +796,7 @@
      inkscape:label="Dark background"
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      inkscape:groupmode="layer"
-     transform="translate(-357.06525,-236.21351)"
+     transform="translate(-357.06525,-236.21351)">
-     sodipodi:insensitive="true">
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        inkscape:label="#g5354">
@@ -789,39 +805,39 @@
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          id="rect2936"
          width="318.58304"
-         height="46.756046"
+         height="46.131046"
          x="-556.79657"
-         y="358.44128"
+         y="357.50378"
-         ry="3.4504199"
+         ry="3.4042974"
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-         ry="2.2944832"
+         ry="2.9537699"
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+         y="360.57819"
-         x="-519.56018"
+         x="-519.12665"
-         height="31.09215"
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-         width="260.53882"
+         width="265.4249"
          id="bargraph-outer"
-         style="fill:#332d2d;fill-opacity:1;stroke:none" />
+         style="fill:url(#linearGradient3900);fill-opacity:1;stroke:none" />
+      <rect
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+         style="fill:#332d2d;fill-opacity:1;stroke:none"
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@@ -829,17 +845,16 @@
      id="layer5"
      inkscape:label="Green Zone"
      style="display:inline"
-     transform="translate(-129.62194,129.52019)"
+     transform="translate(-129.62194,129.52019)">
-     sodipodi:insensitive="true">
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        inkscape:label="#rect5741"
        style="fill:url(#linearGradient5112);fill-opacity:1;stroke:none;display:inline"
        id="green"
-       width="260.53882"
+       width="261.80789"
-       height="34.0919"
+       height="34.092869"
-       x="-153.97397"
+       x="-150.90765"
-       y="134.02345"
+       y="136.26584"
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        inkscape:export-xdpi="88.809998"
        inkscape:export-ydpi="88.809998"
@@ -849,18 +864,17 @@
      inkscape:groupmode="layer"
      id="layer4"
      inkscape:label="Yellow Zone"
-     style="display:none"
+     style="display:inline"
-     transform="translate(-129.62194,129.52019)"
+     transform="translate(-129.62194,129.52019)">
-     sodipodi:insensitive="true">
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        inkscape:export-ydpi="88.809998"
        inkscape:export-xdpi="88.809998"
        inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
-       ry="2.5158532"
+       ry="2.5033269"
-       y="134.02345"
+       y="136.19191"
-       x="-153.97397"
+       x="-151.04408"
-       height="34.091896"
+       height="33.92215"
-       width="260.53882"
+       width="262.04108"
        id="yellow"
        style="fill:url(#linearGradient5122);fill-opacity:1;stroke:none;display:inline"
        inkscape:label="#rect5741"
@@ -871,17 +885,16 @@
      id="layer3"
      inkscape:label="Red zone"
      style="display:none"
-     transform="translate(-129.62194,129.52019)"
+     transform="translate(-129.62194,129.52019)">
-     sodipodi:insensitive="true">
     <rect
        inkscape:label="#rect5741"
        style="fill:url(#linearGradient5102);fill-opacity:1;stroke:none;display:inline"
        id="red"
-       width="260.53882"
+       width="261.72849"
-       height="34.589863"
+       height="33.923153"
-       x="-154.0755"
+       x="-150.95049"
-       y="134.00487"
+       y="135.25487"
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        inkscape:export-xdpi="88.809998"
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@@ -894,35 +907,35 @@
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      transform="translate(-129.62194,129.52019)">
     <rect
-       style="fill:url(#linearGradient3899);fill-opacity:1;stroke:#000000;stroke-width:0.30000000999999998;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+       style="fill:url(#linearGradient3899);fill-opacity:1;stroke:#000000;stroke-width:0.30442432;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
        id="needle"
-       width="33.162418"
+       width="34.173222"
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+       height="5.9349518"
-       x="135.64999"
+       x="136.20108"
-       y="-107.91632"
+       y="-114.68695"
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+       inkscape:label="#rect5246"
+       ry="2.4981377" />
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   <g
      inkscape:groupmode="layer"
      id="layer1"
      inkscape:label="Text"
      style="display:inline"
-     transform="translate(-129.62194,129.52019)"
+     transform="translate(-129.62194,129.52019)">
-     sodipodi:insensitive="true">
     <rect
        style="fill:#ffffff;fill-opacity:1;stroke:none"
        id="field"
-       width="33.853165"
+       width="46.305515"
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+       x="129.09726"
        y="157.31393"
        inkscape:label="#rect2878" />
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        inkscape:label="#rect2878"
        y="170.91206"
-       x="128.88902"
+       x="129.9335"
        height="12.626906"
-       width="32.851257"
+       width="45.176544"
        id="value"
        style="fill:#ffffff;fill-opacity:1;stroke:none" />
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flight/Bootloaders/CopterControl/Makefile

@@ -414,7 +414,7 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
 # Add jtag targets (program and wipe)
-$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_CONFIG)))
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
 
 .PHONY: elf lss sym hex bin bino
 elf: $(OUTDIR)/$(TARGET).elf

flight/Bootloaders/PipXtreme/Makefile

@@ -418,7 +418,7 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
 # Add jtag targets (program and wipe)
-$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_CONFIG)))
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
 
 .PHONY: elf lss sym hex bin bino
 elf: $(OUTDIR)/$(TARGET).elf

flight/Bootloaders/Revolution/Makefile

@@ -46,10 +46,8 @@ else
 REMOVE_CMD = rm
 endif
 
-FLASH_TOOL = OPENOCD
-
 # Paths
-REVO_BL = ./
+REVO_BL = $(WHEREAMI)
 REVO_BLINC = $(REVO_BL)/inc
 PIOS = ../../PiOS
 PIOSINC = $(PIOS)/inc
@@ -64,16 +62,8 @@ STMLIBDIR = $(APPLIBDIR)
 STMSPDDIR = $(STMLIBDIR)/STM32F4xx_StdPeriph_Driver
 STMSPDSRCDIR = $(STMSPDDIR)/src
 STMSPDINCDIR = $(STMSPDDIR)/inc
-OPDIR = ../OpenPilot
-OPUAVOBJ = ../UAVObjects
-OPUAVOBJINC = $(OPUAVOBJ)/inc
-OPSYSINC = $(OPDIR)/System/inc
-BOOT = ../Bootloaders/Revolution
-BOOTINC = $(BOOT)/inc
 HWDEFSINC = ../../board_hw_defs/$(BOARD_NAME)
 
-OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
-
 # List C source files here. (C dependencies are automatically generated.)
 # use file-extension c for "c-only"-files
 
@@ -81,16 +71,12 @@ OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
 SRC += main.c
 SRC += pios_board.c
 SRC += pios_usb_board_data.c
-SRC += bl_fsm.c
+SRC += op_dfu.c
 
 ## PIOS Hardware (STM32F4xx)
 include $(PIOS)/STM32F4xx/library.mk
 
-## Library files
-SRC += $(FLIGHTLIB)/fifo_buffer.c
-
 # PIOS Hardware (Common)
-#SRC += $(PIOSCOMMON)/pios_com.c
 SRC += $(PIOSCOMMON)/pios_board_info.c
 SRC += $(PIOSCOMMON)/pios_com_msg.c
 SRC += $(PIOSCOMMON)/printf-stdarg.c
@@ -121,7 +107,6 @@ EXTRAINCDIRS  += $(PIOSBOARDS)
 EXTRAINCDIRS  += $(STMSPDINCDIR)
 EXTRAINCDIRS  += $(CMSISDIR)
 EXTRAINCDIRS  += $(REVO_BLINC)
-EXTRAINCDIRS  += $(BOOTINC)
 EXTRAINCDIRS  += $(HWDEFSINC)
 
 # List any extra directories to look for library files here.
@@ -163,7 +148,9 @@ DEBUGF = dwarf-2
 
 # Place project-specific -D (define) and/or 
 # -U options for C here.
-CDEFS = -DSTM32F10X_$(MODEL)
+CDEFS = -DSTM32F4XX
+CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ)
+CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ)
 CDEFS += -DUSE_STDPERIPH_DRIVER
 CDEFS += -DUSE_$(BOARD)
 
@@ -328,7 +315,7 @@ $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 $(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
 
 # Add jtag targets (program and wipe)
-$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_CONFIG)))
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
 
 .PHONY: elf lss sym hex bin bino
 elf: $(OUTDIR)/$(TARGET).elf

flight/Bootloaders/Revolution/ahrs_slave_test.c

@@ -1,34 +0,0 @@
-#include "ahrs_bl.h"
-#include "ahrs_spi_program.h"
-
-uint8_t buf[256];
-
-bool StartProgramming(void) {
-	PIOS_COM_SendFormattedString(PIOS_COM_AUX, "Started programming\r\n");
-	return (true);
-}
-
-bool WriteData(uint32_t offset, uint8_t *buffer, uint32_t size) {
-	if (size > SPI_MAX_PROGRAM_DATA_SIZE) {
-		PIOS_COM_SendFormattedString(PIOS_COM_AUX, "oversize: %d\r\n", size);
-		return (false);
-	}
-	PIOS_COM_SendFormattedString(PIOS_COM_AUX, "Wrote %d bytes to %d\r\n",
-			size, offset);
-	memcpy(buf, buffer, size);
-	PIOS_LED_Toggle(LED1);
-	return (true);
-}
-
-bool ReadData(uint32_t offset, uint8_t *buffer, uint32_t size) {
-	if (size > SPI_MAX_PROGRAM_DATA_SIZE) {
-		PIOS_COM_SendFormattedString(PIOS_COM_AUX, "oversize: %d\r\n", size);
-		return (false);
-	}
-	PIOS_COM_SendFormattedString(PIOS_COM_AUX, "Read %d bytes from %d\r\n",
-			size, offset);
-	memcpy(buffer, buf, size);
-	PIOS_LED_Toggle(LED1);
-	return (true);
-}
-

flight/Bootloaders/Revolution/ahrs_spi_program.c

@@ -1,65 +0,0 @@
-#include <stdint.h>
-#include "ahrs_spi_program.h"
-
-// Static CRC polynomial table
-static uint32_t crcTable[256] = { 0x00000000, 0x77073096, 0xEE0E612C,
-		0x990951BA, 0x076DC419, 0x706AF48F, 0xE963A535, 0x9E6495A3, 0x0EDB8832,
-		0x79DCB8A4, 0xE0D5E91E, 0x97D2D988, 0x09B64C2B, 0x7EB17CBD, 0xE7B82D07,
-		0x90BF1D91, 0x1DB71064, 0x6AB020F2, 0xF3B97148, 0x84BE41DE, 0x1ADAD47D,
-		0x6DDDE4EB, 0xF4D4B551, 0x83D385C7, 0x136C9856, 0x646BA8C0, 0xFD62F97A,
-		0x8A65C9EC, 0x14015C4F, 0x63066CD9, 0xFA0F3D63, 0x8D080DF5, 0x3B6E20C8,
-		0x4C69105E, 0xD56041E4, 0xA2677172, 0x3C03E4D1, 0x4B04D447, 0xD20D85FD,
-		0xA50AB56B, 0x35B5A8FA, 0x42B2986C, 0xDBBBC9D6, 0xACBCF940, 0x32D86CE3,
-		0x45DF5C75, 0xDCD60DCF, 0xABD13D59, 0x26D930AC, 0x51DE003A, 0xC8D75180,
-		0xBFD06116, 0x21B4F4B5, 0x56B3C423, 0xCFBA9599, 0xB8BDA50F, 0x2802B89E,
-		0x5F058808, 0xC60CD9B2, 0xB10BE924, 0x2F6F7C87, 0x58684C11, 0xC1611DAB,
-		0xB6662D3D,
-
-		0x76DC4190, 0x01DB7106, 0x98D220BC, 0xEFD5102A, 0x71B18589, 0x06B6B51F,
-		0x9FBFE4A5, 0xE8B8D433, 0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818,
-		0x7F6A0DBB, 0x086D3D2D, 0x91646C97, 0xE6635C01, 0x6B6B51F4, 0x1C6C6162,
-		0x856530D8, 0xF262004E, 0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457,
-		0x65B0D9C6, 0x12B7E950, 0x8BBEB8EA, 0xFCB9887C, 0x62DD1DDF, 0x15DA2D49,
-		0x8CD37CF3, 0xFBD44C65, 0x4DB26158, 0x3AB551CE, 0xA3BC0074, 0xD4BB30E2,
-		0x4ADFA541, 0x3DD895D7, 0xA4D1C46D, 0xD3D6F4FB, 0x4369E96A, 0x346ED9FC,
-		0xAD678846, 0xDA60B8D0, 0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9,
-		0x5005713C, 0x270241AA, 0xBE0B1010, 0xC90C2086, 0x5768B525, 0x206F85B3,
-		0xB966D409, 0xCE61E49F, 0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4,
-		0x59B33D17, 0x2EB40D81, 0xB7BD5C3B, 0xC0BA6CAD,
-
-		0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A, 0xEAD54739, 0x9DD277AF,
-		0x04DB2615, 0x73DC1683, 0xE3630B12, 0x94643B84, 0x0D6D6A3E, 0x7A6A5AA8,
-		0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1, 0xF00F9344, 0x8708A3D2,
-		0x1E01F268, 0x6906C2FE, 0xF762575D, 0x806567CB, 0x196C3671, 0x6E6B06E7,
-		0xFED41B76, 0x89D32BE0, 0x10DA7A5A, 0x67DD4ACC, 0xF9B9DF6F, 0x8EBEEFF9,
-		0x17B7BE43, 0x60B08ED5, 0xD6D6A3E8, 0xA1D1937E, 0x38D8C2C4, 0x4FDFF252,
-		0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B, 0xD80D2BDA, 0xAF0A1B4C,
-		0x36034AF6, 0x41047A60, 0xDF60EFC3, 0xA867DF55, 0x316E8EEF, 0x4669BE79,
-		0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236, 0xCC0C7795, 0xBB0B4703,
-		0x220216B9, 0x5505262F, 0xC5BA3BBE, 0xB2BD0B28, 0x2BB45A92, 0x5CB36A04,
-		0xC2D7FFA7, 0xB5D0CF31, 0x2CD99E8B, 0x5BDEAE1D,
-
-		0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A, 0x9C0906A9, 0xEB0E363F,
-		0x72076785, 0x05005713, 0x95BF4A82, 0xE2B87A14, 0x7BB12BAE, 0x0CB61B38,
-		0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7, 0x0BDBDF21, 0x86D3D2D4, 0xF1D4E242,
-		0x68DDB3F8, 0x1FDA836E, 0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777,
-		0x88085AE6, 0xFF0F6A70, 0x66063BCA, 0x11010B5C, 0x8F659EFF, 0xF862AE69,
-		0x616BFFD3, 0x166CCF45, 0xA00AE278, 0xD70DD2EE, 0x4E048354, 0x3903B3C2,
-		0xA7672661, 0xD06016F7, 0x4969474D, 0x3E6E77DB, 0xAED16A4A, 0xD9D65ADC,
-		0x40DF0B66, 0x37D83BF0, 0xA9BCAE53, 0xDEBB9EC5, 0x47B2CF7F, 0x30B5FFE9,
-		0xBDBDF21C, 0xCABAC28A, 0x53B39330, 0x24B4A3A6, 0xBAD03605, 0xCDD70693,
-		0x54DE5729, 0x23D967BF, 0xB3667A2E, 0xC4614AB8, 0x5D681B02, 0x2A6F2B94,
-		0xB40BBE37, 0xC30C8EA1, 0x5A05DF1B, 0x2D02EF8D, };
-
-/**generate CRC32 from a program packet
- this is slightly overkill but we want to be sure
- */
-uint32_t GenerateCRC(AhrsProgramPacket * packet) {
-	uint8_t * ptr = (uint8_t *) packet;
-	int size = ((int) &packet->crc) - (int) packet;
-	uint32_t crc = 0xFFFFFFFF;
-	for (int ct = 0; ct < size; ct++) {
-		crc = ((crc) >> 8) ^ crcTable[(*ptr++) ^ ((crc) & 0x000000FF)];
-	}
-	return (~crc);
-}

flight/Bootloaders/Revolution/ahrs_spi_program_master.c

@@ -1,131 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       ahrs_spi_program_master.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      AHRS programming over SPI link - master(OpenPilot) end.
- *
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "openpilot.h"
-#include "ahrs_spi_program_master.h"
-#include "ahrs_spi_program.h"
-#include "pios_spi.h"
-
-PROGERR TransferPacket(uint32_t spi_id, AhrsProgramPacket *txBuf,
-		AhrsProgramPacket *rxBuf);
-
-#define MAX_CONNECT_TRIES 500 //half a second
-bool AhrsProgramConnect(uint32_t spi_id) {
-	AhrsProgramPacket rxBuf;
-	AhrsProgramPacket txBuf;
-	memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
-	memcpy(&txBuf, SPI_PROGRAM_REQUEST, SPI_PROGRAM_REQUEST_LENGTH);
-	for (int ct = 0; ct < MAX_CONNECT_TRIES; ct++) {
-		PIOS_SPI_RC_PinSet(spi_id, 0);
-		uint32_t res = PIOS_SPI_TransferBlock(spi_id, (uint8_t *) &txBuf,
-				(uint8_t *) &rxBuf, SPI_PROGRAM_REQUEST_LENGTH + 1, NULL);
-		PIOS_SPI_RC_PinSet(spi_id, 1);
-		if (res == 0 && memcmp(&rxBuf, SPI_PROGRAM_ACK,
-				SPI_PROGRAM_REQUEST_LENGTH) == 0) {
-			return (true);
-		}
-
-		vTaskDelay(1 / portTICK_RATE_MS);
-	}
-	return (false);
-}
-
-PROGERR AhrsProgramWrite(uint32_t spi_id, uint32_t address, void * data,
-		uint32_t size) {
-	AhrsProgramPacket rxBuf;
-	AhrsProgramPacket txBuf;
-	memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
-	memcpy(txBuf.data, data, size);
-	txBuf.size = size;
-	txBuf.type = PROGRAM_WRITE;
-	txBuf.address = address;
-	PROGERR ret = TransferPacket(spi_id, &txBuf, &rxBuf);
-	if (ret != PROGRAM_ERR_OK) {
-		return (ret);
-	}
-	return (PROGRAM_ERR_OK);
-}
-
-PROGERR AhrsProgramRead(uint32_t spi_id, uint32_t address, void * data,
-		uint32_t size) {
-	AhrsProgramPacket rxBuf;
-	AhrsProgramPacket txBuf;
-	memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
-	txBuf.size = size;
-	txBuf.type = PROGRAM_READ;
-	txBuf.address = address;
-	PROGERR ret = TransferPacket(spi_id, &txBuf, &rxBuf);
-	if (ret != PROGRAM_ERR_OK) {
-		return (ret);
-	}
-	memcpy(data, rxBuf.data, size);
-	return (PROGRAM_ERR_OK);
-}
-
-PROGERR AhrsProgramReboot(uint32_t spi_id) {
-	AhrsProgramPacket rxBuf;
-	AhrsProgramPacket txBuf;
-	memset(&rxBuf, 0, sizeof(AhrsProgramPacket));
-	txBuf.type = PROGRAM_REBOOT;
-	memcpy(txBuf.data, REBOOT_CONFIRMATION, REBOOT_CONFIRMATION_LENGTH);
-	PROGERR ret = TransferPacket(spi_id, &txBuf, &rxBuf);
-	//If AHRS has rebooted we will get comms errors
-	if (ret == PROGRAM_ERR_LINK) {
-		return (PROGRAM_ERR_OK);
-	}
-	return (PROGRAM_ERR_FUNCTION);
-}
-
-PROGERR TransferPacket(uint32_t spi_id, AhrsProgramPacket *txBuf,
-		AhrsProgramPacket *rxBuf) {
-	static uint32_t pktId = 0;
-	pktId++;
-	txBuf->packetId = pktId;
-	txBuf->crc = GenerateCRC(txBuf);
-	int ct = 0;
-	for (; ct < MAX_CONNECT_TRIES; ct++) {
-		PIOS_SPI_RC_PinSet(spi_id, 0);
-		uint32_t res = PIOS_SPI_TransferBlock(spi_id, (uint8_t *) txBuf,
-				(uint8_t *) rxBuf, sizeof(AhrsProgramPacket), NULL);
-		PIOS_SPI_RC_PinSet(spi_id, 1);
-		if (res == 0) {
-			if (rxBuf->type != PROGRAM_NULL && rxBuf->crc == GenerateCRC(rxBuf)
-					&& rxBuf->packetId == pktId) {
-				break;
-			}
-		}
-
-		vTaskDelay(1 / portTICK_RATE_MS);
-	}
-	if (ct == MAX_CONNECT_TRIES) {
-		return (PROGRAM_ERR_LINK);
-	}
-	if (rxBuf->type != PROGRAM_ACK) {
-		return (PROGRAM_ERR_FUNCTION);
-	}
-	return (PROGRAM_ERR_OK);
-}
-

flight/Bootloaders/Revolution/ahrs_spi_program_slave.c

@@ -1,137 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       ahrs_spi_program_slave.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      AHRS programming over SPI link - slave(AHRS) end.
- *
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include <stdint.h>
-#include <string.h>
-
-#include "pios_opahrs_proto.h"
-#include "pios_spi.h"
-#include "pios_board.h"
-
-#include "ahrs_bl.h"
-#include "ahrs_spi_program_slave.h"
-#include "ahrs_spi_program.h"
-
-static AhrsProgramPacket txBuf;
-static AhrsProgramPacket rxBuf;
-static bool done = false;
-
-static void ProcessPacket();
-
-#define WAIT_IF_RECEIVING() while(!(GPIOB->IDR & GPIO_Pin_12)){}; //NSS must be high
-//Number of crc failures to allow before giving up
-#define PROGRAM_PACKET_TRIES 4
-
-void AhrsProgramReceive(uint32_t spi_id) {
-	done = false;
-	memset(&txBuf, 0, sizeof(AhrsProgramPacket));
-	//wait for a program request
-	int count = PROGRAM_PACKET_TRIES;
-	while (1) {
-		WAIT_IF_RECEIVING();
-		while ((PIOS_SPI_Busy(spi_id) != 0)) {
-		};
-		memset(&rxBuf, 'a', sizeof(AhrsProgramPacket));
-		int32_t res = PIOS_SPI_TransferBlock(spi_id, NULL, (uint8_t*) &rxBuf,
-				SPI_PROGRAM_REQUEST_LENGTH + 1, NULL);
-
-		if (res == 0 && memcmp(&rxBuf, SPI_PROGRAM_REQUEST,
-				SPI_PROGRAM_REQUEST_LENGTH) == 0) {
-			break;
-		}
-		if (count-- == 0) {
-			return;
-		}
-	}
-
-	if (!StartProgramming()) {
-		//Couldn't erase FLASH. Nothing we can do.
-		return;
-	}
-
-	//send ack
-	memcpy(&txBuf, SPI_PROGRAM_ACK, SPI_PROGRAM_REQUEST_LENGTH);
-	WAIT_IF_RECEIVING();
-	while (0 != PIOS_SPI_TransferBlock(spi_id, (uint8_t*) &txBuf, NULL,
-			SPI_PROGRAM_REQUEST_LENGTH + 1, NULL)) {
-	};
-
-	txBuf.type = PROGRAM_NULL;
-
-	while (!done) {
-		WAIT_IF_RECEIVING();
-		if (0 == PIOS_SPI_TransferBlock(spi_id, (uint8_t*) &txBuf,
-				(uint8_t*) &rxBuf, sizeof(AhrsProgramPacket), NULL)) {
-
-			uint32_t crc = GenerateCRC(&rxBuf);
-			if (crc != rxBuf.crc || txBuf.packetId == rxBuf.packetId) {
-				continue;
-			}
-			ProcessPacket();
-			txBuf.packetId = rxBuf.packetId;
-			txBuf.crc = GenerateCRC(&txBuf);
-		}
-	}
-}
-
-void ProcessPacket() {
-	switch (rxBuf.type) {
-	case PROGRAM_NULL:
-		txBuf.type = PROGRAM_NULL;
-		break;
-
-	case PROGRAM_WRITE:
-		if (WriteData(rxBuf.address, rxBuf.data, rxBuf.size)) {
-			txBuf.type = PROGRAM_ACK;
-			txBuf.size = rxBuf.size;
-		} else {
-			txBuf.type = PROGRAM_ERR;
-		}
-		break;
-
-	case PROGRAM_READ:
-		if (ReadData(rxBuf.address, txBuf.data, rxBuf.size)) {
-			txBuf.type = PROGRAM_ACK;
-			txBuf.size = rxBuf.size;
-		} else {
-			txBuf.type = PROGRAM_ERR;
-		}
-		break;
-
-	case PROGRAM_REBOOT:
-		if (0 == memcmp(rxBuf.data, REBOOT_CONFIRMATION,
-				REBOOT_CONFIRMATION_LENGTH)) {
-			done = true;
-			txBuf.type = PROGRAM_ACK;
-		} else {
-			txBuf.type = PROGRAM_ERR;
-		}
-		break;
-
-	default:
-		txBuf.type = PROGRAM_ERR;
-	}
-}

flight/Bootloaders/Revolution/bl_fsm.c

@@ -1,591 +0,0 @@
-#include <stdint.h>		/* uint*_t */
-#include <stddef.h>		/* NULL */
-
-#include "bl_fsm.h"
-
-#include "pios_opahrs_proto.h"
-
-#include "pios.h"
-
-struct lfsm_context {
-	enum lfsm_state curr_state;
-	enum opahrs_msg_link_state link_state;
-	enum opahrs_msg_type user_payload_type;
-	uint32_t user_payload_len;
-
-	uint32_t errors;
-
-	uint8_t * rx;
-	uint8_t * tx;
-
-	uint8_t * link_rx;
-	uint8_t * link_tx;
-
-	uint8_t * user_rx;
-	uint8_t * user_tx;
-
-	struct lfsm_link_stats stats;
-};
-
-static struct lfsm_context context = { 0 };
-
-static void lfsm_update_link_tx(struct lfsm_context * context);
-static void lfsm_init_rx(struct lfsm_context * context);
-
-static uint32_t PIOS_SPI_OP;
-void lfsm_attach(uint32_t spi_id) {
-	PIOS_SPI_OP = spi_id;
-}
-
-/*
- *
- * Link Finite State Machine
- *
- */
-
-struct lfsm_transition {
-	void (*entry_fn)(struct lfsm_context * context);
-	enum lfsm_state next_state[LFSM_EVENT_NUM_EVENTS];
-};
-
-static void go_faulted(struct lfsm_context * context);
-static void go_stopped(struct lfsm_context * context);
-static void go_stopping(struct lfsm_context * context);
-static void go_inactive(struct lfsm_context * context);
-static void go_user_busy(struct lfsm_context * context);
-static void go_user_busy_rx_pending(struct lfsm_context * context);
-static void go_user_busy_tx_pending(struct lfsm_context * context);
-static void go_user_busy_rxtx_pending(struct lfsm_context * context);
-static void go_user_rx_pending(struct lfsm_context * context);
-static void go_user_tx_pending(struct lfsm_context * context);
-static void go_user_rxtx_pending(struct lfsm_context * context);
-static void go_user_rx_active(struct lfsm_context * context);
-static void go_user_tx_active(struct lfsm_context * context);
-static void go_user_rxtx_active(struct lfsm_context * context);
-
-const static struct lfsm_transition lfsm_transitions[LFSM_STATE_NUM_STATES] = {
-		[LFSM_STATE_FAULTED] = {
-			.entry_fn = go_faulted,
-		}, [LFSM_STATE_STOPPED] = {
-			.entry_fn = go_stopped,
-			.next_state = {
-				[LFSM_EVENT_INIT_LINK] = LFSM_STATE_INACTIVE,
-				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_STOPPED,
-			},
-		}, [LFSM_STATE_STOPPING] = {
-			.entry_fn = go_stopping,
-			.next_state = {
-				[LFSM_EVENT_RX_LINK] = LFSM_STATE_STOPPED,
-				[LFSM_EVENT_RX_USER] = LFSM_STATE_STOPPED,
-				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_STOPPED,
-			},
-		}, [LFSM_STATE_INACTIVE] = {
-			.entry_fn = go_inactive,
-			.next_state = {
-				[LFSM_EVENT_STOP] = LFSM_STATE_STOPPING,
-				[LFSM_EVENT_USER_SET_RX] = LFSM_STATE_USER_BUSY_RX_PENDING,
-				[LFSM_EVENT_USER_SET_TX] = LFSM_STATE_USER_BUSY_TX_PENDING,
-				[LFSM_EVENT_RX_LINK] = LFSM_STATE_INACTIVE,
-				[LFSM_EVENT_RX_USER] = LFSM_STATE_INACTIVE,
-				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_INACTIVE,
-			},
-		}, [LFSM_STATE_USER_BUSY] = {
-			.entry_fn = go_user_busy,
-			.next_state = {
-				[LFSM_EVENT_STOP] = LFSM_STATE_STOPPING,
-				[LFSM_EVENT_USER_SET_RX] = LFSM_STATE_USER_BUSY_RX_PENDING,
-				[LFSM_EVENT_USER_SET_TX] = LFSM_STATE_USER_BUSY_TX_PENDING,
-				[LFSM_EVENT_USER_DONE] = LFSM_STATE_INACTIVE,
-				[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_BUSY,
-				[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY,
-				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_BUSY,
-			},
-		}, [LFSM_STATE_USER_BUSY_RX_PENDING] = {
-			.entry_fn = go_user_busy_rx_pending,
-			.next_state = {
-				[LFSM_EVENT_USER_SET_TX] = LFSM_STATE_USER_BUSY_RXTX_PENDING,
-				[LFSM_EVENT_USER_DONE] = LFSM_STATE_USER_RX_PENDING,
-				[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_BUSY_RX_PENDING,
-				[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY_RX_PENDING,
-				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_BUSY_RX_PENDING,
-			},
-		}, [LFSM_STATE_USER_BUSY_TX_PENDING] = {
-			.entry_fn = go_user_busy_tx_pending,
-			.next_state = {
-				[LFSM_EVENT_USER_SET_RX] = LFSM_STATE_USER_BUSY_RXTX_PENDING,
-				[LFSM_EVENT_USER_DONE] = LFSM_STATE_USER_TX_PENDING,
-				[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_BUSY_TX_PENDING,
-				[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY_TX_PENDING,
-				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_BUSY_TX_PENDING,
-			},
-		}, [LFSM_STATE_USER_BUSY_RXTX_PENDING] = {
-			.entry_fn = go_user_busy_rxtx_pending,
-			.next_state = {
-				[LFSM_EVENT_USER_DONE] = LFSM_STATE_USER_RXTX_PENDING,
-				[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_BUSY_RXTX_PENDING,
-				[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY_RXTX_PENDING,
-				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_BUSY_RXTX_PENDING,
-			},
-		}, [LFSM_STATE_USER_RX_PENDING] = {
-			.entry_fn = go_user_rx_pending,
-			.next_state = {
-				[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_RX_ACTIVE,
-				[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_RX_ACTIVE,
-				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_RX_ACTIVE,
-			},
-		}, [LFSM_STATE_USER_TX_PENDING] = {
-			.entry_fn = go_user_tx_pending,
-			.next_state = {
-				[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_TX_ACTIVE,
-				[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_TX_ACTIVE,
-				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_TX_ACTIVE,
-			},
-		}, [LFSM_STATE_USER_RXTX_PENDING] = {
-			.entry_fn = go_user_rxtx_pending,
-			.next_state = {
-				[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_RXTX_ACTIVE,
-				[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_RXTX_ACTIVE,
-				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_RXTX_ACTIVE,
-			},
-		}, [LFSM_STATE_USER_RX_ACTIVE] = {
-			.entry_fn = go_user_rx_active,
-			.next_state = {
-				[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_RX_ACTIVE,
-				[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY,
-				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_RX_ACTIVE,
-			},
-		}, [LFSM_STATE_USER_TX_ACTIVE] = {
-			.entry_fn = go_user_tx_active,
-			.next_state = {
-				[LFSM_EVENT_RX_LINK] = LFSM_STATE_INACTIVE,
-				[LFSM_EVENT_RX_USER] = LFSM_STATE_INACTIVE,
-				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_INACTIVE,
-			},
-		}, [LFSM_STATE_USER_RXTX_ACTIVE] = {
-			.entry_fn = go_user_rxtx_active,
-			.next_state = {
-				[LFSM_EVENT_RX_LINK] = LFSM_STATE_USER_RX_ACTIVE,
-				[LFSM_EVENT_RX_USER] = LFSM_STATE_USER_BUSY,
-				[LFSM_EVENT_RX_UNKNOWN] = LFSM_STATE_USER_RX_ACTIVE,
-			},
-		}, };
-
-/*
- * FSM State Entry Functions
- */
-
-static void go_faulted(struct lfsm_context * context) {
-	PIOS_DEBUG_Assert(0);
-}
-
-static void go_stopped(struct lfsm_context * context) {
-#if 0
-	PIOS_SPI_Stop(PIOS_SPI_OP);
-#endif
-}
-
-static void go_stopping(struct lfsm_context * context) {
-	context->link_tx = NULL;
-	context->tx = NULL;
-}
-
-static void go_inactive(struct lfsm_context * context) {
-	context->link_state = OPAHRS_MSG_LINK_STATE_INACTIVE;
-	lfsm_update_link_tx(context);
-
-	context->user_rx = NULL;
-	context->user_tx = NULL;
-
-	context->rx = context->link_rx;
-	context->tx = context->link_tx;
-
-	lfsm_init_rx(context);
-	PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
-			context->user_payload_len, lfsm_irq_callback);
-}
-
-static void go_user_busy(struct lfsm_context * context) {
-	/* Sanity checks */
-	PIOS_DEBUG_Assert(context->user_rx);
-
-	context->user_rx = NULL;
-	context->user_tx = NULL;
-
-	context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
-	lfsm_update_link_tx(context);
-
-	context->rx = context->link_rx;
-	context->tx = context->link_tx;
-
-	lfsm_init_rx(context);
-	PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
-			context->user_payload_len, lfsm_irq_callback);
-}
-
-static void go_user_busy_rx_pending(struct lfsm_context * context) {
-	/* Sanity checks */
-	PIOS_DEBUG_Assert(context->user_rx);
-
-	context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
-	lfsm_update_link_tx(context);
-
-	context->rx = context->link_rx;
-	context->tx = context->link_tx;
-
-	lfsm_init_rx(context);
-	PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
-			context->user_payload_len, lfsm_irq_callback);
-}
-
-static void go_user_busy_tx_pending(struct lfsm_context * context) {
-	/* Sanity checks */
-	PIOS_DEBUG_Assert(context->user_tx);
-
-	context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
-	lfsm_update_link_tx(context);
-
-	context->rx = context->link_rx;
-	context->tx = context->link_tx;
-
-	lfsm_init_rx(context);
-	PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
-			context->user_payload_len, lfsm_irq_callback);
-}
-
-static void go_user_busy_rxtx_pending(struct lfsm_context * context) {
-	/* Sanity checks */
-	PIOS_DEBUG_Assert(context->user_rx); PIOS_DEBUG_Assert(context->user_tx);
-
-	context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
-	lfsm_update_link_tx(context);
-
-	context->rx = context->link_rx;
-	context->tx = context->link_tx;
-
-	lfsm_init_rx(context);
-	PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
-			context->user_payload_len, lfsm_irq_callback);
-}
-
-static void go_user_rx_pending(struct lfsm_context * context) {
-	/* Sanity checks */
-	PIOS_DEBUG_Assert(context->user_rx);
-
-	context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
-	lfsm_update_link_tx(context);
-
-	context->rx = context->link_rx;
-	context->tx = context->link_tx;
-
-	lfsm_init_rx(context);
-	PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
-			context->user_payload_len, lfsm_irq_callback);
-}
-
-static void go_user_tx_pending(struct lfsm_context * context) {
-	/* Sanity checks */
-	PIOS_DEBUG_Assert(context->user_tx);
-
-	context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
-	lfsm_update_link_tx(context);
-
-	context->rx = context->link_rx;
-	context->tx = context->link_tx;
-
-	lfsm_init_rx(context);
-	PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
-			context->user_payload_len, lfsm_irq_callback);
-}
-
-static void go_user_rxtx_pending(struct lfsm_context * context) {
-	/* Sanity checks */
-	PIOS_DEBUG_Assert(context->user_rx); PIOS_DEBUG_Assert(context->user_tx);
-
-	context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
-	lfsm_update_link_tx(context);
-
-	context->rx = context->link_rx;
-	context->tx = context->link_tx;
-
-	lfsm_init_rx(context);
-	PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
-			context->user_payload_len, lfsm_irq_callback);
-}
-
-static void go_user_rx_active(struct lfsm_context * context) {
-	/* Sanity checks */
-	PIOS_DEBUG_Assert(context->user_rx);
-
-	context->rx = context->user_rx;
-	context->tx = context->link_tx;
-	context->link_state = OPAHRS_MSG_LINK_STATE_READY;
-
-	lfsm_update_link_tx(context);
-	lfsm_init_rx(context);
-	PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
-			context->user_payload_len, lfsm_irq_callback);
-}
-
-static void go_user_tx_active(struct lfsm_context * context) {
-	/* Sanity checks */
-	PIOS_DEBUG_Assert(context->user_tx);
-
-	context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
-	context->rx = context->link_rx;
-	context->tx = context->user_tx;
-
-	lfsm_init_rx(context);
-	PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
-			context->user_payload_len, lfsm_irq_callback);
-}
-
-static void go_user_rxtx_active(struct lfsm_context * context) {
-	/* Sanity checks */
-	PIOS_DEBUG_Assert(context->user_rx); PIOS_DEBUG_Assert(context->user_tx);
-
-	context->link_state = OPAHRS_MSG_LINK_STATE_READY;
-	context->rx = context->user_rx;
-	context->tx = context->user_tx;
-
-	lfsm_init_rx(context);
-	PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx,
-			context->user_payload_len, lfsm_irq_callback);
-}
-
-/*
- *
- * Misc Helper Functions
- *
- */
-
-static void lfsm_update_link_tx_v0(struct opahrs_msg_v0 * msg,
-		enum opahrs_msg_link_state state, uint16_t errors) {
-	opahrs_msg_v0_init_link_tx(msg, OPAHRS_MSG_LINK_TAG_NOP);
-
-	msg->payload.link.state = state;
-	msg->payload.link.errors = errors;
-}
-
-static void lfsm_update_link_tx_v1(struct opahrs_msg_v1 * msg,
-		enum opahrs_msg_link_state state, uint16_t errors) {
-	opahrs_msg_v1_init_link_tx(msg, OPAHRS_MSG_LINK_TAG_NOP);
-
-	msg->payload.link.state = state;
-	msg->payload.link.errors = errors;
-}
-
-static void lfsm_update_link_tx(struct lfsm_context * context) {
-	PIOS_DEBUG_Assert(context->link_tx);
-
-	switch (context->user_payload_type) {
-	case OPAHRS_MSG_TYPE_USER_V0:
-		lfsm_update_link_tx_v0((struct opahrs_msg_v0 *) context->link_tx,
-				context->link_state, context->errors);
-		break;
-	case OPAHRS_MSG_TYPE_USER_V1:
-		lfsm_update_link_tx_v1((struct opahrs_msg_v1 *) context->link_tx,
-				context->link_state, context->errors);
-		break;
-	case OPAHRS_MSG_TYPE_LINK:
-		PIOS_DEBUG_Assert(0);
-	}
-}
-
-static void lfsm_init_rx(struct lfsm_context * context) {
-	PIOS_DEBUG_Assert(context->rx);
-
-	switch (context->user_payload_type) {
-	case OPAHRS_MSG_TYPE_USER_V0:
-		opahrs_msg_v0_init_rx((struct opahrs_msg_v0 *) context->rx);
-		break;
-	case OPAHRS_MSG_TYPE_USER_V1:
-		opahrs_msg_v1_init_rx((struct opahrs_msg_v1 *) context->rx);
-		break;
-	case OPAHRS_MSG_TYPE_LINK:
-		PIOS_DEBUG_Assert(0);
-	}
-}
-
-/*
- *
- * External API
- *
- */
-
-void lfsm_inject_event(enum lfsm_event event) {
-	PIOS_IRQ_Disable();
-
-	/*
-	 * Move to the next state
-	 *
-	 * This is done prior to calling the new state's entry function to
-	 * guarantee that the entry function never depends on the previous
-	 * state.  This way, it cannot ever know what the previous state was.
-	 */
-	context.curr_state = lfsm_transitions[context.curr_state].next_state[event];
-
-	/* Call the entry function (if any) for the next state. */
-	if (lfsm_transitions[context.curr_state].entry_fn) {
-		lfsm_transitions[context.curr_state].entry_fn(&context);
-	}
-	PIOS_IRQ_Enable();
-}
-
-void lfsm_init(void) {
-	context.curr_state = LFSM_STATE_STOPPED;
-	go_stopped(&context);
-}
-
-void lfsm_set_link_proto_v0(struct opahrs_msg_v0 * link_tx,
-		struct opahrs_msg_v0 * link_rx) {
-	PIOS_DEBUG_Assert(link_tx);
-
-	context.link_tx = (uint8_t *) link_tx;
-	context.link_rx = (uint8_t *) link_rx;
-	context.user_payload_type = OPAHRS_MSG_TYPE_USER_V0;
-	context.user_payload_len = sizeof(*link_tx);
-
-	lfsm_update_link_tx_v0(link_tx, context.link_state, context.errors);
-
-	lfsm_inject_event(LFSM_EVENT_INIT_LINK);
-}
-
-void lfsm_set_link_proto_v1(struct opahrs_msg_v1 * link_tx,
-		struct opahrs_msg_v1 * link_rx) {
-	PIOS_DEBUG_Assert(link_tx);
-
-	context.link_tx = (uint8_t *) link_tx;
-	context.link_rx = (uint8_t *) link_rx;
-	context.user_payload_type = OPAHRS_MSG_TYPE_USER_V1;
-	context.user_payload_len = sizeof(*link_tx);
-
-	lfsm_update_link_tx_v1(link_tx, context.link_state, context.errors);
-
-	lfsm_inject_event(LFSM_EVENT_INIT_LINK);
-}
-
-void lfsm_user_set_tx_v0(struct opahrs_msg_v0 * user_tx) {
-	PIOS_DEBUG_Assert(user_tx);
-
-	PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V0);
-	context.user_tx = (uint8_t *) user_tx;
-
-	lfsm_inject_event(LFSM_EVENT_USER_SET_TX);
-}
-
-void lfsm_user_set_rx_v0(struct opahrs_msg_v0 * user_rx) {
-	PIOS_DEBUG_Assert(user_rx); PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V0);
-
-	context.user_rx = (uint8_t *) user_rx;
-
-	lfsm_inject_event(LFSM_EVENT_USER_SET_RX);
-}
-
-void lfsm_user_set_tx_v1(struct opahrs_msg_v1 * user_tx) {
-	PIOS_DEBUG_Assert(user_tx); PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V1);
-
-	context.user_tx = (uint8_t *) user_tx;
-
-	lfsm_inject_event(LFSM_EVENT_USER_SET_TX);
-}
-
-void lfsm_user_set_rx_v1(struct opahrs_msg_v1 * user_rx) {
-	PIOS_DEBUG_Assert(user_rx); PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V1);
-
-	context.user_rx = (uint8_t *) user_rx;
-
-	lfsm_inject_event(LFSM_EVENT_USER_SET_RX);
-}
-
-void lfsm_user_done(void) {
-	lfsm_inject_event(LFSM_EVENT_USER_DONE);
-}
-
-void lfsm_stop(void) {
-	lfsm_inject_event(LFSM_EVENT_STOP);
-}
-
-void lfsm_get_link_stats(struct lfsm_link_stats * stats) {
-	PIOS_DEBUG_Assert(stats);
-
-	*stats = context.stats;
-}
-
-enum lfsm_state lfsm_get_state(void) {
-	return context.curr_state;
-}
-
-/*
- *
- * ISR Callback
- *
- */
-
-void lfsm_irq_callback(uint8_t crc_ok, uint8_t crc_val) {
-	if (!crc_ok) {
-		context.stats.rx_badcrc++;
-		lfsm_inject_event(LFSM_EVENT_RX_UNKNOWN);
-		return;
-	}
-
-	if (!context.rx) {
-		/* No way to know what we just received, assume invalid */
-		lfsm_inject_event(LFSM_EVENT_RX_UNKNOWN);
-		return;
-	}
-
-	/* Recover the head and tail pointers from the message */
-	struct opahrs_msg_link_head * head = 0;
-	struct opahrs_msg_link_tail * tail = 0;
-
-	switch (context.user_payload_type) {
-	case OPAHRS_MSG_TYPE_USER_V0:
-		head = &((struct opahrs_msg_v0 *) context.rx)->head;
-		tail = &((struct opahrs_msg_v0 *) context.rx)->tail;
-		break;
-	case OPAHRS_MSG_TYPE_USER_V1:
-		head = &((struct opahrs_msg_v1 *) context.rx)->head;
-		tail = &((struct opahrs_msg_v1 *) context.rx)->tail;
-		break;
-	case OPAHRS_MSG_TYPE_LINK:
-		/* Should never be rx'ing before the link protocol version is known */
-		PIOS_DEBUG_Assert(0);
-		break;
-	}
-
-	/* Check for bad magic */
-	if ((head->magic != OPAHRS_MSG_MAGIC_HEAD) || (tail->magic
-			!= OPAHRS_MSG_MAGIC_TAIL)) {
-		if (head->magic != OPAHRS_MSG_MAGIC_HEAD) {
-			context.stats.rx_badmagic_head++;
-		}
-		if (tail->magic != OPAHRS_MSG_MAGIC_TAIL) {
-			context.stats.rx_badmagic_tail++;
-		}
-		lfsm_inject_event(LFSM_EVENT_RX_UNKNOWN);
-		return;
-	}
-
-	/* Good magic, find out what type of payload we've got */
-	switch (head->type) {
-	case OPAHRS_MSG_TYPE_LINK:
-		context.stats.rx_link++;
-		lfsm_inject_event(LFSM_EVENT_RX_LINK);
-		break;
-	case OPAHRS_MSG_TYPE_USER_V0:
-	case OPAHRS_MSG_TYPE_USER_V1:
-		if (head->type == context.user_payload_type) {
-			context.stats.rx_user++;
-			lfsm_inject_event(LFSM_EVENT_RX_USER);
-		} else {
-			/* Mismatched user payload type */
-			context.stats.rx_badver++;
-			lfsm_inject_event(LFSM_EVENT_RX_UNKNOWN);
-		}
-		break;
-	default:
-		/* Unidentifiable payload type */
-		context.stats.rx_badtype++;
-		lfsm_inject_event(LFSM_EVENT_RX_UNKNOWN);
-	}
-}

flight/Bootloaders/Revolution/inc/ahrs_spi_program.h

@@ -1,65 +0,0 @@
-#ifndef AHRS_SPI_PROGRAM_H
-#define AHRS_SPI_PROGRAM_H
-
-/* Special packets to enter programming mode.
- Note: these must both be SPI_PROGRAM_REQUEST_LENGTH long.
- Pad with spaces if needed.
- */
-#define SPI_PROGRAM_REQUEST "AHRS START PROGRAMMING  "
-#define SPI_PROGRAM_ACK     "AHRS PROGRAMMING STARTED"
-#define SPI_PROGRAM_REQUEST_LENGTH 24
-
-/**Proposed programming protocol:
- In the master:
- 1) Send a AhrsProgramPacket containing the relevant data.
- Note crc is a CRC32 as the CRC8 used in hardware can be fooled.
- 2) Keep sending PROGRAM_NULL packets and wait for an ack.
- Time out if we waited too long.
- 3) Compare ack packet with transmitted packet. The data
- should be the bitwise inverse of the data transmitted.
- packetId should correspond to the transmitted packet.
- 4) repeat for next packet until finished
- 5) Repeat using verify packets
- Returned data should be exactly as read from memory
-
- In the slave:
- 1) Wait for an AhrsProgramPacket
- 2) Check CRC then write to memory
- 3) Bitwise invert data and add it to the return packet
- 4) Copy packetId from received packet
- 5) Transmit packet.
- 6) repeat until we receive a read packet
- 7) read memory as requested until we receive a reboot packet
- Reboot packets had better have some sort of magic number in the data,
- just to be absolutely sure
-
- */
-
-typedef enum {
-	PROGRAM_NULL,
-	PROGRAM_WRITE,
-	PROGRAM_READ,
-	PROGRAM_ACK,
-	PROGRAM_REBOOT,
-	PROGRAM_ERR
-} ProgramType;
-#define SPI_MAX_PROGRAM_DATA_SIZE (14 * 4)	//USB comms uses 14x 32 bit words
-#define REBOOT_CONFIRMATION "AHRS REBOOT"
-#define REBOOT_CONFIRMATION_LENGTH 11
-
-/** Proposed program packet defintion
- */
-
-typedef struct {
-	ProgramType type;
-	uint32_t packetId; //Transmission packet ID
-	uint32_t address; //base address to place data
-	uint32_t size; //Size of data (0 to SPI_MAX_PROGRAM_DATA_SIZE)
-	uint8_t data[SPI_MAX_PROGRAM_DATA_SIZE];
-	uint32_t crc; //CRC32 - hardware CRC8 can be fooled
-	uint8_t dummy; //for some reason comms trashes the last byte sent
-} AhrsProgramPacket;
-
-uint32_t GenerateCRC(AhrsProgramPacket * packet);
-
-#endif

flight/Bootloaders/Revolution/inc/ahrs_spi_program_master.h

@@ -1,66 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       ahrs_spi_program_master.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      AHRS programming over SPI link - master(OpenPilot) end.
- *
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#ifndef AHRS_PROGRAM_MASTER_H
-#define AHRS_PROGRAM_MASTER_H
-
-typedef enum {
-	PROGRAM_ERR_OK, //OK
-	PROGRAM_ERR_LINK, //comms error
-	PROGRAM_ERR_FUNCTION,
-//function failed
-} PROGERR;
-
-/** Connect to AHRS and request programming mode
- * returns: false if failed.
- */
-bool AhrsProgramConnect(uint32_t spi_id);
-
-/** Write data to AHRS
- * size must be between 1 and SPI_MAX_PROGRAM_DATA_SIZE
- * returns: error status
- */
-
-PROGERR AhrsProgramWrite(uint32_t spi_id, uint32_t address, void * data,
-		uint32_t size);
-
-/** Read data from AHRS
- * size must be between 1 and SPI_MAX_PROGRAM_DATA_SIZE
- * returns: error status
- */
-
-PROGERR AhrsProgramRead(uint32_t spi_id, uint32_t address, void * data,
-		uint32_t size);
-
-/** reboot AHRS
- * returns: error status
- */
-
-PROGERR AhrsProgramReboot(uint32_t spi_id);
-
-//TODO: Implement programming protocol
-
-#endif //AHRS_PROGRAM_MASTER_H

flight/Bootloaders/Revolution/inc/bl_fsm.h

@@ -1,97 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       ahrs_fsm.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief     
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#ifndef BL_FSM_H
-#define BL_FSM_H
-
-#include "pios_opahrs_proto.h"
-
-enum lfsm_state {
-	LFSM_STATE_FAULTED = 0, /* Must be zero so undefined transitions land here */
-	LFSM_STATE_STOPPED,
-	LFSM_STATE_STOPPING,
-	LFSM_STATE_INACTIVE,
-	LFSM_STATE_USER_BUSY,
-	LFSM_STATE_USER_BUSY_RX_PENDING,
-	LFSM_STATE_USER_BUSY_TX_PENDING,
-	LFSM_STATE_USER_BUSY_RXTX_PENDING,
-	LFSM_STATE_USER_RX_PENDING,
-	LFSM_STATE_USER_TX_PENDING,
-	LFSM_STATE_USER_RXTX_PENDING,
-	LFSM_STATE_USER_RX_ACTIVE,
-	LFSM_STATE_USER_TX_ACTIVE,
-	LFSM_STATE_USER_RXTX_ACTIVE,
-
-	LFSM_STATE_NUM_STATES
-/* Must be last */
-};
-
-enum lfsm_event {
-	LFSM_EVENT_INIT_LINK,
-	LFSM_EVENT_STOP,
-	LFSM_EVENT_USER_SET_RX,
-	LFSM_EVENT_USER_SET_TX,
-	LFSM_EVENT_USER_DONE,
-	LFSM_EVENT_RX_LINK,
-	LFSM_EVENT_RX_USER,
-	LFSM_EVENT_RX_UNKNOWN,
-
-	LFSM_EVENT_NUM_EVENTS
-/* Must be last */
-};
-
-struct lfsm_link_stats {
-	uint32_t rx_badcrc;
-	uint32_t rx_badmagic_head;
-	uint32_t rx_badmagic_tail;
-	uint32_t rx_link;
-	uint32_t rx_user;
-	uint32_t tx_user;
-	uint32_t rx_badtype;
-	uint32_t rx_badver;
-};
-
-extern void lfsm_attach(uint32_t spi_id);
-extern void lfsm_init(void);
-extern void lfsm_inject_event(enum lfsm_event event);
-
-extern void lfsm_irq_callback(uint8_t crc_ok, uint8_t crc_val);
-
-extern void lfsm_get_link_stats(struct lfsm_link_stats * stats);
-extern enum lfsm_state lfsm_get_state(void);
-
-extern void lfsm_set_link_proto_v0(struct opahrs_msg_v0 * link_tx,
-		struct opahrs_msg_v0 * link_rx);
-extern void lfsm_user_set_rx_v0(struct opahrs_msg_v0 * user_rx);
-extern void lfsm_user_set_tx_v0(struct opahrs_msg_v0 * user_tx);
-
-extern void lfsm_set_link_proto_v1(struct opahrs_msg_v1 * link_tx,
-		struct opahrs_msg_v1 * link_rx);
-extern void lfsm_user_set_rx_v1(struct opahrs_msg_v1 * user_rx);
-extern void lfsm_user_set_tx_v1(struct opahrs_msg_v1 * user_tx);
-
-extern void lfsm_user_done(void);
-
-#endif	/* BL_FSM_H */

flight/Bootloaders/Revolution/inc/common.h

@@ -0,0 +1,115 @@
+/**
+ ******************************************************************************
+ * @addtogroup CopterControlBL CopterControl BootLoader
+ * @brief These files contain the code to the CopterControl Bootloader.
+ *
+ * @{
+ * @file       common.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      This file contains various common defines for the BootLoader
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef COMMON_H_
+#define COMMON_H_
+
+//#include "board.h"
+
+typedef enum {
+	start, keepgoing,
+} DownloadAction;
+
+/**************************************************/
+/* OP_DFU states                       */
+/**************************************************/
+
+typedef enum {
+	DFUidle, //0
+	uploading, //1
+	wrong_packet_received, //2
+	too_many_packets, //3
+	too_few_packets, //4
+	Last_operation_Success, //5
+	downloading, //6
+	BLidle, //7
+	Last_operation_failed, //8
+	uploadingStarting, //9
+	outsideDevCapabilities, //10
+	CRC_Fail,//11
+	failed_jump,
+//12
+} DFUStates;
+/**************************************************/
+/* OP_DFU commands                       */
+/**************************************************/
+typedef enum {
+	Reserved, //0
+	Req_Capabilities, //1
+	Rep_Capabilities, //2
+	EnterDFU, //3
+	JumpFW, //4
+	Reset, //5
+	Abort_Operation, //6
+	Upload, //7
+	Op_END, //8
+	Download_Req, //9
+	Download, //10
+	Status_Request, //11
+	Status_Rep
+//12
+} DFUCommands;
+
+typedef enum {
+	High_Density, Medium_Density
+} DeviceType;
+/**************************************************/
+/* OP_DFU transfer types                       */
+/**************************************************/
+typedef enum {
+	FW, //0
+	Descript
+//2
+} DFUTransfer;
+/**************************************************/
+/* OP_DFU transfer port                           */
+/**************************************************/
+typedef enum {
+	Usb, //0
+	Serial
+//2
+} DFUPort;
+/**************************************************/
+/* OP_DFU programable programable HW types        */
+/**************************************************/
+typedef enum {
+	Self_flash, //0
+	Remote_flash_via_spi
+//1
+} DFUProgType;
+/**************************************************/
+/* OP_DFU programable sources			          */
+/**************************************************/
+#define USB	0
+#define SPI 1
+
+#define DownloadDelay					100000
+
+#define MAX_DEL_RETRYS					3
+#define MAX_WRI_RETRYS					3
+
+#endif /* COMMON_H_ */

flight/Bootloaders/Revolution/inc/op_dfu.h

@@ -0,0 +1,60 @@
+/**
+ ******************************************************************************
+ *
+ * @file       op_dfu.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __OP_DFU_H
+#define __OP_DFU_H
+#include "common.h"
+/* Includes ------------------------------------------------------------------*/
+/* Exported types ------------------------------------------------------------*/
+typedef struct {
+	uint8_t programmingType;
+	uint8_t readWriteFlags;
+	uint32_t startOfUserCode;
+	uint32_t sizeOfCode;
+	uint8_t sizeOfDescription;
+	uint8_t BL_Version;
+	uint16_t devID;
+	DeviceType devType;
+	uint32_t FW_Crc;
+} Device;
+
+/* Exported constants --------------------------------------------------------*/
+/* Exported macro ------------------------------------------------------------*/
+/* Exported define -----------------------------------------------------------*/
+#define COMMAND	0
+#define COUNT	1
+#define DATA	5
+
+/* Exported functions ------------------------------------------------------- */
+void processComand(uint8_t *Receive_Buffer);
+uint32_t baseOfAdressType(uint8_t type);
+uint8_t isBiggerThanAvailable(uint8_t type, uint32_t size);
+void OPDfuIni(uint8_t discover);
+void DataDownload(DownloadAction);
+bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type);
+#endif /* __OP_DFU_H */
+
+/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/

flight/Bootloaders/Revolution/inc/pios_config.h

@@ -37,7 +37,7 @@
 #define PIOS_INCLUDE_USB
 #define PIOS_INCLUDE_USB_HID
 #define PIOS_INCLUDE_COM_MSG
-//#define PIOS_INCLUDE_BL_HELPER
+#define PIOS_INCLUDE_BL_HELPER
-//#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
+#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
 
 #endif /* PIOS_CONFIG_H */

flight/Bootloaders/Revolution/main.c

@@ -1,17 +1,12 @@
 /**
  ******************************************************************************
- * @addtogroup AHRS BOOTLOADER
+ * @addtogroup RevolutionBL Revolution BootLoader
- * @brief The AHRS Modules perform
+ * @brief These files contain the code to the Revolution Bootloader.
  *
  * @{
- * @addtogroup AHRS_BOOTLOADER_Main
- * @brief Main function which does the hardware dependent stuff
- * @{ 
- *
- *
  * @file       main.c
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief
+ * @brief      This is the file with the main function of the Revolution BootLoader
  * @see        The GNU Public License (GPL) Version 3
  * 
  *****************************************************************************/
@@ -30,42 +25,146 @@
  * with this program; if not, write to the Free Software Foundation, Inc., 
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-
+/* Bootloader Includes */
-/* OpenPilot Includes */
+#include <pios.h>
-#include "ahrs_bl.h"
 #include <pios_board_info.h>
-#include "pios_opahrs_proto.h"
+#include <stdbool.h>
-#include "bl_fsm.h"		/* lfsm_state */
+#include "op_dfu.h"
-//#include "stm32f2xx_flash.h"
+#include "pios_iap.h"
-
+#include "fifo_buffer.h"
+#include "pios_com_msg.h"
+#include "pios_usbhook.h"	/* PIOS_USBHOOK_* */
+/* Prototype of PIOS_Board_Init() function */
 extern void PIOS_Board_Init(void);
+extern void FLASH_Download();
+#define BSL_HOLD_STATE ((PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) ? 0 : 1)
 
-#define NSS_HOLD_STATE       ((GPIOB->IDR & GPIO_Pin_12) ? 0 : 1)
-enum bootloader_status boot_status;
 /* Private typedef -----------------------------------------------------------*/
-typedef void
+typedef void (*pFunction)(void);
-(*pFunction)(void);
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
 pFunction Jump_To_Application;
 uint32_t JumpAddress;
-/* Function Prototypes */
+
-//void
+/// LEDs PWM
-//process_spi_request(void);
+uint32_t period1 = 5000; // 5 mS
-void
+uint32_t sweep_steps1 = 100; // * 5 mS -> 500 mS
-jump_to_app();
+uint32_t period2 = 5000; // 5 mS
-uint32_t Fw_crc;
+uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
-/**
+
- * @brief Bootloader Main function
+
- */
+////////////////////////////////////////
+uint8_t tempcount = 0;
+
+/* Extern variables ----------------------------------------------------------*/
+DFUStates DeviceState;
+int16_t status = 0;
+bool JumpToApp = false;
+bool GO_dfu = false;
+bool USB_connected = false;
+bool User_DFU_request = false;
+static uint8_t mReceive_Buffer[63];
+/* Private function prototypes -----------------------------------------------*/
+uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
+uint8_t processRX();
+void jump_to_app();
+
 int main() {
-	/* Brings up System using CMSIS functions, enables the LEDs. */
 	PIOS_SYS_Init();	
 	PIOS_Board_Init();
+	PIOS_IAP_Init();
 
-	jump_to_app();
+	USB_connected = PIOS_USB_CheckAvailable(0);
-	return 0;
+
+	if (PIOS_IAP_CheckRequest() == true) {
+		PIOS_DELAY_WaitmS(1000);
+		User_DFU_request = true;
+		PIOS_IAP_ClearRequest();
+	}
+
+	GO_dfu = (USB_connected == true) || (User_DFU_request == true);
+
+	if (GO_dfu == true) {
+		PIOS_Board_Init();
+		if (User_DFU_request == true)
+			DeviceState = DFUidle;
+		else
+			DeviceState = BLidle;
+	} else
+		JumpToApp = true;
+
+	uint32_t stopwatch = 0;
+	uint32_t prev_ticks = PIOS_DELAY_GetuS();
+	while (true) {
+		/* Update the stopwatch */
+		uint32_t elapsed_ticks = PIOS_DELAY_GetuSSince(prev_ticks);
+		prev_ticks += elapsed_ticks;
+		stopwatch += elapsed_ticks;
+
+		if (JumpToApp == true)
+			jump_to_app();
+
+		switch (DeviceState) {
+		case Last_operation_Success:
+		case uploadingStarting:
+		case DFUidle:
+			period1 = 5000;
+			sweep_steps1 = 100;
+			PIOS_LED_Off(PIOS_LED_HEARTBEAT);
+			period2 = 0;
+			break;
+		case uploading:
+			period1 = 5000;
+			sweep_steps1 = 100;
+			period2 = 2500;
+			sweep_steps2 = 50;
+			break;
+		case downloading:
+			period1 = 2500;
+			sweep_steps1 = 50;
+			PIOS_LED_Off(PIOS_LED_HEARTBEAT);
+			period2 = 0;
+			break;
+		case BLidle:
+			period1 = 0;
+			PIOS_LED_On(PIOS_LED_HEARTBEAT);
+			period2 = 0;
+			break;
+		default://error
+			period1 = 5000;
+			sweep_steps1 = 100;
+			period2 = 5000;
+			sweep_steps2 = 100;
+		}
+
+		if (period1 != 0) {
+			if (LedPWM(period1, sweep_steps1, stopwatch))
+				PIOS_LED_On(PIOS_LED_HEARTBEAT);
+			else
+				PIOS_LED_Off(PIOS_LED_HEARTBEAT);
+		} else
+			PIOS_LED_On(PIOS_LED_HEARTBEAT);
+
+		if (period2 != 0) {
+			if (LedPWM(period2, sweep_steps2, stopwatch))
+				PIOS_LED_On(PIOS_LED_HEARTBEAT);
+			else
+				PIOS_LED_Off(PIOS_LED_HEARTBEAT);
+		} else
+			PIOS_LED_Off(PIOS_LED_HEARTBEAT);
+
+		if (stopwatch > 50 * 1000 * 1000)
+			stopwatch = 0;
+		if ((stopwatch > 6 * 1000 * 1000) && (DeviceState
+				== BLidle))
+			JumpToApp = true;
+
+		processRX();
+		DataDownload(start);
+	}
 }
 
-
 void jump_to_app() {
 	const struct pios_board_info * bdinfo = &pios_board_info_blob;
 
@@ -76,8 +175,8 @@ void jump_to_app() {
 		RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
 		RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
 		RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
-		//_SetCNTR(0); // clear interrupt mask
+
-		//_SetISTR(0); // clear all requests
+		PIOS_USBHOOK_Deactivate();
 
 		JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
 		Jump_To_Application = (pFunction) JumpAddress;
@@ -85,7 +184,25 @@ void jump_to_app() {
 		__set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
 		Jump_To_Application();
 	} else {
-		boot_status = jump_failed;
+		DeviceState = failed_jump;
 		return;
 	}
 }
+uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
+	uint32_t curr_step = (count / pwm_period) % pwm_sweep_steps; /* 0 - pwm_sweep_steps */
+	uint32_t pwm_duty = pwm_period * curr_step / pwm_sweep_steps; /* fraction of pwm_period */
+
+	uint32_t curr_sweep = (count / (pwm_period * pwm_sweep_steps)); /* ticks once per full sweep */
+	if (curr_sweep & 1) {
+		pwm_duty = pwm_period - pwm_duty; /* reverse direction in odd sweeps */
+	}
+	return ((count % pwm_period) > pwm_duty) ? 1 : 0;
+}
+
+uint8_t processRX() {
+	if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
+		processComand(mReceive_Buffer);
+	}
+	return true;
+}
+

flight/Bootloaders/Revolution/op_dfu.c

@@ -0,0 +1,468 @@
+/**
+ ******************************************************************************
+ * @addtogroup CopterControlBL CopterControl BootLoader
+ * @brief These files contain the code to the CopterControl Bootloader.
+ *
+ * @{
+ * @file       op_dfu.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      This file contains the DFU commands handling code
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "pios.h"
+#include <stdbool.h>
+#include "op_dfu.h"
+#include "pios_bl_helper.h"
+#include "pios_com_msg.h"
+#include <pios_board_info.h>
+//programmable devices
+Device devicesTable[10];
+uint8_t numberOfDevices = 0;
+
+DFUProgType currentProgrammingDestination; //flash, flash_trough spi
+uint8_t currentDeviceCanRead;
+uint8_t currentDeviceCanWrite;
+Device currentDevice;
+
+uint8_t Buffer[64];
+uint8_t echoBuffer[64];
+uint8_t SendBuffer[64];
+uint8_t Command = 0;
+uint8_t EchoReqFlag = 0;
+uint8_t EchoAnsFlag = 0;
+uint8_t StartFlag = 0;
+uint32_t Aditionals = 0;
+uint32_t SizeOfTransfer = 0;
+uint32_t Expected_CRC = 0;
+uint8_t SizeOfLastPacket = 0;
+uint32_t Next_Packet = 0;
+uint8_t TransferType;
+uint32_t Count = 0;
+uint32_t Data;
+uint8_t Data0;
+uint8_t Data1;
+uint8_t Data2;
+uint8_t Data3;
+uint8_t offset = 0;
+uint32_t aux;
+//Download vars
+uint32_t downSizeOfLastPacket = 0;
+uint32_t downPacketTotal = 0;
+uint32_t downPacketCurrent = 0;
+DFUTransfer downType = 0;
+/* Extern variables ----------------------------------------------------------*/
+extern DFUStates DeviceState;
+extern uint8_t JumpToApp;
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+void sendData(uint8_t * buf, uint16_t size);
+uint32_t CalcFirmCRC(void);
+
+void DataDownload(DownloadAction action) {
+	if ((DeviceState == downloading)) {
+
+		uint8_t packetSize;
+		uint32_t offset;
+		uint32_t partoffset;
+		SendBuffer[0] = 0x01;
+		SendBuffer[1] = Download;
+		SendBuffer[2] = downPacketCurrent >> 24;
+		SendBuffer[3] = downPacketCurrent >> 16;
+		SendBuffer[4] = downPacketCurrent >> 8;
+		SendBuffer[5] = downPacketCurrent;
+		if (downPacketCurrent == downPacketTotal - 1) {
+			packetSize = downSizeOfLastPacket;
+		} else {
+			packetSize = 14;
+		}
+		for (uint8_t x = 0; x < packetSize; ++x) {
+			partoffset = (downPacketCurrent * 14 * 4) + (x * 4);
+			offset = baseOfAdressType(downType) + partoffset;
+			if (!flash_read(SendBuffer + (6 + x * 4), offset,
+					currentProgrammingDestination)) {
+				DeviceState = Last_operation_failed;
+			}
+		}
+		downPacketCurrent = downPacketCurrent + 1;
+		if (downPacketCurrent > downPacketTotal - 1) {
+			DeviceState = Last_operation_Success;
+			Aditionals = (uint32_t) Download;
+		}
+		sendData(SendBuffer + 1, 63);
+	}
+}
+void processComand(uint8_t *xReceive_Buffer) {
+
+	Command = xReceive_Buffer[COMMAND];
+#ifdef DEBUG_SSP
+	char str[63]= {0};
+	sprintf(str,"Received COMMAND:%d|",Command);
+	PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
+#endif
+	EchoReqFlag = (Command >> 7);
+	EchoAnsFlag = (Command >> 6) & 0x01;
+	StartFlag = (Command >> 5) & 0x01;
+	Count = xReceive_Buffer[COUNT] << 24;
+	Count += xReceive_Buffer[COUNT + 1] << 16;
+	Count += xReceive_Buffer[COUNT + 2] << 8;
+	Count += xReceive_Buffer[COUNT + 3];
+
+	Data = xReceive_Buffer[DATA] << 24;
+	Data += xReceive_Buffer[DATA + 1] << 16;
+	Data += xReceive_Buffer[DATA + 2] << 8;
+	Data += xReceive_Buffer[DATA + 3];
+	Data0 = xReceive_Buffer[DATA];
+	Data1 = xReceive_Buffer[DATA + 1];
+	Data2 = xReceive_Buffer[DATA + 2];
+	Data3 = xReceive_Buffer[DATA + 3];
+	Command = Command & 0b00011111;
+
+	if (EchoReqFlag == 1) {
+		memcpy(echoBuffer, xReceive_Buffer, 64);
+	}
+	switch (Command) {
+	case EnterDFU:
+		if (((DeviceState == BLidle) && (Data0 < numberOfDevices))
+				|| (DeviceState == DFUidle)) {
+			if (Data0 > 0)
+				OPDfuIni(true);
+			DeviceState = DFUidle;
+			currentProgrammingDestination = devicesTable[Data0].programmingType;
+			currentDeviceCanRead = devicesTable[Data0].readWriteFlags & 0x01;
+			currentDeviceCanWrite = devicesTable[Data0].readWriteFlags >> 1
+					& 0x01;
+			currentDevice = devicesTable[Data0];
+			uint8_t result = 0;
+			switch (currentProgrammingDestination) {
+			case Self_flash:
+				result = PIOS_BL_HELPER_FLASH_Ini();
+				break;
+			case Remote_flash_via_spi:
+				result = true;
+				break;
+			default:
+				DeviceState = Last_operation_failed;
+				Aditionals = (uint16_t) Command;
+			}
+			if (result != 1) {
+				DeviceState = Last_operation_failed;
+				Aditionals = (uint32_t) Command;
+			}
+		}
+		break;
+	case Upload:
+		if ((DeviceState == DFUidle) || (DeviceState == uploading)) {
+			if ((StartFlag == 1) && (Next_Packet == 0)) {
+				TransferType = Data0;
+				SizeOfTransfer = Count;
+				Next_Packet = 1;
+				Expected_CRC = Data2 << 24;
+				Expected_CRC += Data3 << 16;
+				Expected_CRC += xReceive_Buffer[DATA + 4] << 8;
+				Expected_CRC += xReceive_Buffer[DATA + 5];
+				SizeOfLastPacket = Data1;
+
+				if (isBiggerThanAvailable(TransferType, (SizeOfTransfer - 1)
+						* 14 * 4 + SizeOfLastPacket * 4) == true) {
+					DeviceState = outsideDevCapabilities;
+					Aditionals = (uint32_t) Command;
+				} else {
+					uint8_t result = 1;
+					if (TransferType == FW) {
+						switch (currentProgrammingDestination) {
+						case Self_flash:
+							result = PIOS_BL_HELPER_FLASH_Start();
+							break;
+						case Remote_flash_via_spi:
+							result = false;
+							break;
+						default:
+							break;
+						}
+					}
+					if (result != 1) {
+						DeviceState = Last_operation_failed;
+						Aditionals = (uint32_t) Command;
+					} else {
+
+						DeviceState = uploading;
+					}
+				}
+			} else if ((StartFlag != 1) && (Next_Packet != 0)) {
+				if (Count > SizeOfTransfer) {
+					DeviceState = too_many_packets;
+					Aditionals = Count;
+				} else if (Count == Next_Packet - 1) {
+					uint8_t numberOfWords = 14;
+					if (Count == SizeOfTransfer - 1)//is this the last packet?
+					{
+						numberOfWords = SizeOfLastPacket;
+					}
+					uint8_t result = 0;
+					switch (currentProgrammingDestination) {
+					case Self_flash:
+						for (uint8_t x = 0; x < numberOfWords; ++x) {
+							offset = 4 * x;
+							Data = xReceive_Buffer[DATA + offset] << 24;
+							Data += xReceive_Buffer[DATA + 1 + offset] << 16;
+							Data += xReceive_Buffer[DATA + 2 + offset] << 8;
+							Data += xReceive_Buffer[DATA + 3 + offset];
+							aux = baseOfAdressType(TransferType) + (uint32_t)(
+									Count * 14 * 4 + x * 4);
+							result = 0;
+							for (int retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
+								if (result == 0) {
+									result = (FLASH_ProgramWord(aux, Data)
+											== FLASH_COMPLETE) ? 1 : 0;
+								}
+							}
+						}
+						break;
+					case Remote_flash_via_spi:
+						result = false; // No support for this for the PipX
+						break;
+					default:
+						result = 0;
+						break;
+					}
+					if (result != 1) {
+						DeviceState = Last_operation_failed;
+						Aditionals = (uint32_t) Command;
+					}
+
+					++Next_Packet;
+				} else {
+					DeviceState = wrong_packet_received;
+					Aditionals = Count;
+				}
+			} else {
+				DeviceState = Last_operation_failed;
+				Aditionals = (uint32_t) Command;
+			}
+		}
+		break;
+	case Req_Capabilities:
+		OPDfuIni(true);
+		Buffer[0] = 0x01;
+		Buffer[1] = Rep_Capabilities;
+		if (Data0 == 0) {
+			Buffer[2] = 0;
+			Buffer[3] = 0;
+			Buffer[4] = 0;
+			Buffer[5] = 0;
+			Buffer[6] = 0;
+			Buffer[7] = numberOfDevices;
+			uint16_t WRFlags = 0;
+			for (int x = 0; x < numberOfDevices; ++x) {
+				WRFlags = ((devicesTable[x].readWriteFlags << (x * 2))
+						| WRFlags);
+			}
+			Buffer[8] = WRFlags >> 8;
+			Buffer[9] = WRFlags;
+		} else {
+			Buffer[2] = devicesTable[Data0 - 1].sizeOfCode >> 24;
+			Buffer[3] = devicesTable[Data0 - 1].sizeOfCode >> 16;
+			Buffer[4] = devicesTable[Data0 - 1].sizeOfCode >> 8;
+			Buffer[5] = devicesTable[Data0 - 1].sizeOfCode;
+			Buffer[6] = Data0;
+			Buffer[7] = devicesTable[Data0 - 1].BL_Version;
+			Buffer[8] = devicesTable[Data0 - 1].sizeOfDescription;
+			Buffer[9] = devicesTable[Data0 - 1].devID;
+			Buffer[10] = devicesTable[Data0 - 1].FW_Crc >> 24;
+			Buffer[11] = devicesTable[Data0 - 1].FW_Crc >> 16;
+			Buffer[12] = devicesTable[Data0 - 1].FW_Crc >> 8;
+			Buffer[13] = devicesTable[Data0 - 1].FW_Crc;
+			Buffer[14] = devicesTable[Data0 - 1].devID >> 8;
+			Buffer[15] = devicesTable[Data0 - 1].devID;
+		}
+		sendData(Buffer + 1, 63);
+		break;
+	case JumpFW:
+		if (Data == 0x5AFE) {
+			/* Force board into safe mode */
+			PIOS_IAP_WriteBootCount(0xFFFF);
+		}
+		FLASH_Lock();
+		JumpToApp = 1;
+		break;
+	case Reset:
+		PIOS_SYS_Reset();
+		break;
+	case Abort_Operation:
+		Next_Packet = 0;
+		DeviceState = DFUidle;
+		break;
+
+	case Op_END:
+		if (DeviceState == uploading) {
+			if (Next_Packet - 1 == SizeOfTransfer) {
+				Next_Packet = 0;
+				if ((TransferType != FW) || (Expected_CRC == CalcFirmCRC())) {
+					DeviceState = Last_operation_Success;
+				} else {
+					DeviceState = CRC_Fail;
+				}
+			}
+			if (Next_Packet - 1 < SizeOfTransfer) {
+				Next_Packet = 0;
+				DeviceState = too_few_packets;
+			}
+		}
+		break;
+	case Download_Req:
+#ifdef DEBUG_SSP
+		sprintf(str,"COMMAND:DOWNLOAD_REQ 1 Status=%d|",DeviceState);
+		PIOS_COM_SendString(PIOS_COM_TELEM_USB,str);
+#endif
+		if (DeviceState == DFUidle) {
+#ifdef DEBUG_SSP
+			PIOS_COM_SendString(PIOS_COM_TELEM_USB,"COMMAND:DOWNLOAD_REQ 1|");
+#endif
+			downType = Data0;
+			downPacketTotal = Count;
+			downSizeOfLastPacket = Data1;
+			if (isBiggerThanAvailable(downType, (downPacketTotal - 1) * 14 * 4
+					+ downSizeOfLastPacket * 4) == 1) {
+				DeviceState = outsideDevCapabilities;
+				Aditionals = (uint32_t) Command;
+
+			} else {
+				downPacketCurrent = 0;
+				DeviceState = downloading;
+			}
+		} else {
+			DeviceState = Last_operation_failed;
+			Aditionals = (uint32_t) Command;
+		}
+		break;
+
+	case Status_Request:
+		Buffer[0] = 0x01;
+		Buffer[1] = Status_Rep;
+		if (DeviceState == wrong_packet_received) {
+			Buffer[2] = Aditionals >> 24;
+			Buffer[3] = Aditionals >> 16;
+			Buffer[4] = Aditionals >> 8;
+			Buffer[5] = Aditionals;
+		} else {
+			Buffer[2] = 0;
+			Buffer[3] = ((uint16_t) Aditionals) >> 8;
+			Buffer[4] = ((uint16_t) Aditionals);
+			Buffer[5] = 0;
+		}
+		Buffer[6] = DeviceState;
+		Buffer[7] = 0;
+		Buffer[8] = 0;
+		Buffer[9] = 0;
+		sendData(Buffer + 1, 63);
+		if (DeviceState == Last_operation_Success) {
+			DeviceState = DFUidle;
+		}
+		break;
+	case Status_Rep:
+
+		break;
+
+	}
+	if (EchoReqFlag == 1) {
+		echoBuffer[0] = echoBuffer[0] | (1 << 6);
+		sendData(echoBuffer, 63);
+	}
+	return;
+}
+void OPDfuIni(uint8_t discover) {
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
+	Device dev;
+
+	dev.programmingType = Self_flash;
+	dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
+	dev.startOfUserCode = bdinfo->fw_base;
+	dev.sizeOfCode = bdinfo->fw_size;
+	dev.sizeOfDescription = bdinfo->desc_size;
+	dev.BL_Version = bdinfo->bl_rev;
+	dev.FW_Crc = CalcFirmCRC();
+	dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
+	dev.devType = bdinfo->hw_type;
+	numberOfDevices = 1;
+	devicesTable[0] = dev;
+	if (discover) {
+		//TODO check other devices trough spi or whatever
+	}
+}
+uint32_t baseOfAdressType(DFUTransfer type) {
+	switch (type) {
+	case FW:
+		return currentDevice.startOfUserCode;
+		break;
+	case Descript:
+		return currentDevice.startOfUserCode + currentDevice.sizeOfCode;
+		break;
+	default:
+
+		return 0;
+	}
+}
+uint8_t isBiggerThanAvailable(DFUTransfer type, uint32_t size) {
+	switch (type) {
+	case FW:
+		return (size > currentDevice.sizeOfCode) ? 1 : 0;
+		break;
+	case Descript:
+		return (size > currentDevice.sizeOfDescription) ? 1 : 0;
+		break;
+	default:
+		return true;
+	}
+}
+
+uint32_t CalcFirmCRC() {
+	switch (currentProgrammingDestination) {
+	case Self_flash:
+		return PIOS_BL_HELPER_CRC_Memory_Calc();
+		break;
+	case Remote_flash_via_spi:
+		return 0;
+		break;
+	default:
+		return 0;
+		break;
+	}
+
+}
+void sendData(uint8_t * buf, uint16_t size) {
+	PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size);
+}
+
+bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
+	switch (type) {
+	case Remote_flash_via_spi:
+		return false; // We should not get this for the PipX
+		break;
+	case Self_flash:
+		for (uint8_t x = 0; x < 4; ++x) {
+			buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
+		}
+		return true;
+		break;
+	default:
+		return false;
+	}
+}

flight/Bootloaders/Revolution/pios_board.c

@@ -23,6 +23,13 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+/* Pull in the board-specific static HW definitions.
+ * Including .c files is a bit ugly but this allows all of
+ * the HW definitions to be const and static to limit their
+ * scope.  
+ *
+ * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
+ */
 #include "board_hw_defs.c"
 
 #include <pios_board_info.h>
@@ -39,10 +46,11 @@ void PIOS_Board_Init() {
 	/* Delay system */
 	PIOS_DELAY_Init();
 	
+#if defined(PIOS_INCLUDE_LED)
 	PIOS_LED_Init(&pios_led_cfg);
+#endif	/* PIOS_INCLUDE_LED */
 
-
+#if defined(PIOS_INCLUDE_USB)
-#if 0 && defined(PIOS_INCLUDE_USB)
 	/* Initialize board specific USB data */
 	PIOS_USB_BOARD_DATA_Init();
 

flight/CopterControl/Makefile

@@ -583,7 +583,7 @@ $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 $(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
 
 # Add jtag targets (program and wipe)
-$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
 
 .PHONY: elf lss sym hex bin bino opfw
 elf: $(OUTDIR)/$(TARGET).elf

flight/CopterControl/System/pios_board.c

@@ -678,9 +678,10 @@ void PIOS_Board_Init(void) {
 
 #if defined(PIOS_INCLUDE_GCSRCVR)
 	GCSReceiverInitialize();
-	PIOS_GCSRCVR_Init();
+	uint32_t pios_gcsrcvr_id;
+	PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
 	uint32_t pios_gcsrcvr_rcvr_id;
-	if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, 0)) {
+	if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
 		PIOS_Assert(0);
 	}
 	pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;

flight/Modules/Altitude/revolution/altitude.c

@@ -46,20 +46,12 @@
 // Private constants
 #define STACK_SIZE_BYTES 500
 #define TASK_PRIORITY (tskIDLE_PRIORITY+1)
-//#define UPDATE_PERIOD 100
-#define UPDATE_PERIOD 25
 
 // Private types
 
 // Private variables
 static xTaskHandle taskHandle;
 
-// down sampling variables
-#define alt_ds_size    4
-static int32_t alt_ds_temp = 0;
-static int32_t alt_ds_pres = 0;
-static int alt_ds_count = 0;
-
 // Private functions
 static void altitudeTask(void *parameters);
 
@@ -88,11 +80,6 @@ int32_t AltitudeInitialize()
 {
 	BaroAltitudeInitialize();
 
-	// init down-sampling data
-	alt_ds_temp = 0;
-	alt_ds_pres = 0;
-	alt_ds_count = 0;
-	
 	return 0;
 }
 MODULE_INITCALL(AltitudeInitialize, AltitudeStart)
@@ -144,12 +131,12 @@ static void altitudeTask(void *parameters)
 		
 		// Update the temperature data
 		PIOS_MS5611_StartADC(TemperatureConv);
-		vTaskDelay(5);
+		vTaskDelay(PIOS_MS5611_GetDelay());
 		PIOS_MS5611_ReadADC();
 		
 		// Update the pressure data
 		PIOS_MS5611_StartADC(PressureConv);
-		vTaskDelay(5);
+		vTaskDelay(PIOS_MS5611_GetDelay());
 		PIOS_MS5611_ReadADC();
 
 		

flight/Modules/AltitudeHold/altitudehold.c

@@ -0,0 +1,372 @@
+/**
+ ******************************************************************************
+ *
+ * @file       guidance.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      This module compared @ref PositionActuatl to @ref ActiveWaypoint 
+ * and sets @ref AttitudeDesired.  It only does this when the FlightMode field
+ * of @ref ManualControlCommand is Auto.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/**
+ * Input object: ActiveWaypoint
+ * Input object: PositionActual
+ * Input object: ManualControlCommand
+ * Output object: AttitudeDesired
+ *
+ * This module will periodically update the value of the AttitudeDesired object.
+ *
+ * The module executes in its own thread in this example.
+ *
+ * Modules have no API, all communication to other modules is done through UAVObjects.
+ * However modules may use the API exposed by shared libraries.
+ * See the OpenPilot wiki for more details.
+ * http://www.openpilot.org/OpenPilot_Application_Architecture
+ *
+ */
+
+#include "openpilot.h"
+#include <math.h>
+#include "CoordinateConversions.h"
+#include "altholdsmoothed.h"
+#include "attitudeactual.h"
+#include "altitudeholdsettings.h"
+#include "altitudeholddesired.h"	// object that will be updated by the module
+#include "baroaltitude.h"
+#include "positionactual.h"
+#include "flightstatus.h"
+#include "stabilizationdesired.h"
+#include "accels.h"
+
+// Private constants
+#define MAX_QUEUE_SIZE 2
+#define STACK_SIZE_BYTES 1024
+#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
+// Private types
+
+// Private variables
+static xTaskHandle altitudeHoldTaskHandle;
+static xQueueHandle queue;
+static AltitudeHoldSettingsData altitudeHoldSettings;
+
+// Private functions
+static void altitudeHoldTask(void *parameters);
+static void SettingsUpdatedCb(UAVObjEvent * ev);
+
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t AltitudeHoldStart()
+{
+	// Start main task
+	xTaskCreate(altitudeHoldTask, (signed char *)"AltitudeHold", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &altitudeHoldTaskHandle);
+	TaskMonitorAdd(TASKINFO_RUNNING_ALTITUDEHOLD, altitudeHoldTaskHandle);
+
+	return 0;
+}
+
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t AltitudeHoldInitialize()
+{
+	AltitudeHoldSettingsInitialize();
+	AltitudeHoldDesiredInitialize();
+	AltHoldSmoothedInitialize();
+
+	// Create object queue
+	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
+
+	// Listen for updates.
+	AltitudeHoldDesiredConnectQueue(queue);
+	BaroAltitudeConnectQueue(queue);
+	FlightStatusConnectQueue(queue);
+	AccelsConnectQueue(queue);
+
+	AltitudeHoldSettingsConnectCallback(&SettingsUpdatedCb);
+
+	return 0;
+}
+MODULE_INITCALL(AltitudeHoldInitialize, AltitudeHoldStart)
+
+float tau;
+float throttleIntegral;
+float velocity;
+float decay;
+float velocity_decay;
+bool running = false;
+float error;
+float switchThrottle;
+float smoothed_altitude;
+float starting_altitude;
+
+/**
+ * Module thread, should not return.
+ */
+static void altitudeHoldTask(void *parameters)
+{
+	AltitudeHoldDesiredData altitudeHoldDesired;
+	StabilizationDesiredData stabilizationDesired;
+
+	portTickType thisTime, lastUpdateTime;
+	UAVObjEvent ev;
+
+	// Force update of the settings
+	SettingsUpdatedCb(&ev);
+
+	BaroAltitudeAltitudeGet(&smoothed_altitude);
+	running = false;
+	enum init_state {WAITING_BARO, WAITIING_INIT, INITED} init = WAITING_BARO;
+
+	// Main task loop
+	bool baro_updated = false;
+	while (1) {		
+		// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
+		if ( xQueueReceive(queue, &ev, 100 / portTICK_RATE_MS) != pdTRUE )
+		{
+			if(!running)
+				throttleIntegral = 0;
+
+			// Todo: Add alarm if it should be running
+			continue;
+		} else if (ev.obj == BaroAltitudeHandle()) {
+			baro_updated = true;
+			
+			init = (init == WAITING_BARO) ? WAITIING_INIT : init;
+		} else if (ev.obj == FlightStatusHandle()) {
+			FlightStatusData flightStatus;
+			FlightStatusGet(&flightStatus);
+
+			if(flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD && !running) {
+				// Copy the current throttle as a starting point for integral
+				StabilizationDesiredThrottleGet(&throttleIntegral);
+				switchThrottle = throttleIntegral;
+				error = 0;
+				velocity = 0;
+				running = true;
+
+				AltHoldSmoothedData altHold;
+				AltHoldSmoothedGet(&altHold);
+				starting_altitude = altHold.Altitude;
+			} else if (flightStatus.FlightMode != FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD)
+				running = false;
+		} else if (ev.obj == AccelsHandle()) {
+			static uint32_t timeval;
+			
+			static float z[4] = {0, 0, 0, 0};
+			float z_new[4];
+			float P[4][4], K[4][2], x[2];
+			float G[4] = {1.0e-15f, 1.0e-15f, 1.0e-3f, 1.0e-7};
+			static float V[4][4] = {{10.0f, 0, 0, 0}, {0, 100.0f, 0, 0}, {0, 0, 100.0f, 0}, {0, 0, 0, 1000.0f}};
+
+			float dT;
+			static float S[2] = {1.0f,10.0f};
+
+			thisTime = xTaskGetTickCount();
+
+			/* Somehow this always assigns to zero.  Compiler bug? Race condition? */
+			S[0] = altitudeHoldSettings.PressureNoise;
+			S[1] = altitudeHoldSettings.AccelNoise;
+			G[2] = altitudeHoldSettings.AccelDrift; 
+
+			AccelsData accels;
+			AccelsGet(&accels);
+			AttitudeActualData attitudeActual;
+			AttitudeActualGet(&attitudeActual);
+			BaroAltitudeData baro;
+			BaroAltitudeGet(&baro);
+
+			if (init == WAITIING_INIT) {
+				z[0] = baro.Altitude;
+				z[1] = 0;
+				z[2] = accels.z;
+				z[3] = 0;
+				init = INITED;
+			} else if (init == WAITING_BARO)
+				continue;
+
+			x[0] = baro.Altitude;
+			//rotate avg accels into earth frame and store it
+			if(1) {
+				float q[4], Rbe[3][3];
+				q[0]=attitudeActual.q1;
+				q[1]=attitudeActual.q2;
+				q[2]=attitudeActual.q3;
+				q[3]=attitudeActual.q4;
+				Quaternion2R(q, Rbe);
+				x[1] = -(Rbe[0][2]*accels.x+ Rbe[1][2]*accels.y + Rbe[2][2]*accels.z + 9.81f);
+			} else {
+				x[1] = -accels.z + 9.81f;
+			}
+
+			dT = PIOS_DELAY_DiffuS(timeval) / 1.0e6f;
+			timeval = PIOS_DELAY_GetRaw();
+
+			P[0][0] = dT*(V[0][1]+dT*V[1][1])+V[0][0]+G[0]+dT*V[1][0];
+			P[0][1] = dT*(V[0][2]+dT*V[1][2])+V[0][1]+dT*V[1][1];
+			P[0][2] = V[0][2]+dT*V[1][2];
+			P[0][3] = V[0][3]+dT*V[1][3];
+			P[1][0] = dT*(V[1][1]+dT*V[2][1])+V[1][0]+dT*V[2][0];
+			P[1][1] = dT*(V[1][2]+dT*V[2][2])+V[1][1]+G[1]+dT*V[2][1];
+			P[1][2] = V[1][2]+dT*V[2][2];
+			P[1][3] = V[1][3]+dT*V[2][3];
+			P[2][0] = V[2][0]+dT*V[2][1];
+			P[2][1] = V[2][1]+dT*V[2][2];
+			P[2][2] = V[2][2]+G[2];
+			P[2][3] = V[2][3];
+			P[3][0] = V[3][0]+dT*V[3][1];
+			P[3][1] = V[3][1]+dT*V[3][2];
+			P[3][2] = V[3][2];
+			P[3][3] = V[3][3]+G[3];
+
+			if (baro_updated) {
+				K[0][0] = -(V[2][2]*S[0]+V[2][3]*S[0]+V[3][2]*S[0]+V[3][3]*S[0]+G[2]*S[0]+G[3]*S[0]+S[0]*S[1])/(V[0][0]*G[2]+V[0][0]*G[3]+V[2][2]*G[0]+V[2][3]*G[0]+V[3][2]*G[0]+V[3][3]*G[0]+V[0][0]*S[1]+V[2][2]*S[0]+V[2][3]*S[0]+V[3][2]*S[0]+V[3][3]*S[0]+V[0][0]*V[2][2]-V[0][2]*V[2][0]+V[0][0]*V[2][3]+V[0][0]*V[3][2]-V[0][2]*V[3][0]-V[2][0]*V[0][3]+V[0][0]*V[3][3]-V[0][3]*V[3][0]+G[0]*G[2]+G[0]*G[3]+G[0]*S[1]+G[2]*S[0]+G[3]*S[0]+S[0]*S[1]+(dT*dT)*V[1][1]*V[2][2]-(dT*dT)*V[1][2]*V[2][1]+(dT*dT)*V[1][1]*V[2][3]+(dT*dT)*V[1][1]*V[3][2]-(dT*dT)*V[1][2]*V[3][1]-(dT*dT)*V[2][1]*V[1][3]+(dT*dT)*V[1][1]*V[3][3]-(dT*dT)*V[1][3]*V[3][1]+dT*V[0][1]*G[2]+dT*V[1][0]*G[2]+dT*V[0][1]*G[3]+dT*V[1][0]*G[3]+dT*V[0][1]*S[1]+dT*V[1][0]*S[1]+(dT*dT)*V[1][1]*G[2]+(dT*dT)*V[1][1]*G[3]+(dT*dT)*V[1][1]*S[1]+dT*V[0][1]*V[2][2]+dT*V[1][0]*V[2][2]-dT*V[0][2]*V[2][1]-dT*V[2][0]*V[1][2]+dT*V[0][1]*V[2][3]+dT*V[0][1]*V[3][2]+dT*V[1][0]*V[2][3]+dT*V[1][0]*V[3][2]-dT*V[0][2]*V[3][1]-dT*V[2][0]*V[1][3]-dT*V[0][3]*V[2][1]-dT*V[1][2]*V[3][0]+dT*V[0][1]*V[3][3]+dT*V[1][0]*V[3][3]-dT*V[0][3]*V[3][1]-dT*V[3][0]*V[1][3])+1.0f;
+				K[0][1] = ((V[0][2]+V[0][3])*S[0]+dT*(V[1][2]+V[1][3])*S[0])/(V[0][0]*G[2]+V[0][0]*G[3]+V[2][2]*G[0]+V[2][3]*G[0]+V[3][2]*G[0]+V[3][3]*G[0]+V[0][0]*S[1]+V[2][2]*S[0]+V[2][3]*S[0]+V[3][2]*S[0]+V[3][3]*S[0]+V[0][0]*V[2][2]-V[0][2]*V[2][0]+V[0][0]*V[2][3]+V[0][0]*V[3][2]-V[0][2]*V[3][0]-V[2][0]*V[0][3]+V[0][0]*V[3][3]-V[0][3]*V[3][0]+G[0]*G[2]+G[0]*G[3]+G[0]*S[1]+G[2]*S[0]+G[3]*S[0]+S[0]*S[1]+(dT*dT)*V[1][1]*V[2][2]-(dT*dT)*V[1][2]*V[2][1]+(dT*dT)*V[1][1]*V[2][3]+(dT*dT)*V[1][1]*V[3][2]-(dT*dT)*V[1][2]*V[3][1]-(dT*dT)*V[2][1]*V[1][3]+(dT*dT)*V[1][1]*V[3][3]-(dT*dT)*V[1][3]*V[3][1]+dT*V[0][1]*G[2]+dT*V[1][0]*G[2]+dT*V[0][1]*G[3]+dT*V[1][0]*G[3]+dT*V[0][1]*S[1]+dT*V[1][0]*S[1]+(dT*dT)*V[1][1]*G[2]+(dT*dT)*V[1][1]*G[3]+(dT*dT)*V[1][1]*S[1]+dT*V[0][1]*V[2][2]+dT*V[1][0]*V[2][2]-dT*V[0][2]*V[2][1]-dT*V[2][0]*V[1][2]+dT*V[0][1]*V[2][3]+dT*V[0][1]*V[3][2]+dT*V[1][0]*V[2][3]+dT*V[1][0]*V[3][2]-dT*V[0][2]*V[3][1]-dT*V[2][0]*V[1][3]-dT*V[0][3]*V[2][1]-dT*V[1][2]*V[3][0]+dT*V[0][1]*V[3][3]+dT*V[1][0]*V[3][3]-dT*V[0][3]*V[3][1]-dT*V[3][0]*V[1][3]);
+				K[1][0] = (V[1][0]*G[2]+V[1][0]*G[3]+V[1][0]*S[1]+V[1][0]*V[2][2]-V[2][0]*V[1][2]+V[1][0]*V[2][3]+V[1][0]*V[3][2]-V[2][0]*V[1][3]-V[1][2]*V[3][0]+V[1][0]*V[3][3]-V[3][0]*V[1][3]+(dT*dT)*V[2][1]*V[3][2]-(dT*dT)*V[2][2]*V[3][1]+(dT*dT)*V[2][1]*V[3][3]-(dT*dT)*V[3][1]*V[2][3]+dT*V[1][1]*G[2]+dT*V[2][0]*G[2]+dT*V[1][1]*G[3]+dT*V[2][0]*G[3]+dT*V[1][1]*S[1]+dT*V[2][0]*S[1]+(dT*dT)*V[2][1]*G[2]+(dT*dT)*V[2][1]*G[3]+(dT*dT)*V[2][1]*S[1]+dT*V[1][1]*V[2][2]-dT*V[1][2]*V[2][1]+dT*V[1][1]*V[2][3]+dT*V[1][1]*V[3][2]+dT*V[2][0]*V[3][2]-dT*V[1][2]*V[3][1]-dT*V[2][1]*V[1][3]-dT*V[3][0]*V[2][2]+dT*V[1][1]*V[3][3]+dT*V[2][0]*V[3][3]-dT*V[3][0]*V[2][3]-dT*V[1][3]*V[3][1])/(V[0][0]*G[2]+V[0][0]*G[3]+V[2][2]*G[0]+V[2][3]*G[0]+V[3][2]*G[0]+V[3][3]*G[0]+V[0][0]*S[1]+V[2][2]*S[0]+V[2][3]*S[0]+V[3][2]*S[0]+V[3][3]*S[0]+V[0][0]*V[2][2]-V[0][2]*V[2][0]+V[0][0]*V[2][3]+V[0][0]*V[3][2]-V[0][2]*V[3][0]-V[2][0]*V[0][3]+V[0][0]*V[3][3]-V[0][3]*V[3][0]+G[0]*G[2]+G[0]*G[3]+G[0]*S[1]+G[2]*S[0]+G[3]*S[0]+S[0]*S[1]+(dT*dT)*V[1][1]*V[2][2]-(dT*dT)*V[1][2]*V[2][1]+(dT*dT)*V[1][1]*V[2][3]+(dT*dT)*V[1][1]*V[3][2]-(dT*dT)*V[1][2]*V[3][1]-(dT*dT)*V[2][1]*V[1][3]+(dT*dT)*V[1][1]*V[3][3]-(dT*dT)*V[1][3]*V[3][1]+dT*V[0][1]*G[2]+dT*V[1][0]*G[2]+dT*V[0][1]*G[3]+dT*V[1][0]*G[3]+dT*V[0][1]*S[1]+dT*V[1][0]*S[1]+(dT*dT)*V[1][1]*G[2]+(dT*dT)*V[1][1]*G[3]+(dT*dT)*V[1][1]*S[1]+dT*V[0][1]*V[2][2]+dT*V[1][0]*V[2][2]-dT*V[0][2]*V[2][1]-dT*V[2][0]*V[1][2]+dT*V[0][1]*V[2][3]+dT*V[0][1]*V[3][2]+dT*V[1][0]*V[2][3]+dT*V[1][0]*V[3][2]-dT*V[0][2]*V[3][1]-dT*V[2][0]*V[1][3]-dT*V[0][3]*V[2][1]-dT*V[1][2]*V[3][0]+dT*V[0][1]*V[3][3]+dT*V[1][0]*V[3][3]-dT*V[0][3]*V[3][1]-dT*V[3][0]*V[1][3]);
+				K[1][1] = (V[1][2]*G[0]+V[1][3]*G[0]+V[1][2]*S[0]+V[1][3]*S[0]+V[0][0]*V[1][2]-V[1][0]*V[0][2]+V[0][0]*V[1][3]-V[1][0]*V[0][3]+(dT*dT)*V[0][1]*V[2][2]+(dT*dT)*V[1][0]*V[2][2]-(dT*dT)*V[0][2]*V[2][1]-(dT*dT)*V[2][0]*V[1][2]+(dT*dT)*V[0][1]*V[2][3]+(dT*dT)*V[1][0]*V[2][3]-(dT*dT)*V[2][0]*V[1][3]-(dT*dT)*V[0][3]*V[2][1]+(dT*dT*dT)*V[1][1]*V[2][2]-(dT*dT*dT)*V[1][2]*V[2][1]+(dT*dT*dT)*V[1][1]*V[2][3]-(dT*dT*dT)*V[2][1]*V[1][3]+dT*V[2][2]*G[0]+dT*V[2][3]*G[0]+dT*V[2][2]*S[0]+dT*V[2][3]*S[0]+dT*V[0][0]*V[2][2]+dT*V[0][1]*V[1][2]-dT*V[0][2]*V[1][1]-dT*V[0][2]*V[2][0]+dT*V[0][0]*V[2][3]+dT*V[0][1]*V[1][3]-dT*V[1][1]*V[0][3]-dT*V[2][0]*V[0][3])/(V[0][0]*G[2]+V[0][0]*G[3]+V[2][2]*G[0]+V[2][3]*G[0]+V[3][2]*G[0]+V[3][3]*G[0]+V[0][0]*S[1]+V[2][2]*S[0]+V[2][3]*S[0]+V[3][2]*S[0]+V[3][3]*S[0]+V[0][0]*V[2][2]-V[0][2]*V[2][0]+V[0][0]*V[2][3]+V[0][0]*V[3][2]-V[0][2]*V[3][0]-V[2][0]*V[0][3]+V[0][0]*V[3][3]-V[0][3]*V[3][0]+G[0]*G[2]+G[0]*G[3]+G[0]*S[1]+G[2]*S[0]+G[3]*S[0]+S[0]*S[1]+(dT*dT)*V[1][1]*V[2][2]-(dT*dT)*V[1][2]*V[2][1]+(dT*dT)*V[1][1]*V[2][3]+(dT*dT)*V[1][1]*V[3][2]-(dT*dT)*V[1][2]*V[3][1]-(dT*dT)*V[2][1]*V[1][3]+(dT*dT)*V[1][1]*V[3][3]-(dT*dT)*V[1][3]*V[3][1]+dT*V[0][1]*G[2]+dT*V[1][0]*G[2]+dT*V[0][1]*G[3]+dT*V[1][0]*G[3]+dT*V[0][1]*S[1]+dT*V[1][0]*S[1]+(dT*dT)*V[1][1]*G[2]+(dT*dT)*V[1][1]*G[3]+(dT*dT)*V[1][1]*S[1]+dT*V[0][1]*V[2][2]+dT*V[1][0]*V[2][2]-dT*V[0][2]*V[2][1]-dT*V[2][0]*V[1][2]+dT*V[0][1]*V[2][3]+dT*V[0][1]*V[3][2]+dT*V[1][0]*V[2][3]+dT*V[1][0]*V[3][2]-dT*V[0][2]*V[3][1]-dT*V[2][0]*V[1][3]-dT*V[0][3]*V[2][1]-dT*V[1][2]*V[3][0]+dT*V[0][1]*V[3][3]+dT*V[1][0]*V[3][3]-dT*V[0][3]*V[3][1]-dT*V[3][0]*V[1][3]);
+				K[2][0] = (V[2][0]*G[3]-V[3][0]*G[2]+V[2][0]*S[1]+V[2][0]*V[3][2]-V[3][0]*V[2][2]+V[2][0]*V[3][3]-V[3][0]*V[2][3]+dT*V[2][1]*G[3]-dT*V[3][1]*G[2]+dT*V[2][1]*S[1]+dT*V[2][1]*V[3][2]-dT*V[2][2]*V[3][1]+dT*V[2][1]*V[3][3]-dT*V[3][1]*V[2][3])/(V[0][0]*G[2]+V[0][0]*G[3]+V[2][2]*G[0]+V[2][3]*G[0]+V[3][2]*G[0]+V[3][3]*G[0]+V[0][0]*S[1]+V[2][2]*S[0]+V[2][3]*S[0]+V[3][2]*S[0]+V[3][3]*S[0]+V[0][0]*V[2][2]-V[0][2]*V[2][0]+V[0][0]*V[2][3]+V[0][0]*V[3][2]-V[0][2]*V[3][0]-V[2][0]*V[0][3]+V[0][0]*V[3][3]-V[0][3]*V[3][0]+G[0]*G[2]+G[0]*G[3]+G[0]*S[1]+G[2]*S[0]+G[3]*S[0]+S[0]*S[1]+(dT*dT)*V[1][1]*V[2][2]-(dT*dT)*V[1][2]*V[2][1]+(dT*dT)*V[1][1]*V[2][3]+(dT*dT)*V[1][1]*V[3][2]-(dT*dT)*V[1][2]*V[3][1]-(dT*dT)*V[2][1]*V[1][3]+(dT*dT)*V[1][1]*V[3][3]-(dT*dT)*V[1][3]*V[3][1]+dT*V[0][1]*G[2]+dT*V[1][0]*G[2]+dT*V[0][1]*G[3]+dT*V[1][0]*G[3]+dT*V[0][1]*S[1]+dT*V[1][0]*S[1]+(dT*dT)*V[1][1]*G[2]+(dT*dT)*V[1][1]*G[3]+(dT*dT)*V[1][1]*S[1]+dT*V[0][1]*V[2][2]+dT*V[1][0]*V[2][2]-dT*V[0][2]*V[2][1]-dT*V[2][0]*V[1][2]+dT*V[0][1]*V[2][3]+dT*V[0][1]*V[3][2]+dT*V[1][0]*V[2][3]+dT*V[1][0]*V[3][2]-dT*V[0][2]*V[3][1]-dT*V[2][0]*V[1][3]-dT*V[0][3]*V[2][1]-dT*V[1][2]*V[3][0]+dT*V[0][1]*V[3][3]+dT*V[1][0]*V[3][3]-dT*V[0][3]*V[3][1]-dT*V[3][0]*V[1][3]);
+				K[2][1] = (V[0][0]*G[2]+V[2][2]*G[0]+V[2][3]*G[0]+V[2][2]*S[0]+V[2][3]*S[0]+V[0][0]*V[2][2]-V[0][2]*V[2][0]+V[0][0]*V[2][3]-V[2][0]*V[0][3]+G[0]*G[2]+G[2]*S[0]+(dT*dT)*V[1][1]*V[2][2]-(dT*dT)*V[1][2]*V[2][1]+(dT*dT)*V[1][1]*V[2][3]-(dT*dT)*V[2][1]*V[1][3]+dT*V[0][1]*G[2]+dT*V[1][0]*G[2]+(dT*dT)*V[1][1]*G[2]+dT*V[0][1]*V[2][2]+dT*V[1][0]*V[2][2]-dT*V[0][2]*V[2][1]-dT*V[2][0]*V[1][2]+dT*V[0][1]*V[2][3]+dT*V[1][0]*V[2][3]-dT*V[2][0]*V[1][3]-dT*V[0][3]*V[2][1])/(V[0][0]*G[2]+V[0][0]*G[3]+V[2][2]*G[0]+V[2][3]*G[0]+V[3][2]*G[0]+V[3][3]*G[0]+V[0][0]*S[1]+V[2][2]*S[0]+V[2][3]*S[0]+V[3][2]*S[0]+V[3][3]*S[0]+V[0][0]*V[2][2]-V[0][2]*V[2][0]+V[0][0]*V[2][3]+V[0][0]*V[3][2]-V[0][2]*V[3][0]-V[2][0]*V[0][3]+V[0][0]*V[3][3]-V[0][3]*V[3][0]+G[0]*G[2]+G[0]*G[3]+G[0]*S[1]+G[2]*S[0]+G[3]*S[0]+S[0]*S[1]+(dT*dT)*V[1][1]*V[2][2]-(dT*dT)*V[1][2]*V[2][1]+(dT*dT)*V[1][1]*V[2][3]+(dT*dT)*V[1][1]*V[3][2]-(dT*dT)*V[1][2]*V[3][1]-(dT*dT)*V[2][1]*V[1][3]+(dT*dT)*V[1][1]*V[3][3]-(dT*dT)*V[1][3]*V[3][1]+dT*V[0][1]*G[2]+dT*V[1][0]*G[2]+dT*V[0][1]*G[3]+dT*V[1][0]*G[3]+dT*V[0][1]*S[1]+dT*V[1][0]*S[1]+(dT*dT)*V[1][1]*G[2]+(dT*dT)*V[1][1]*G[3]+(dT*dT)*V[1][1]*S[1]+dT*V[0][1]*V[2][2]+dT*V[1][0]*V[2][2]-dT*V[0][2]*V[2][1]-dT*V[2][0]*V[1][2]+dT*V[0][1]*V[2][3]+dT*V[0][1]*V[3][2]+dT*V[1][0]*V[2][3]+dT*V[1][0]*V[3][2]-dT*V[0][2]*V[3][1]-dT*V[2][0]*V[1][3]-dT*V[0][3]*V[2][1]-dT*V[1][2]*V[3][0]+dT*V[0][1]*V[3][3]+dT*V[1][0]*V[3][3]-dT*V[0][3]*V[3][1]-dT*V[3][0]*V[1][3]);
+				K[3][0] = (-V[2][0]*G[3]+V[3][0]*G[2]+V[3][0]*S[1]-V[2][0]*V[3][2]+V[3][0]*V[2][2]-V[2][0]*V[3][3]+V[3][0]*V[2][3]-dT*V[2][1]*G[3]+dT*V[3][1]*G[2]+dT*V[3][1]*S[1]-dT*V[2][1]*V[3][2]+dT*V[2][2]*V[3][1]-dT*V[2][1]*V[3][3]+dT*V[3][1]*V[2][3])/(V[0][0]*G[2]+V[0][0]*G[3]+V[2][2]*G[0]+V[2][3]*G[0]+V[3][2]*G[0]+V[3][3]*G[0]+V[0][0]*S[1]+V[2][2]*S[0]+V[2][3]*S[0]+V[3][2]*S[0]+V[3][3]*S[0]+V[0][0]*V[2][2]-V[0][2]*V[2][0]+V[0][0]*V[2][3]+V[0][0]*V[3][2]-V[0][2]*V[3][0]-V[2][0]*V[0][3]+V[0][0]*V[3][3]-V[0][3]*V[3][0]+G[0]*G[2]+G[0]*G[3]+G[0]*S[1]+G[2]*S[0]+G[3]*S[0]+S[0]*S[1]+(dT*dT)*V[1][1]*V[2][2]-(dT*dT)*V[1][2]*V[2][1]+(dT*dT)*V[1][1]*V[2][3]+(dT*dT)*V[1][1]*V[3][2]-(dT*dT)*V[1][2]*V[3][1]-(dT*dT)*V[2][1]*V[1][3]+(dT*dT)*V[1][1]*V[3][3]-(dT*dT)*V[1][3]*V[3][1]+dT*V[0][1]*G[2]+dT*V[1][0]*G[2]+dT*V[0][1]*G[3]+dT*V[1][0]*G[3]+dT*V[0][1]*S[1]+dT*V[1][0]*S[1]+(dT*dT)*V[1][1]*G[2]+(dT*dT)*V[1][1]*G[3]+(dT*dT)*V[1][1]*S[1]+dT*V[0][1]*V[2][2]+dT*V[1][0]*V[2][2]-dT*V[0][2]*V[2][1]-dT*V[2][0]*V[1][2]+dT*V[0][1]*V[2][3]+dT*V[0][1]*V[3][2]+dT*V[1][0]*V[2][3]+dT*V[1][0]*V[3][2]-dT*V[0][2]*V[3][1]-dT*V[2][0]*V[1][3]-dT*V[0][3]*V[2][1]-dT*V[1][2]*V[3][0]+dT*V[0][1]*V[3][3]+dT*V[1][0]*V[3][3]-dT*V[0][3]*V[3][1]-dT*V[3][0]*V[1][3]);
+				K[3][1] = (V[0][0]*G[3]+V[3][2]*G[0]+V[3][3]*G[0]+V[3][2]*S[0]+V[3][3]*S[0]+V[0][0]*V[3][2]-V[0][2]*V[3][0]+V[0][0]*V[3][3]-V[0][3]*V[3][0]+G[0]*G[3]+G[3]*S[0]+(dT*dT)*V[1][1]*V[3][2]-(dT*dT)*V[1][2]*V[3][1]+(dT*dT)*V[1][1]*V[3][3]-(dT*dT)*V[1][3]*V[3][1]+dT*V[0][1]*G[3]+dT*V[1][0]*G[3]+(dT*dT)*V[1][1]*G[3]+dT*V[0][1]*V[3][2]+dT*V[1][0]*V[3][2]-dT*V[0][2]*V[3][1]-dT*V[1][2]*V[3][0]+dT*V[0][1]*V[3][3]+dT*V[1][0]*V[3][3]-dT*V[0][3]*V[3][1]-dT*V[3][0]*V[1][3])/(V[0][0]*G[2]+V[0][0]*G[3]+V[2][2]*G[0]+V[2][3]*G[0]+V[3][2]*G[0]+V[3][3]*G[0]+V[0][0]*S[1]+V[2][2]*S[0]+V[2][3]*S[0]+V[3][2]*S[0]+V[3][3]*S[0]+V[0][0]*V[2][2]-V[0][2]*V[2][0]+V[0][0]*V[2][3]+V[0][0]*V[3][2]-V[0][2]*V[3][0]-V[2][0]*V[0][3]+V[0][0]*V[3][3]-V[0][3]*V[3][0]+G[0]*G[2]+G[0]*G[3]+G[0]*S[1]+G[2]*S[0]+G[3]*S[0]+S[0]*S[1]+(dT*dT)*V[1][1]*V[2][2]-(dT*dT)*V[1][2]*V[2][1]+(dT*dT)*V[1][1]*V[2][3]+(dT*dT)*V[1][1]*V[3][2]-(dT*dT)*V[1][2]*V[3][1]-(dT*dT)*V[2][1]*V[1][3]+(dT*dT)*V[1][1]*V[3][3]-(dT*dT)*V[1][3]*V[3][1]+dT*V[0][1]*G[2]+dT*V[1][0]*G[2]+dT*V[0][1]*G[3]+dT*V[1][0]*G[3]+dT*V[0][1]*S[1]+dT*V[1][0]*S[1]+(dT*dT)*V[1][1]*G[2]+(dT*dT)*V[1][1]*G[3]+(dT*dT)*V[1][1]*S[1]+dT*V[0][1]*V[2][2]+dT*V[1][0]*V[2][2]-dT*V[0][2]*V[2][1]-dT*V[2][0]*V[1][2]+dT*V[0][1]*V[2][3]+dT*V[0][1]*V[3][2]+dT*V[1][0]*V[2][3]+dT*V[1][0]*V[3][2]-dT*V[0][2]*V[3][1]-dT*V[2][0]*V[1][3]-dT*V[0][3]*V[2][1]-dT*V[1][2]*V[3][0]+dT*V[0][1]*V[3][3]+dT*V[1][0]*V[3][3]-dT*V[0][3]*V[3][1]-dT*V[3][0]*V[1][3]);
+				
+				z_new[0] = -K[0][0]*(dT*z[1]-x[0]+z[0])+dT*z[1]-K[0][1]*(-x[1]+z[2]+z[3])+z[0];
+				z_new[1] = -K[1][0]*(dT*z[1]-x[0]+z[0])+dT*z[2]-K[1][1]*(-x[1]+z[2]+z[3])+z[1];
+				z_new[2] = -K[2][0]*(dT*z[1]-x[0]+z[0])-K[2][1]*(-x[1]+z[2]+z[3])+z[2];
+				z_new[3] = -K[3][0]*(dT*z[1]-x[0]+z[0])-K[3][1]*(-x[1]+z[2]+z[3])+z[3];
+
+				memcpy(z, z_new, sizeof(z_new));
+				
+				V[0][0] = -K[0][1]*P[2][0]-K[0][1]*P[3][0]-P[0][0]*(K[0][0]-1.0f);
+				V[0][1] = -K[0][1]*P[2][1]-K[0][1]*P[3][2]-P[0][1]*(K[0][0]-1.0f);
+				V[0][2] = -K[0][1]*P[2][2]-K[0][1]*P[3][2]-P[0][2]*(K[0][0]-1.0f);
+				V[0][3] = -K[0][1]*P[2][3]-K[0][1]*P[3][3]-P[0][3]*(K[0][0]-1.0f);
+				V[1][0] = P[1][0]-K[1][0]*P[0][0]-K[1][1]*P[2][0]-K[1][1]*P[3][0];
+				V[1][1] = P[1][1]-K[1][0]*P[0][1]-K[1][1]*P[2][1]-K[1][1]*P[3][2];
+				V[1][2] = P[1][2]-K[1][0]*P[0][2]-K[1][1]*P[2][2]-K[1][1]*P[3][2];
+				V[1][3] = P[1][3]-K[1][0]*P[0][3]-K[1][1]*P[2][3]-K[1][1]*P[3][3];
+				V[2][0] = -K[2][0]*P[0][0]-K[2][1]*P[3][0]-P[2][0]*(K[2][1]-1.0f);
+				V[2][1] = -K[2][0]*P[0][1]-K[2][1]*P[3][2]-P[2][1]*(K[2][1]-1.0f);
+				V[2][2] = -K[2][0]*P[0][2]-K[2][1]*P[3][2]-P[2][2]*(K[2][1]-1.0f);
+				V[2][3] = -K[2][0]*P[0][3]-K[2][1]*P[3][3]-P[2][3]*(K[2][1]-1.0f);
+				V[3][0] = -K[3][0]*P[0][0]-K[3][1]*P[2][0]-P[3][0]*(K[3][1]-1.0f);
+				V[3][1] = -K[3][0]*P[0][1]-K[3][1]*P[2][1]-P[3][2]*(K[3][1]-1.0f);
+				V[3][2] = -K[3][0]*P[0][2]-K[3][1]*P[2][2]-P[3][2]*(K[3][1]-1.0f);
+				V[3][3] = -K[3][0]*P[0][3]-K[3][1]*P[2][3]-P[3][3]*(K[3][1]-1.0f);
+				
+
+				baro_updated = false;
+			} else {
+				K[0][0] = (V[0][2]+V[0][3]+dT*V[1][2]+dT*V[1][3])/(V[2][2]+V[2][3]+V[3][2]+V[3][3]+G[2]+G[3]+S[1]);
+				K[1][0] = (V[1][2]+V[1][3]+dT*V[2][2]+dT*V[2][3])/(V[2][2]+V[2][3]+V[3][2]+V[3][3]+G[2]+G[3]+S[1]);
+				K[2][0] = (V[2][2]+V[2][3]+G[2])/(V[2][2]+V[2][3]+V[3][2]+V[3][3]+G[2]+G[3]+S[1]);
+				K[3][0] = (V[3][2]+V[3][3]+G[3])/(V[2][2]+V[2][3]+V[3][2]+V[3][3]+G[2]+G[3]+S[1]);
+				
+
+				z_new[0] = dT*z[1]-K[0][0]*(-x[1]+z[2]+z[3])+z[0];
+				z_new[1] = dT*z[2]-K[1][0]*(-x[1]+z[2]+z[3])+z[1];
+				z_new[2] = -K[2][0]*(-x[1]+z[2]+z[3])+z[2];
+				z_new[3] = -K[3][0]*(-x[1]+z[2]+z[3])+z[3];
+
+				memcpy(z, z_new, sizeof(z_new));
+
+				V[0][0] = P[0][0]-K[0][0]*P[2][0]-K[0][0]*P[3][0];
+				V[0][1] = P[0][1]-K[0][0]*P[2][1]-K[0][0]*P[3][2];
+				V[0][2] = P[0][2]-K[0][0]*P[2][2]-K[0][0]*P[3][2];
+				V[0][3] = P[0][3]-K[0][0]*P[2][3]-K[0][0]*P[3][3];
+				V[1][0] = P[1][0]-K[1][0]*P[2][0]-K[1][0]*P[3][0];
+				V[1][1] = P[1][1]-K[1][0]*P[2][1]-K[1][0]*P[3][2];
+				V[1][2] = P[1][2]-K[1][0]*P[2][2]-K[1][0]*P[3][2];
+				V[1][3] = P[1][3]-K[1][0]*P[2][3]-K[1][0]*P[3][3];
+				V[2][0] = -K[2][0]*P[3][0]-P[2][0]*(K[2][0]-1.0f);
+				V[2][1] = -K[2][0]*P[3][2]-P[2][1]*(K[2][0]-1.0f);
+				V[2][2] = -K[2][0]*P[3][2]-P[2][2]*(K[2][0]-1.0f);
+				V[2][3] = -K[2][0]*P[3][3]-P[2][3]*(K[2][0]-1.0f);
+				V[3][0] = -K[3][0]*P[2][0]-P[3][0]*(K[3][0]-1.0f);
+				V[3][1] = -K[3][0]*P[2][1]-P[3][2]*(K[3][0]-1.0f);
+				V[3][2] = -K[3][0]*P[2][2]-P[3][2]*(K[3][0]-1.0f);
+				V[3][3] = -K[3][0]*P[2][3]-P[3][3]*(K[3][0]-1.0f);
+			}
+
+			AltHoldSmoothedData altHold;
+			AltHoldSmoothedGet(&altHold);
+			altHold.Altitude = z[0];
+			altHold.Velocity = z[1];
+			altHold.Accel = z[2];
+			AltHoldSmoothedSet(&altHold);
+
+			AltHoldSmoothedGet(&altHold);
+
+			// Verify that we are  in altitude hold mode
+			FlightStatusData flightStatus;
+			FlightStatusGet(&flightStatus);
+			if(flightStatus.FlightMode != FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD) {
+				running = false;
+			}
+
+			if (!running)
+				continue;
+
+			// Compute the altitude error
+			error = (starting_altitude + altitudeHoldDesired.Altitude) - altHold.Altitude;
+
+			// Compute integral off altitude error
+			throttleIntegral += error * altitudeHoldSettings.Ki * dT;
+
+			// Only update stabilizationDesired less frequently
+			if((thisTime - lastUpdateTime) < 20)
+				continue;
+
+			lastUpdateTime = thisTime;
+
+			// Instead of explicit limit on integral you output limit feedback
+			StabilizationDesiredGet(&stabilizationDesired);
+			stabilizationDesired.Throttle = error * altitudeHoldSettings.Kp + throttleIntegral -
+			altHold.Velocity * altitudeHoldSettings.Kd - altHold.Accel * altitudeHoldSettings.Ka;
+			if(stabilizationDesired.Throttle > 1) {
+				throttleIntegral -= (stabilizationDesired.Throttle - 1);
+				stabilizationDesired.Throttle = 1;
+			}
+			else if (stabilizationDesired.Throttle < 0) {
+				throttleIntegral -= stabilizationDesired.Throttle;
+				stabilizationDesired.Throttle = 0;
+			}
+
+			stabilizationDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
+			stabilizationDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
+			stabilizationDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;		
+			stabilizationDesired.Roll = altitudeHoldDesired.Roll;
+			stabilizationDesired.Pitch = altitudeHoldDesired.Pitch;
+			stabilizationDesired.Yaw = altitudeHoldDesired.Yaw;
+			StabilizationDesiredSet(&stabilizationDesired);
+
+		} else if (ev.obj == AltitudeHoldDesiredHandle()) {
+			AltitudeHoldDesiredGet(&altitudeHoldDesired);
+		}
+
+	}
+}
+
+static void SettingsUpdatedCb(UAVObjEvent * ev)
+{
+	AltitudeHoldSettingsGet(&altitudeHoldSettings);
+}

flight/Modules/AltitudeHold/inc/altitudehold.h

@@ -1,9 +1,9 @@
 /**
  ******************************************************************************
  *
- * @file       ahrs_spi_program_slave.h
+ * @file       examplemodperiodic.c
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      AHRS programming over SPI link - slave(AHRS) end.
+ * @brief      Example module to be used as a template for actual modules.
  *
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -23,13 +23,9 @@
  * with this program; if not, write to the Free Software Foundation, Inc.,
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
+#ifndef EXAMPLEMODPERIODIC_H
+#define EXAMPLEMODPERIODIC_H
 
-#ifndef AHRS_SPI_PROGRAM_SLAVE_H
+int32_t ExampleModPeriodicInitialize();
-#define AHRS_SPI_PROGRAM_SLAVE_H
+int32_t GuidanceInitialize(void);
-
+#endif // EXAMPLEMODPERIODIC_H
-/** Check if OpenPilot is trying to program AHRS
- * If so, it will program the FLASH then return
- * If not it just returns.
- */
-void AhrsProgramReceive(uint32_t spi_id);
-#endif //AHRS_PROGRAM_SLAVE_H

flight/Modules/Attitude/revolution/attitude.c

@@ -234,6 +234,12 @@ static int32_t updateAttitudeComplimentary(bool first_run)
 		AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_WARNING);
 		return -1;
 	}
+	if ( xQueueReceive(accelQueue, &ev, 0) != pdTRUE )
+	{
+		// When one of these is updated so should the other
+		AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_WARNING);
+		return -1;
+	}
 	
 	// During initialization and 
 	FlightStatusData flightStatus;
@@ -290,7 +296,8 @@ static int32_t updateAttitudeComplimentary(bool first_run)
 	accel_err[1] /= accel_mag;
 	accel_err[2] /= accel_mag;	
 	
-	if (1) {
+	if ( xQueueReceive(magQueue, &ev, 0) != pdTRUE )
+	{
 		// Rotate gravity to body frame and cross with accels
 		float brot[3];
 		float Rbe[3][3];
@@ -378,6 +385,14 @@ static int32_t updateAttitudeComplimentary(bool first_run)
 
 	AttitudeActualSet(&attitudeActual);
 	
+	// Flush these queues for avoid errors
+	if ( xQueueReceive(baroQueue, &ev, 0) != pdTRUE )
+	{
+	}
+	if ( xQueueReceive(gpsQueue, &ev, 0) != pdTRUE )
+	{
+	}
+
 	AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
 
 	return 0;

flight/Modules/ManualControl/inc/manualcontrol.h

@@ -39,6 +39,7 @@ typedef enum {FLIGHTMODE_UNDEFINED = 0, FLIGHTMODE_MANUAL = 1, FLIGHTMODE_STABIL
 	(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) ? FLIGHTMODE_STABILIZED : \
 	(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) ? FLIGHTMODE_STABILIZED : \
 	(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) ? FLIGHTMODE_STABILIZED : \
+	(x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD) ? FLIGHTMODE_GUIDANCE : \
 	(x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) ? FLIGHTMODE_GUIDANCE : \
 	(x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) ? FLIGHTMODE_GUIDANCE : FLIGHTMODE_UNDEFINED \
 	)

flight/Modules/ManualControl/manualcontrol.c

@@ -44,6 +44,9 @@
 #include "flightstatus.h"
 #include "accessorydesired.h"
 #include "receiveractivity.h"
+#include "altitudeholddesired.h"
+#include "positionactual.h"
+#include "baroaltitude.h"
 
 // Private constants
 #if defined(PIOS_MANUAL_STACK_SIZE)
@@ -79,6 +82,7 @@ static portTickType lastSysTime;
 // Private functions
 static void updateActuatorDesired(ManualControlCommandData * cmd);
 static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
+static void altitudeHoldDesired(ManualControlCommandData * cmd);
 static void processFlightMode(ManualControlSettingsData * settings, float flightMode);
 static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
 static void setArmedIfChanged(uint8_t val);
@@ -375,7 +379,13 @@ static void manualControlTask(void *parameters)
 				updateStabilizationDesired(&cmd, &settings);
 				break;
 			case FLIGHTMODE_GUIDANCE:
-				// TODO: Implement
+				switch(flightStatus.FlightMode) {
+					case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD:
+						altitudeHoldDesired(&cmd);
+						break;
+					default:
+						AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
+				}
 				break;
 		}
 	}
@@ -588,6 +598,52 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
 	StabilizationDesiredSet(&stabilization);
 }
 
+#if defined(REVOLUTION)
+// TODO: Need compile flag to exclude this from copter control
+static void altitudeHoldDesired(ManualControlCommandData * cmd)
+{
+	const float DEADBAND_HIGH = 0.55;
+	const float DEADBAND_LOW = 0.45;
+	
+	static portTickType lastSysTime;
+	static bool zeroed = false;
+	portTickType thisSysTime;
+	float dT;
+	AltitudeHoldDesiredData altitudeHoldDesired;
+	AltitudeHoldDesiredGet(&altitudeHoldDesired);
+
+	StabilizationSettingsData stabSettings;
+	StabilizationSettingsGet(&stabSettings);
+
+	thisSysTime = xTaskGetTickCount();
+	dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
+	lastSysTime = thisSysTime;
+
+	altitudeHoldDesired.Roll = cmd->Roll * stabSettings.RollMax;
+	altitudeHoldDesired.Pitch = cmd->Pitch * stabSettings.PitchMax;
+	altitudeHoldDesired.Yaw = cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW];
+	
+	float currentDown;
+	PositionActualDownGet(&currentDown);
+	if(dT > 1) {
+		// After not being in this mode for a while init at current height
+		altitudeHoldDesired.Altitude = 0;
+		zeroed = false;
+	} else if (cmd->Throttle > DEADBAND_HIGH && zeroed)
+		altitudeHoldDesired.Altitude += (cmd->Throttle - DEADBAND_HIGH) * dT;
+	else if (cmd->Throttle < DEADBAND_LOW && zeroed)
+		altitudeHoldDesired.Altitude += (cmd->Throttle - DEADBAND_LOW) * dT;
+	else if (cmd->Throttle >= DEADBAND_LOW && cmd->Throttle <= DEADBAND_HIGH)  // Require the stick to enter the dead band before they can move height
+		zeroed = true;
+	
+	AltitudeHoldDesiredSet(&altitudeHoldDesired);
+}
+#else
+static void altitudeHoldDesired(ManualControlCommandData * cmd)
+{
+	AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_ERROR);
+}
+#endif
 /**
  * Convert channel from servo pulse duration (microseconds) to scaled -1/+1 range.
  */

flight/Modules/OveroSync/inc/overosync.h

@@ -1,9 +1,19 @@
 /**
  ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ * @addtogroup TelemetryModule Telemetry Module
+ * @brief Main telemetry module
+ * Starts three tasks (RX, TX, and priority TX) that watch event queues
+ * and handle all the telemetry of the UAVobjects
+ * @{ 
  *
- * @file       ahrs_bl.h
+ * @file       telemetry.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Main AHRS_BL header.
+ * @brief      Include file of the telemetry module.
+ * 	       As with all modules only the initialize function is exposed all other
+ * 	       interactions with the module take place through the event queue and
+ *             objects.
  * @see        The GNU Public License (GPL) Version 3
  *
  *****************************************************************************/
@@ -23,31 +33,14 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+#ifndef TELEMETRY_H
+#define TELEMETRY_H
 
-#ifndef INS_BL_H
+int32_t TelemetryInitialize(void);
-#define INS_BL_H
 
+#endif // TELEMETRY_H
 
-/* PIOS Includes */
+/**
-#include <pios.h>
+  * @}
-
+  * @}
-/** Start programming
+  */
-returns: true if FLASH erased and ready to program
-*/
-bool StartProgramming(void);
-
-/** Write a block to FLASH
-buffer contains the data to be written
-returns: true if FLASH programmed correctly
-*/
-bool WriteData(uint32_t offset, uint8_t *buffer, uint32_t size);
-
-/** Read a block from FLASH
-returns: true if FLASH read correctly.
-Buffer is set to the read data
-*/
-bool ReadData(uint32_t offset, uint8_t *buffer, uint32_t size);
-
-
-
-#endif /* AHRS_BL_H */

flight/Modules/OveroSync/overosync.c

@@ -0,0 +1,371 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ * @addtogroup TelemetryModule Telemetry Module
+ * @brief Main telemetry module
+ * Starts three tasks (RX, TX, and priority TX) that watch event queues
+ * and handle all the telemetry of the UAVobjects
+ * @{ 
+ *
+ * @file       telemetry.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Telemetry module, handles telemetry and UAVObject updates
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "overosync.h"
+#include "overosyncstats.h"
+#include "systemstats.h"
+
+// Private constants
+#define OVEROSYNC_PACKET_SIZE 1024
+#define MAX_QUEUE_SIZE   10
+#define STACK_SIZE_BYTES 4096
+#define TASK_PRIORITY (tskIDLE_PRIORITY + 0)
+
+// Private types
+
+// Private variables
+static xQueueHandle queue;
+static UAVTalkConnection uavTalkCon;
+static xTaskHandle overoSyncTaskHandle;
+volatile bool buffer_swap_failed;
+volatile uint32_t buffer_swap_timeval;
+
+// Private functions
+static void overoSyncTask(void *parameters);
+static int32_t packData(uint8_t * data, int32_t length);
+static int32_t transmitData();
+static void transmitDataDone(bool crc_ok, uint8_t crc_val);
+static void registerObject(UAVObjHandle obj);
+
+// External variables
+extern int32_t pios_spi_overo_id;
+
+struct dma_transaction {
+	uint8_t tx_buffer[OVEROSYNC_PACKET_SIZE] __attribute__ ((aligned(4)));
+	uint8_t rx_buffer[OVEROSYNC_PACKET_SIZE] __attribute__ ((aligned(4)));
+};
+
+struct overosync {
+	struct dma_transaction transactions[2];
+	uint32_t active_transaction_id;
+	uint32_t loading_transaction_id;
+	xSemaphoreHandle transaction_lock;
+	xSemaphoreHandle buffer_lock;
+	volatile bool transaction_done;
+	uint32_t sent_bytes;
+	uint32_t write_pointer;
+	uint32_t sent_objects;
+	uint32_t failed_objects;
+	uint32_t received_objects;
+	uint32_t framesync_error;
+};
+
+struct overosync *overosync;
+
+static void PIOS_OVERO_IRQHandler();
+
+static const struct pios_exti_cfg pios_exti_overo_cfg __exti_config = {
+	.vector = PIOS_OVERO_IRQHandler,
+	.line = EXTI_Line15,
+	.pin = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_15,
+			.GPIO_Speed = GPIO_Speed_100MHz,
+			.GPIO_Mode = GPIO_Mode_IN,
+			.GPIO_OType = GPIO_OType_OD,
+			.GPIO_PuPd = GPIO_PuPd_NOPULL,
+		},
+	},
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel = EXTI15_10_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority = 0,
+			.NVIC_IRQChannelCmd = ENABLE,
+		},
+	},
+	.exti = {
+		.init = {
+			.EXTI_Line = EXTI_Line15, // matches above GPIO pin
+			.EXTI_Mode = EXTI_Mode_Interrupt,
+			.EXTI_Trigger = EXTI_Trigger_Rising,
+			.EXTI_LineCmd = ENABLE,
+		},
+	},
+};
+
+/**
+ * On the rising edge of NSS schedule a new transaction.  This cannot be
+ * done by the DMA complete because there is 150 us between that and the
+ * Overo deasserting the CS line.  We don't want to spin that long in an
+ * isr
+ */
+void PIOS_OVERO_IRQHandler()
+{
+	// transmitData must not block to get semaphore for when we get out of
+	// frame and transaction is still running here.  -1 indicates the transaction
+	// semaphore is blocked and we are still in a transaction, thus a framesync
+	// error occurred.  This shouldn't happen.  Race condition?
+	if(transmitData() == -1)
+		overosync->framesync_error++;
+}
+
+/**
+ * Initialise the telemetry module
+ * \return -1 if initialisation failed
+ * \return 0 on success
+ */
+int32_t OveroSyncInitialize(void)
+{
+	if(pios_spi_overo_id == 0)
+		return -1;
+	
+	OveroSyncStatsInitialize();
+
+	PIOS_EXTI_Init(&pios_exti_overo_cfg);
+	// Create object queues
+	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
+
+	// Initialise UAVTalk
+	uavTalkCon = UAVTalkInitialize(&packData);
+
+	return 0;
+}
+
+/**
+ * Initialise the telemetry module
+ * \return -1 if initialisation failed
+ * \return 0 on success
+ */
+int32_t OveroSyncStart(void)
+{
+	if(pios_spi_overo_id == 0)
+		return -1;
+
+	overosync = (struct overosync *) pvPortMalloc(sizeof(*overosync));
+	if(overosync == NULL)
+		return -1;
+
+	overosync->transaction_lock = xSemaphoreCreateMutex();
+	if(overosync->transaction_lock == NULL)
+		return -1;
+
+	overosync->buffer_lock = xSemaphoreCreateMutex();
+	if(overosync->buffer_lock == NULL)
+		return -1;
+
+	overosync->active_transaction_id = 0;
+	overosync->loading_transaction_id = 0;
+	overosync->write_pointer = 0;
+	overosync->sent_bytes = 0;
+	overosync->framesync_error = 0;
+
+	// Process all registered objects and connect queue for updates
+	UAVObjIterate(&registerObject);
+	
+	// Start telemetry tasks
+	xTaskCreate(overoSyncTask, (signed char *)"OveroSync", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &overoSyncTaskHandle);
+	
+	TaskMonitorAdd(TASKINFO_RUNNING_OVEROSYNC, overoSyncTaskHandle);
+	
+	return 0;
+}
+
+MODULE_INITCALL(OveroSyncInitialize, OveroSyncStart)
+
+/**
+ * Register a new object, adds object to local list and connects the queue depending on the object's
+ * telemetry settings.
+ * \param[in] obj Object to connect
+ */
+static void registerObject(UAVObjHandle obj)
+{
+	int32_t eventMask;
+	eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
+	if (UAVObjIsMetaobject(obj)) {
+		eventMask |= EV_UNPACKED;	// we also need to act on remote updates (unpack events)
+	}
+	UAVObjConnectQueue(obj, queue, eventMask);
+}
+
+/**
+ * Telemetry transmit task, regular priority
+ *
+ * Logic: We need to double buffer the DMA transfers.  Pack the buffer until either
+ * 1) it is full (and then we should record the number of missed events then)
+ * 2) the current transaction is done (we should immediately schedule since we are slave)
+ * when done packing the buffer we should call PIOS_SPI_TransferBlock, change the active buffer
+ * and then take the semaphrore
+ */
+static void overoSyncTask(void *parameters)
+{
+	UAVObjEvent ev;
+
+	// Kick off SPI transfers (once one is completed another will automatically transmit)
+	overosync->transaction_done = true;
+	overosync->sent_objects = 0;
+	overosync->failed_objects = 0;
+	overosync->received_objects = 0;
+	
+	portTickType lastUpdateTime = xTaskGetTickCount();
+	portTickType updateTime;
+	
+	// Loop forever
+	while (1) {
+		// Wait for queue message
+		if (xQueueReceive(queue, &ev, portMAX_DELAY) == pdTRUE) {
+			// Process event.  This calls transmitData
+			UAVTalkSendObject(uavTalkCon, ev.obj, ev.instId, false, 0);
+
+			updateTime = xTaskGetTickCount();
+			if(((portTickType) (updateTime - lastUpdateTime)) > 1000) {
+				// Update stats.  This will trigger a local send event too
+				OveroSyncStatsData syncStats;
+				syncStats.Send = overosync->sent_bytes;
+				syncStats.Received = 0;
+				syncStats.Connected = syncStats.Send > 500 ? OVEROSYNCSTATS_CONNECTED_TRUE : OVEROSYNCSTATS_CONNECTED_FALSE;
+				syncStats.DroppedUpdates = overosync->failed_objects;
+				OveroSyncStatsSet(&syncStats);
+				overosync->failed_objects = 0;
+				overosync->sent_bytes = 0;
+				lastUpdateTime = updateTime;
+			}
+		}
+	}
+}
+
+static void transmitDataDone(bool crc_ok, uint8_t crc_val)
+{
+	uint8_t *rx_buffer;
+	static signed portBASE_TYPE xHigherPriorityTaskWoken;
+
+	rx_buffer = overosync->transactions[overosync->active_transaction_id].rx_buffer;
+
+	// Release the semaphore and start another transaction (which grabs semaphore again but then
+	// returns instantly).  Because this is called by the DMA ISR we need to be aware of context
+	// switches.
+	xSemaphoreGiveFromISR(overosync->transaction_lock, &xHigherPriorityTaskWoken);
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+
+	overosync->transaction_done = true;
+	
+	// Parse the data from overo
+	for (uint32_t i = 0; rx_buffer[0] != 0 && i < sizeof(rx_buffer) ; i++)
+		UAVTalkProcessInputStream(uavTalkCon, rx_buffer[i]);
+}
+
+/**
+ * Transmit data buffer to the modem or USB port.
+ * \param[in] data Data buffer to send
+ * \param[in] length Length of buffer
+ * \return -1 on failure
+ * \return number of bytes transmitted on success
+ */
+uint32_t too_long = 0;
+static int32_t packData(uint8_t * data, int32_t length)
+{
+	uint8_t *tx_buffer;
+	
+	portTickType tickTime = xTaskGetTickCount();
+
+	// Get the lock for manipulating the buffer
+	xSemaphoreTake(overosync->buffer_lock, portMAX_DELAY);
+
+	// Check this packet will fit
+	if ((overosync->write_pointer + length + sizeof(tickTime)) >
+		sizeof(overosync->transactions[overosync->loading_transaction_id].tx_buffer)) {
+		overosync->failed_objects ++;
+		xSemaphoreGive(overosync->buffer_lock);
+		return -1;
+	}
+
+	// Get offset into buffer and copy contents
+	tx_buffer = overosync->transactions[overosync->loading_transaction_id].tx_buffer +
+		overosync->write_pointer;
+	memcpy(tx_buffer, &tickTime, sizeof(tickTime));
+	memcpy(tx_buffer + sizeof(tickTime),data,length);
+	overosync->write_pointer += length + sizeof(tickTime);
+	overosync->sent_bytes += length;
+	overosync->sent_objects++;
+
+	xSemaphoreGive(overosync->buffer_lock);
+	
+	// When the NSS line rises while we are packing data then a transaction doesn't start
+	// because that means we will be here very shortly afterwards (priority of task making that
+	// not always perfectly true) schedule the transaction here.
+	if (buffer_swap_failed && (PIOS_DELAY_DiffuS(buffer_swap_timeval) < 50)) {
+		buffer_swap_failed = false;
+		transmitData();
+	} else if (buffer_swap_failed) {
+		buffer_swap_failed = false;
+		too_long++;
+	}
+
+	return length;
+}
+
+static int32_t transmitData()
+{
+	uint8_t *tx_buffer, *rx_buffer;
+	static signed portBASE_TYPE xHigherPriorityTaskWoken;
+
+	// Get this lock first so we don't swap buffers and then fail
+	// to start
+	if (xSemaphoreTake(overosync->transaction_lock, 0) == pdFALSE)
+		return -1;
+
+	// Get lock to manipulate buffers
+	if(xSemaphoreTake(overosync->buffer_lock, 0) == pdFALSE) {
+		xSemaphoreGiveFromISR(overosync->transaction_lock, &xHigherPriorityTaskWoken);
+		portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+		buffer_swap_failed = true;
+		buffer_swap_timeval = PIOS_DELAY_GetRaw();
+		return -2;
+	}
+
+	overosync->transaction_done = false;
+
+	// Swap buffers
+	overosync->active_transaction_id = overosync->loading_transaction_id;
+	overosync->loading_transaction_id = (overosync->loading_transaction_id + 1) % 
+		NELEMENTS(overosync->transactions);
+		
+	tx_buffer = overosync->transactions[overosync->active_transaction_id].tx_buffer;
+	rx_buffer = overosync->transactions[overosync->active_transaction_id].rx_buffer;
+	
+	// Prepare the new loading buffer
+	memset(overosync->transactions[overosync->loading_transaction_id].tx_buffer, 0xff, 
+		   sizeof(overosync->transactions[overosync->loading_transaction_id].tx_buffer));
+	overosync->write_pointer = 0;
+
+	xSemaphoreGiveFromISR(overosync->buffer_lock, &xHigherPriorityTaskWoken);
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+
+	return PIOS_SPI_TransferBlock(pios_spi_overo_id, (uint8_t *) tx_buffer, (uint8_t *) rx_buffer, sizeof(overosync->transactions[overosync->active_transaction_id].tx_buffer), &transmitDataDone) == 0 ? 0 : -3;
+}
+
+/**
+  * @}
+  * @}
+  */

flight/Modules/Sensors/sensors.c

@@ -147,7 +147,6 @@ int32_t mag_test;
 uint32_t sensor_dt_us;
 static void SensorsTask(void *parameters)
 {
-	uint8_t init = 0;
 	portTickType lastSysTime;
 	uint32_t accel_samples;
 	uint32_t gyro_samples;
@@ -192,6 +191,7 @@ static void SensorsTask(void *parameters)
 	// Main task loop
 	lastSysTime = xTaskGetTickCount();
 	bool error = false;
+	uint32_t mag_update_time = PIOS_DELAY_GetRaw();
 	while (1) {
 		// TODO: add timeouts to the sensor reads and set an error if the fail
 		sensor_dt_us = PIOS_DELAY_DiffuS(timeval);
@@ -347,7 +347,8 @@ static void SensorsTask(void *parameters)
 		// and make it average zero (weakly)
 		MagnetometerData mag;
 		bool mag_updated = false;
-		if (PIOS_HMC5883_NewDataAvailable()) {
+
+		if (PIOS_HMC5883_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 150000) {
 			mag_updated = true;
 			int16_t values[3];
 			PIOS_HMC5883_ReadMag(values);
@@ -355,6 +356,7 @@ static void SensorsTask(void *parameters)
 			mag.y = values[0] * mag_scale[1] - mag_bias[1];
 			mag.z = -values[2] * mag_scale[2] - mag_bias[2];
 			MagnetometerSet(&mag);
+			mag_update_time = PIOS_DELAY_GetRaw();
 		}
 
 		// For debugging purposes here we can output all of the sensors.  Do it as a single transaction

flight/Modules/Stabilization/stabilization.c

@@ -461,7 +461,7 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
 	if(settings.GyroTau < 0.0001)
 		gyro_alpha = 0;   // not trusting this to resolve to 0
 	else
-		gyro_alpha = exp(-fakeDt  / settings.GyroTau);
+		gyro_alpha = expf(-fakeDt  / settings.GyroTau);
 }
 
 

flight/PiOS/Boards/STM32F4xx_Revolution.h

@@ -30,7 +30,7 @@
 #ifndef STM3210E_INS_H_
 #define STM3210E_INS_H_
 
-
+#include <stdbool.h>
 
 //------------------------
 // Timers and Channels Used
@@ -68,8 +68,8 @@ TIM8  |           |           |           |
 //------------------------
 // BOOTLOADER_SETTINGS
 //------------------------
-#define BOARD_READABLE	TRUE
+#define BOARD_READABLE	true
-#define BOARD_WRITABLE	TRUE
+#define BOARD_WRITABLE	true
 #define MAX_DEL_RETRYS	3
 
 

flight/PiOS/Common/pios_gcsrcvr.c

@@ -39,22 +39,97 @@ static GCSReceiverData gcsreceiverdata;
 
 /* Provide a RCVR driver */
 static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel);
+static void PIOS_gcsrcvr_Supervisor(uint32_t ppm_id);
 
 const struct pios_rcvr_driver pios_gcsrcvr_rcvr_driver = {
 	.read = PIOS_GCSRCVR_Get,
 };
 
+/* Local Variables */
+enum pios_gcsrcvr_dev_magic {
+	PIOS_GCSRCVR_DEV_MAGIC = 0xe9da5c56,
+};
+
+struct pios_gcsrcvr_dev {
+	enum pios_gcsrcvr_dev_magic magic;
+
+	uint8_t supv_timer;
+	bool Fresh;
+};
+
+static struct pios_gcsrcvr_dev *global_gcsrcvr_dev;
+
+static bool PIOS_gcsrcvr_validate(struct pios_gcsrcvr_dev *gcsrcvr_dev)
+{
+	return (gcsrcvr_dev->magic == PIOS_GCSRCVR_DEV_MAGIC);
+}
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+static struct pios_gcsrcvr_dev *PIOS_gcsrcvr_alloc(void)
+{
+	struct pios_gcsrcvr_dev * gcsrcvr_dev;
+
+	gcsrcvr_dev = (struct pios_gcsrcvr_dev *)pvPortMalloc(sizeof(*gcsrcvr_dev));
+	if (!gcsrcvr_dev) return(NULL);
+
+	gcsrcvr_dev->magic = PIOS_GCSRCVR_DEV_MAGIC;
+	gcsrcvr_dev->Fresh = FALSE;
+	gcsrcvr_dev->supv_timer = 0;
+
+	/* The update callback cannot receive the device pointer, so set it in a global */
+	global_gcsrcvr_dev = gcsrcvr_dev;
+
+	return(gcsrcvr_dev);
+}
+#else
+static struct pios_gcsrcvr_dev pios_gcsrcvr_devs[PIOS_GCSRCVR_MAX_DEVS];
+static uint8_t pios_gcsrcvr_num_devs;
+static struct pios_gcsrcvr_dev *PIOS_gcsrcvr_alloc(void)
+{
+	struct pios_gcsrcvr_dev *gcsrcvr_dev;
+
+	if (pios_gcsrcvr_num_devs >= PIOS_GCSRCVR_MAX_DEVS) {
+		return (NULL);
+	}
+
+	gcsrcvr_dev = &pios_gcsrcvr_devs[pios_gcsrcvr_num_devs++];
+	gcsrcvr_dev->magic = PIOS_GCSRCVR_DEV_MAGIC;
+	gcsrcvr_dev->Fresh = FALSE;
+	gcsrcvr_dev->supv_timer = 0;
+
+	global_gcsrcvr_dev = gcsrcvr_dev;
+
+	return (gcsrcvr_dev);
+}
+#endif
+
 static void gcsreceiver_updated(UAVObjEvent * ev)
 {
+	struct pios_gcsrcvr_dev *gcsrcvr_dev = global_gcsrcvr_dev;
 	if (ev->obj == GCSReceiverHandle()) {
 		GCSReceiverGet(&gcsreceiverdata);
+		gcsrcvr_dev->Fresh = TRUE;
 	}
 }
 
-void PIOS_GCSRCVR_Init(void)
+extern int32_t PIOS_GCSRCVR_Init(uint32_t *gcsrcvr_id)
 {
+	struct pios_gcsrcvr_dev *gcsrcvr_dev;
+
+	/* Allocate the device structure */
+	gcsrcvr_dev = (struct pios_gcsrcvr_dev *)PIOS_gcsrcvr_alloc();
+	if (!gcsrcvr_dev)
+		return -1;
+
 	/* Register uavobj callback */
 	GCSReceiverConnectCallback (gcsreceiver_updated);
+
+	/* Register the failsafe timer callback. */
+	if (!PIOS_RTC_RegisterTickCallback(PIOS_gcsrcvr_Supervisor, (uint32_t)gcsrcvr_dev)) {
+		PIOS_DEBUG_Assert(0);
+	}
+
+	return 0;
 }
 
 static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel)
@@ -67,6 +142,31 @@ static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel)
 	return (gcsreceiverdata.Channel[channel]);
 }
 
+static void PIOS_gcsrcvr_Supervisor(uint32_t gcsrcvr_id) {
+	/* Recover our device context */
+	struct pios_gcsrcvr_dev * gcsrcvr_dev = (struct pios_gcsrcvr_dev *)gcsrcvr_id;
+
+	if (!PIOS_gcsrcvr_validate(gcsrcvr_dev)) {
+		/* Invalid device specified */
+		return;
+	}
+
+	/* 
+	 * RTC runs at 625Hz so divide down the base rate so
+	 * that this loop runs at 25Hz.
+	 */
+	if(++(gcsrcvr_dev->supv_timer) < 25) {
+		return;
+	}
+	gcsrcvr_dev->supv_timer = 0;
+
+	if (!gcsrcvr_dev->Fresh)
+		for (int32_t i = 0; i < GCSRECEIVER_CHANNEL_NUMELEM; i++)
+			gcsreceiverdata.Channel[i] = PIOS_RCVR_TIMEOUT;
+
+	gcsrcvr_dev->Fresh = FALSE;
+}
+
 #endif	/* PIOS_INCLUDE_GCSRCVR */
 
 /** 

flight/PiOS/Common/pios_ms5611.c

@@ -43,12 +43,10 @@ ConversionTypeTypeDef CurrentRead;
 MS5611CalibDataTypeDef CalibData;
 
 /* Straight from the datasheet */
-static int32_t X1, X2, X3, B3, B5, B6, P;
+static uint32_t RawTemperature;
-static uint32_t B4, B7;
+static uint32_t RawPressure;
-static volatile int32_t RawTemperature;
+static int64_t Pressure;
-static volatile int32_t RawPressure;
+static int64_t Temperature;
-static volatile float Pressure;
-static volatile float Temperature;
 
 static int32_t PIOS_MS5611_Read(uint8_t address, uint8_t * buffer, uint8_t len);
 static int32_t PIOS_MS5611_WriteCommand(uint8_t command);
@@ -58,9 +56,11 @@ static uint32_t oversampling;
 static const struct pios_ms5611_cfg * dev_cfg;
 static int32_t i2c_id;
 
+static enum pios_ms5611_osr osr = MS5611_OSR_256;
+
 /**
-* Initialise the BMP085 sensor
+ * Initialise the MS5611 sensor
-*/
+ */
 int32_t ms5611_read_flag;
 void PIOS_MS5611_Init(const struct pios_ms5611_cfg * cfg, int32_t i2c_device)
 {
@@ -90,10 +90,10 @@ int32_t PIOS_MS5611_StartADC(ConversionTypeTypeDef Type)
 {
 	/* Start the conversion */
 	if (Type == TemperatureConv) {
-		while (PIOS_MS5611_WriteCommand(MS5611_TEMP_ADDR) != 0)
+		while (PIOS_MS5611_WriteCommand(MS5611_TEMP_ADDR + osr) != 0)
 			continue;
 	} else if (Type == PressureConv) {
-		while (PIOS_MS5611_WriteCommand(MS5611_PRES_ADDR) != 0)
+		while (PIOS_MS5611_WriteCommand(MS5611_PRES_ADDR + osr) != 0)
 			continue;
 	}
 
@@ -102,6 +102,26 @@ int32_t PIOS_MS5611_StartADC(ConversionTypeTypeDef Type)
 	return 0;
 }
 
+/**
+ * @brief Return the delay for the current osr
+ */
+int32_t PIOS_MS5611_GetDelay() {
+	switch(osr) {
+		case MS5611_OSR_256:
+			return 2;
+		case MS5611_OSR_512:
+			return 2;
+		case MS5611_OSR_1024:
+			return 3;
+		case MS5611_OSR_2048:
+			return 5;
+		case MS5611_OSR_4096:
+			return 10;
+		default:
+			break;
+	}
+	return 10;
+}
 /**
 * Read the ADC conversion value (once ADC conversion has completed)
 * \param[in] PresOrTemp BMP085_PRES_ADDR or BMP085_TEMP_ADDR
@@ -114,7 +134,8 @@ int32_t PIOS_MS5611_ReadADC(void)
 	Data[1] = 0;
 	Data[2] = 0;
 	
-	static float dT;
+	static int64_t deltaTemp;
+
 	/* Read and store the 16bit result */
 	if (CurrentRead == TemperatureConv) {
 		/* Read the temperature conversion */
@@ -123,24 +144,23 @@ int32_t PIOS_MS5611_ReadADC(void)
 
 		RawTemperature = (Data[0] << 16) | (Data[1] << 8) | Data[2];
 		
-		dT = RawTemperature - CalibData.C[4] * (1 << 8);
+		deltaTemp = RawTemperature - (CalibData.C[4] << 8);
-		Temperature = 2000 + dT * CalibData.C[5] / (1<<23);
+		Temperature = 2000l + ((deltaTemp * CalibData.C[5]) >> 23);
-		Temperature /= 100.0f;
 
 	} else {	
-		float Offset;
+		int64_t Offset;
-		float  Sens;
+		int64_t Sens;
 
 		/* Read the pressure conversion */
 		if (PIOS_MS5611_Read(MS5611_ADC_READ, Data, 3) != 0)
 			return -1;
 		RawPressure = ((Data[0] << 16) | (Data[1] << 8) | Data[2]);
 		
-		Offset = (float) CalibData.C[1] * (1<<16) +(float) CalibData.C[3] * (float) dT / (1<<7);
+		Offset = (((int64_t) CalibData.C[1]) << 16) + ((((int64_t) CalibData.C[3]) * deltaTemp) >> 7);
-		Sens = (float) CalibData.C[0] * (1<<15) + ((float) CalibData.C[2] * (float) dT) / (1<<8);
+		Sens = ((int64_t) CalibData.C[0]) << 15;
+		Sens = Sens + ((((int64_t) CalibData.C[2]) * deltaTemp) >> 8);
 		
-		Pressure = (RawPressure * Sens / (1<<21) - Offset) / (1<<15);
+		Pressure = (((((int64_t) RawPressure) * Sens) >> 21) - Offset) >> 15; 
-		Pressure /= 1000.0f;
 	}
 	return 0;
 }
@@ -150,7 +170,7 @@ int32_t PIOS_MS5611_ReadADC(void)
  */
 float PIOS_MS5611_GetTemperature(void)
 {
-	return Temperature;
+	return ((float) Temperature) / 100.0f;
 }
 
 /**
@@ -158,7 +178,7 @@ float PIOS_MS5611_GetTemperature(void)
  */
 float PIOS_MS5611_GetPressure(void)
 {
-	return Pressure;
+	return ((float) Pressure) / 1000.0f;
 }
 
 /**

flight/PiOS/Common/pios_usb_desc_hid_cdc.c

@@ -250,7 +250,7 @@ int32_t PIOS_USB_DESC_HID_CDC_Init(void)
 
 	PIOS_USBHOOK_RegisterDevice((uint8_t *)&device_desc, sizeof(device_desc));
 
-	PIOS_USB_HID_RegisterHidInterface((uint8_t *)&(config_hid_cdc.hid_if), sizeof(config_hid_cdc.hid_if));
+	PIOS_USB_HID_RegisterHidDescriptor((uint8_t *)&(config_hid_cdc.hid), sizeof(config_hid_cdc.hid));
 	PIOS_USB_HID_RegisterHidReport((uint8_t *)hid_report_desc, sizeof(hid_report_desc));
 
 	return 0;

flight/PiOS/Common/pios_usb_desc_hid_only.c

@@ -158,7 +158,7 @@ int32_t PIOS_USB_DESC_HID_ONLY_Init(void)
 
 	PIOS_USBHOOK_RegisterDevice((uint8_t *)&device_desc, sizeof(device_desc));
 
-	PIOS_USB_HID_RegisterHidInterface((uint8_t *)&(config_hid_only.hid_if), sizeof(config_hid_only.hid_if));
+	PIOS_USB_HID_RegisterHidDescriptor((uint8_t *)&(config_hid_only.hid), sizeof(config_hid_only.hid));
 	PIOS_USB_HID_RegisterHidReport((uint8_t *)hid_report_desc, sizeof(hid_report_desc));
 
 	return 0;

flight/PiOS/STM32F10x/pios_usbhook.c

@@ -65,12 +65,12 @@ void PIOS_USBHOOK_RegisterString(enum usb_string_desc string_id, const uint8_t *
 	}
 }
 
-static ONE_DESCRIPTOR Hid_Interface_Descriptor;
+static ONE_DESCRIPTOR Hid_Descriptor;
 
-void PIOS_USB_HID_RegisterHidInterface(const uint8_t * desc, uint16_t desc_size)
+void PIOS_USB_HID_RegisterHidDescriptor(const uint8_t * desc, uint16_t desc_size)
 {
-	Hid_Interface_Descriptor.Descriptor      = desc;
+	Hid_Descriptor.Descriptor      = desc;
-	Hid_Interface_Descriptor.Descriptor_Size = desc_size;
+	Hid_Descriptor.Descriptor_Size = desc_size;
 }
 
 static ONE_DESCRIPTOR Hid_Report_Descriptor;
@@ -468,7 +468,7 @@ static const uint8_t *PIOS_USBHOOK_GetReportDescriptor(uint16_t Length)
 *******************************************************************************/
 static const uint8_t *PIOS_USBHOOK_GetHIDDescriptor(uint16_t Length)
 {
-	return Standard_GetDescriptorData(Length, &Hid_Interface_Descriptor);
+	return Standard_GetDescriptorData(Length, &Hid_Descriptor);
 }
 
 /*******************************************************************************

flight/PiOS/STM32F4xx/Libraries/STM32_USB_OTG_Driver/src/usb_dcd_int.c

@@ -670,8 +670,6 @@ static uint32_t DCD_WriteEmptyTxFifo(USB_OTG_CORE_HANDLE *pdev, uint32_t epnum)
   len32b = (len + 3) / 4;
   txstatus.d32 = USB_OTG_READ_REG32( &pdev->regs.INEP_REGS[epnum]->DTXFSTS);
   
-  
-  
   while  (txstatus.b.txfspcavail > len32b &&
           ep->xfer_count < ep->xfer_len &&
             ep->xfer_len != 0)
@@ -693,6 +691,13 @@ static uint32_t DCD_WriteEmptyTxFifo(USB_OTG_CORE_HANDLE *pdev, uint32_t epnum)
     txstatus.d32 = USB_OTG_READ_REG32(&pdev->regs.INEP_REGS[epnum]->DTXFSTS);
   }
 
+  if (ep->xfer_count == ep->xfer_len || ep->xfer_len == 0) {
+    /* Turn off the Fifo Empty Interrupt */
+    uint32_t fifoemptymsk;
+
+    fifoemptymsk = 0x1 << epnum;
+    USB_OTG_MODIFY_REG32(&pdev->regs.DREGS->DIEPEMPMSK, fifoemptymsk, 0);
+  }
   return 1;
 }
 

flight/PiOS/STM32F4xx/pios_bl_helper.c

@@ -33,6 +33,7 @@
 #if defined(PIOS_INCLUDE_BL_HELPER)
 #include <pios_board_info.h>
 #include "stm32f4xx_flash.h"
+#include <stdbool.h>
 
 uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress)
 {
@@ -43,34 +44,127 @@ uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress)
 uint8_t PIOS_BL_HELPER_FLASH_Ini()
 {
 	FLASH_Unlock();
+	FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
 	return 1;
 }
 
+struct device_flash_sector {
+	uint32_t start;
+	uint32_t size;
+	uint16_t st_sector;
+};
+
+static struct device_flash_sector flash_sectors[] = {
+	[0] = {
+		.start = 0x08000000,
+		.size  = 16 * 1024,
+		.st_sector = FLASH_Sector_0,
+	},
+	[1] = {
+		.start = 0x08004000,
+		.size  = 16 * 1024,
+		.st_sector = FLASH_Sector_1,
+	},
+	[2] = {
+		.start = 0x08008000,
+		.size  = 16 * 1024,
+		.st_sector = FLASH_Sector_2,
+	},
+	[3] = {
+		.start = 0x0800C000,
+		.size  = 16 * 1024,
+		.st_sector = FLASH_Sector_3,
+	},
+	[4] = {
+		.start = 0x08010000,
+		.size  = 64 * 1024,
+		.st_sector = FLASH_Sector_4,
+	},
+	[5] = {
+		.start = 0x08020000,
+		.size  = 128 * 1024,
+		.st_sector = FLASH_Sector_5,
+	},
+	[6] = {
+		.start = 0x08040000,
+		.size  = 128 * 1024,
+		.st_sector = FLASH_Sector_6,
+	},
+	[7] = {
+		.start = 0x08060000,
+		.size  = 128 * 1024,
+		.st_sector = FLASH_Sector_7,
+	},
+	[8] = {
+		.start = 0x08080000,
+		.size  = 128 * 1024,
+		.st_sector = FLASH_Sector_8,
+	},
+	[9] = {
+		.start = 0x080A0000,
+		.size  = 128 * 1024,
+		.st_sector = FLASH_Sector_9,
+	},
+	[10] = {
+		.start = 0x080C0000,
+		.size  = 128 * 1024,
+		.st_sector = FLASH_Sector_10,
+	},
+	[11] = {
+		.start = 0x080E0000,
+		.size  = 128 * 1024,
+		.st_sector = FLASH_Sector_11,
+	},
+};
+
+static bool PIOS_BL_HELPER_FLASH_GetSectorInfo(uint32_t address, uint8_t * sector_number, uint32_t *sector_start, uint32_t *sector_size)
+{
+	for (uint8_t i = 0; i < NELEMENTS(flash_sectors); i++) {
+		struct device_flash_sector * sector = &flash_sectors[i];
+		if ((address >= sector->start) && 
+			(address < (sector->start + sector->size))) {
+			/* address lies within this sector */
+			*sector_number = sector->st_sector;
+			*sector_start  = sector->start;
+			*sector_size   = sector->size;
+			return (true);
+		}
+	}
+
+	return (false);
+}
+
 uint8_t PIOS_BL_HELPER_FLASH_Start()
 {
 	const struct pios_board_info * bdinfo = &pios_board_info_blob;
-	uint32_t pageAdress = bdinfo->fw_base;
+	uint32_t pageAddress = bdinfo->fw_base;
-	uint8_t fail = FALSE;
+	bool fail = false;
-	while ((pageAdress < (bdinfo->fw_base + bdinfo->fw_size + bdinfo->desc_size))
+	while ((pageAddress < (bdinfo->fw_base + bdinfo->fw_size + bdinfo->desc_size))
-	       || (fail == TRUE)) {
+	       && (fail == false)) {
+		uint8_t sector_number;
+		uint32_t sector_start;
+		uint32_t sector_size;
+		if (!PIOS_BL_HELPER_FLASH_GetSectorInfo(pageAddress, 
+								&sector_number,
+								&sector_start,
+								&sector_size)) {
+			/* We're asking for an invalid flash address */
+			PIOS_Assert(0);
+		}
 		for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) {
-			if (FLASH_ErasePage(pageAdress) == FLASH_COMPLETE) {
+			if (FLASH_EraseSector(sector_number, VoltageRange_2) == FLASH_COMPLETE) {
-				fail = FALSE;
+				fail = false;
 				break;
 			} else {
-				fail = TRUE;
+				fail = true;
 			}
 
 		}
-
+		/* Move to the next sector */
-#ifdef STM32F10X_HD
+		pageAddress += sector_size;
-		pageAdress += 2048;
-#elif defined (STM32F10X_MD)
-		pageAdress += 1024;
-#endif
 	}
 
-	return (fail == TRUE) ? 0 : 1;
+	return (fail == true) ? 0 : 1;
 }
 #endif
 

flight/PiOS/STM32F4xx/pios_iap.c

@@ -68,19 +68,17 @@
  */
 void PIOS_IAP_Init( void )
 {
-#if 0
 	/* Enable CRC clock */
-	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CRC, ENABLE);
 
 	/* Enable PWR and BKP clock */
-	RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR | RCC_APB1Periph_BKP, ENABLE);
+	RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR | RCC_AHB1Periph_BKPSRAM, ENABLE);
 
 	/* Enable write access to Backup domain */
 	PWR_BackupAccessCmd(ENABLE);
 
 	/* Clear Tamper pin Event(TE) pending flag */
-	RTC_ClearFlag();
+	RTC_ClearFlag(RTC_FLAG_TAMP1F);
-#endif
 }
 
 /*!
@@ -93,8 +91,7 @@ void PIOS_IAP_Init( void )
  */
 uint32_t	PIOS_IAP_CheckRequest( void )
 {
-#if 0	
+	uint32_t	retval = false;
-	uint32_t	retval = FALSE;
 	uint16_t	reg1;
 	uint16_t	reg2;
 
@@ -103,13 +100,11 @@ uint32_t	PIOS_IAP_CheckRequest( void )
 
 	if( reg1 == IAP_MAGIC_WORD_1 && reg2 == IAP_MAGIC_WORD_2 ) {
 		// We have a match.
-		retval = TRUE;
+		retval = true;
 	} else {
-		retval = FALSE;
+		retval = false;
 	}
 	return retval;
-#endif
-	return 0;
 }
 
 
@@ -122,24 +117,18 @@ uint32_t	PIOS_IAP_CheckRequest( void )
  */
 void	PIOS_IAP_SetRequest1(void)
 {
-#if 0
 	RTC_WriteBackupRegister( MAGIC_REG_1, IAP_MAGIC_WORD_1);
-#endif
 }
 
 void	PIOS_IAP_SetRequest2(void)
 {
-#if 0
 	RTC_WriteBackupRegister( MAGIC_REG_2, IAP_MAGIC_WORD_2);
-#endif
 }
 
 void	PIOS_IAP_ClearRequest(void)
 {
-#if 0
 	RTC_WriteBackupRegister( MAGIC_REG_1, 0);
 	RTC_WriteBackupRegister( MAGIC_REG_2, 0);
-#endif
 }
 
 uint16_t PIOS_IAP_ReadBootCount(void)

flight/PiOS/STM32F4xx/pios_spi.c

@@ -117,6 +117,7 @@ int32_t PIOS_SPI_Init(uint32_t * spi_id, const struct pios_spi_cfg * cfg)
 			/* only legal for single-slave config */
 			PIOS_Assert(spi_dev->cfg->slave_count == 1);
 			init_ssel = 1;
+			SPI_SSOutputCmd(spi_dev->cfg->regs, (spi_dev->cfg->init.SPI_Mode == SPI_Mode_Master) ? ENABLE : DISABLE);
 			/* FIXME: Should this also call SPI_SSOutputCmd()? */
 			break;
 			
@@ -145,22 +146,28 @@ int32_t PIOS_SPI_Init(uint32_t * spi_id, const struct pios_spi_cfg * cfg)
 	GPIO_Init(spi_dev->cfg->sclk.gpio, (GPIO_InitTypeDef*)&(spi_dev->cfg->sclk.init));
 	GPIO_Init(spi_dev->cfg->mosi.gpio, (GPIO_InitTypeDef*)&(spi_dev->cfg->mosi.init));
 	GPIO_Init(spi_dev->cfg->miso.gpio, (GPIO_InitTypeDef*)&(spi_dev->cfg->miso.init));
-	for (uint32_t i = 0; i < init_ssel; i++) {
+	
-		/* Since we're driving the SSEL pin in software, ensure that the slave is deselected */
+	if(spi_dev->cfg->init.SPI_NSS != SPI_NSS_Hard) {
-		/* XXX multi-slave support - maybe have another SPI_NSS_ mode? */
+		for (uint32_t i = 0; i < init_ssel; i++) {
-		GPIO_SetBits(spi_dev->cfg->ssel[i].gpio, spi_dev->cfg->ssel[i].init.GPIO_Pin);
+			/* Since we're driving the SSEL pin in software, ensure that the slave is deselected */
-		GPIO_Init(spi_dev->cfg->ssel[i].gpio, (GPIO_InitTypeDef*)&(spi_dev->cfg->ssel[i].init));
+			/* XXX multi-slave support - maybe have another SPI_NSS_ mode? */
+			GPIO_SetBits(spi_dev->cfg->ssel[i].gpio, spi_dev->cfg->ssel[i].init.GPIO_Pin);
+			GPIO_Init(spi_dev->cfg->ssel[i].gpio, (GPIO_InitTypeDef*)&(spi_dev->cfg->ssel[i].init));
+		}
 	}
 
 	/* Configure DMA for SPI Rx */
+	DMA_DeInit(spi_dev->cfg->dma.rx.channel);
 	DMA_Cmd(spi_dev->cfg->dma.rx.channel, DISABLE);
 	DMA_Init(spi_dev->cfg->dma.rx.channel, (DMA_InitTypeDef*)&(spi_dev->cfg->dma.rx.init));
 
 	/* Configure DMA for SPI Tx */
+	DMA_DeInit(spi_dev->cfg->dma.tx.channel);
 	DMA_Cmd(spi_dev->cfg->dma.tx.channel, DISABLE);
 	DMA_Init(spi_dev->cfg->dma.tx.channel, (DMA_InitTypeDef*)&(spi_dev->cfg->dma.tx.init));
 
 	/* Initialize the SPI block */
+	SPI_DeInit(spi_dev->cfg->regs);
 	SPI_Init(spi_dev->cfg->regs, (SPI_InitTypeDef*)&(spi_dev->cfg->init));
 
 	/* Configure CRC calculation */
@@ -181,7 +188,6 @@ int32_t PIOS_SPI_Init(uint32_t * spi_id, const struct pios_spi_cfg * cfg)
 
 	/* Configure DMA interrupt */
 	NVIC_Init((NVIC_InitTypeDef*)&(spi_dev->cfg->dma.irq.init));
-	DMA_ITConfig(spi_dev->cfg->dma.tx.channel, spi_dev->cfg->dma.irq.flags, ENABLE);	/* XXX is this correct? */
 
 	return(0);
 
@@ -389,7 +395,19 @@ static int32_t SPI_DMA_TransferBlock(uint32_t spi_id, const uint8_t *send_buffer
 	while(DMA_GetCmdStatus(spi_dev->cfg->dma.tx.channel) == ENABLE);
 
 	/* Disable the SPI peripheral */
+	/* Initialize the SPI block */
+	SPI_DeInit(spi_dev->cfg->regs);
+	SPI_Init(spi_dev->cfg->regs, (SPI_InitTypeDef*)&(spi_dev->cfg->init));
 	SPI_Cmd(spi_dev->cfg->regs, DISABLE);
+	/* Configure CRC calculation */
+	if (spi_dev->cfg->use_crc) {
+		SPI_CalculateCRC(spi_dev->cfg->regs, ENABLE);
+	} else {
+		SPI_CalculateCRC(spi_dev->cfg->regs, DISABLE);
+	}
+	
+	/* Enable SPI interrupts to DMA */
+	SPI_I2S_DMACmd(spi_dev->cfg->regs, SPI_I2S_DMAReq_Tx | SPI_I2S_DMAReq_Rx, ENABLE);
 
 	/* Set callback function */
 	spi_dev->callback = callback;
@@ -400,7 +418,7 @@ static int32_t SPI_DMA_TransferBlock(uint32_t spi_id, const uint8_t *send_buffer
 
 	/* Start with the default configuration for this peripheral */
 	dma_init = spi_dev->cfg->dma.rx.init;
-
+	DMA_DeInit(spi_dev->cfg->dma.rx.channel);
 	if (receive_buffer != NULL) {
 		/* Enable memory addr. increment - bytes written into receive buffer */
 		dma_init.DMA_Memory0BaseAddr = (uint32_t) receive_buffer;
@@ -425,7 +443,7 @@ static int32_t SPI_DMA_TransferBlock(uint32_t spi_id, const uint8_t *send_buffer
 
 	/* Start with the default configuration for this peripheral */
 	dma_init = spi_dev->cfg->dma.tx.init;
-
+	DMA_DeInit(spi_dev->cfg->dma.tx.channel);
 	if (send_buffer != NULL) {
 		/* Enable memory addr. increment - bytes written into receive buffer */
 		dma_init.DMA_Memory0BaseAddr = (uint32_t) send_buffer;
@@ -613,7 +631,6 @@ void PIOS_SPI_SetPrescalar(uint32_t spi_id, uint32_t prescaler)
 	spi_dev->cfg->regs->CR1 = (spi_dev->cfg->regs->CR1 & ~0x0038) | prescaler;
 }
 
-
 void PIOS_SPI_IRQ_Handler(uint32_t spi_id)
 {
 	struct pios_spi_dev * spi_dev = (struct pios_spi_dev *)spi_id;
@@ -624,11 +641,13 @@ void PIOS_SPI_IRQ_Handler(uint32_t spi_id)
 	// FIXME XXX Only RX channel or better clear flags for both channels?
 	DMA_ClearFlag(spi_dev->cfg->dma.rx.channel, spi_dev->cfg->dma.irq.flags);
 	
-	/* Wait for the final bytes of the transfer to complete, including CRC byte(s). */
+	if(spi_dev->cfg->init.SPI_Mode == SPI_Mode_Master) {
-	while (!(SPI_I2S_GetFlagStatus(spi_dev->cfg->regs, SPI_I2S_FLAG_TXE))) ;
+		/* Wait for the final bytes of the transfer to complete, including CRC byte(s). */
+		while (!(SPI_I2S_GetFlagStatus(spi_dev->cfg->regs, SPI_I2S_FLAG_TXE))) ;
 
-	/* Wait for the final bytes of the transfer to complete, including CRC byte(s). */
+		/* Wait for the final bytes of the transfer to complete, including CRC byte(s). */
-	while (SPI_I2S_GetFlagStatus(spi_dev->cfg->regs, SPI_I2S_FLAG_BSY)) ;
+		while (SPI_I2S_GetFlagStatus(spi_dev->cfg->regs, SPI_I2S_FLAG_BSY)) ;
+	}
 
 	if (spi_dev->callback != NULL) {
 		bool crc_ok = true;

flight/PiOS/STM32F4xx/pios_usb.c

@@ -193,27 +193,6 @@ void USB_OTG_BSP_Init(USB_OTG_CORE_HANDLE *pdev)
 
 	/* Configure USB D-/D+ (DM/DP) pins */
 	GPIO_InitTypeDef GPIO_InitStructure;
-
-#define FORCE_USB_DP_DM_LOW 1
-#if FORCE_USB_DP_DM_LOW
-	/* Force D-/D+ low for 50ms to trigger a disconnect */
-	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11 | GPIO_Pin_12;
-	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
-	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
-	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
-	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
-	GPIO_Init(GPIOA, &GPIO_InitStructure);
-
-	GPIO_PinAFConfig(GPIOA, GPIO_PinSource11, 0);
-	GPIO_PinAFConfig(GPIOA, GPIO_PinSource12, 0);
-
-	GPIO_ResetBits(GPIOA, GPIO_Pin_12);
-	GPIO_ResetBits(GPIOA, GPIO_Pin_11);
-
-	PIOS_DELAY_WaitmS(50);
-#endif
-
-	/* Set up D-/D+ as USB function again */
 	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11 | GPIO_Pin_12;
 	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
 	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;

flight/PiOS/STM32F4xx/pios_usb_hid.c

@@ -40,6 +40,7 @@
 #include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
 
 #define MIN(x,y) (((x) < (y)) ? (x) : (y))
+#define MAX(x,y) (((x) > (y)) ? (x) : (y))
 
 static void PIOS_USB_HID_RegisterTxCallback(uint32_t usbhid_id, pios_com_callback tx_out_cb, uint32_t context);
 static void PIOS_USB_HID_RegisterRxCallback(uint32_t usbhid_id, pios_com_callback rx_in_cb, uint32_t context);
@@ -68,8 +69,13 @@ struct pios_usb_hid_dev {
 	pios_com_callback tx_out_cb;
 	uint32_t tx_out_context;
 
+	bool usb_if_enabled;
+
 	uint8_t rx_packet_buffer[PIOS_USB_BOARD_HID_DATA_LENGTH];
+	bool rx_active;
+
 	uint8_t tx_packet_buffer[PIOS_USB_BOARD_HID_DATA_LENGTH];
+	bool tx_active;
 
 	uint32_t rx_dropped;
 	uint32_t rx_oversize;
@@ -138,7 +144,12 @@ int32_t PIOS_USB_HID_Init(uint32_t * usbhid_id, const struct pios_usb_hid_cfg *
 	usb_hid_dev->cfg = cfg;
 	usb_hid_dev->lower_id = lower_id;
 
+	/* Rx and Tx are not active yet */
+	usb_hid_dev->rx_active = false;
+	usb_hid_dev->tx_active = false;
+
 	/* Register class specific interface callbacks with the USBHOOK layer */
+	usb_hid_dev->usb_if_enabled = false;
 	PIOS_USBHOOK_RegisterIfOps(cfg->data_if, &usb_hid_ifops, (uint32_t) usb_hid_dev);
 
 	*usbhid_id = (uint32_t) usb_hid_dev;
@@ -150,12 +161,12 @@ out_fail:
 }
 
 
-static struct pios_usbhook_descriptor hid_if_desc;
+static struct pios_usbhook_descriptor hid_desc;
 
-void PIOS_USB_HID_RegisterHidInterface(const uint8_t * desc, uint16_t length)
+void PIOS_USB_HID_RegisterHidDescriptor(const uint8_t * desc, uint16_t length)
 {
-	hid_if_desc.descriptor = desc;
+	hid_desc.descriptor = desc;
-	hid_if_desc.length     = length;
+	hid_desc.length     = length;
 }
 
 static struct pios_usbhook_descriptor hid_report_desc;
@@ -192,18 +203,24 @@ static bool PIOS_USB_HID_SendReport(struct pios_usb_hid_dev * usb_hid_dev)
 		return false;
 	}
 
+	/* 
+	 * Mark this endpoint as being tx active _before_ actually transmitting
+	 * to make sure we don't race with the Tx completion interrupt
+	 */
+	usb_hid_dev->tx_active = true;
+
 	/* Always set type as report ID */
 	usb_hid_dev->tx_packet_buffer[0] = 1;
 
 #ifdef PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE
 	PIOS_USBHOOK_EndpointTx(usb_hid_dev->cfg->data_tx_ep,
 				usb_hid_dev->tx_packet_buffer,
-				bytes_to_tx + 1);
+				sizeof(usb_hid_dev->tx_packet_buffer));
 #else
 	usb_hid_dev->tx_packet_buffer[1] = bytes_to_tx;
 	PIOS_USBHOOK_EndpointTx(usb_hid_dev->cfg->data_tx_ep,
 				usb_hid_dev->tx_packet_buffer,
-				bytes_to_tx + 2);
+				sizeof(usb_hid_dev->tx_packet_buffer));
 #endif
 
 #if defined(PIOS_INCLUDE_FREERTOS)
@@ -221,6 +238,11 @@ static void PIOS_USB_HID_RxStart(uint32_t usbhid_id, uint16_t rx_bytes_avail) {
 	bool valid = PIOS_USB_HID_validate(usb_hid_dev);
 	PIOS_Assert(valid);
 
+	/* Make sure this USB interface has been initialized */
+	if (!usb_hid_dev->usb_if_enabled) {
+		return;
+	}
+
 	if (!PIOS_USB_CheckAvailable(usb_hid_dev->lower_id)) {
 		return;
 	}
@@ -232,16 +254,12 @@ static void PIOS_USB_HID_RxStart(uint32_t usbhid_id, uint16_t rx_bytes_avail) {
 	uint16_t max_payload_length = PIOS_USB_BOARD_HID_DATA_LENGTH - 2;
 #endif
 
-	PIOS_IRQ_Disable();
+	if (!usb_hid_dev->rx_active && (rx_bytes_avail >= max_payload_length)) {
-	if (rx_bytes_avail >= max_payload_length) {
-		/*
-		 * FIXME should make sure we do not already have a buffer queued
-		 */
 		PIOS_USBHOOK_EndpointRx(usb_hid_dev->cfg->data_rx_ep,
 					usb_hid_dev->rx_packet_buffer,
 					sizeof(usb_hid_dev->rx_packet_buffer));
+		usb_hid_dev->rx_active = true;
 	}
-	PIOS_IRQ_Enable();
 }
 
 static void PIOS_USB_HID_TxStart(uint32_t usbhid_id, uint16_t tx_bytes_avail)
@@ -251,22 +269,19 @@ static void PIOS_USB_HID_TxStart(uint32_t usbhid_id, uint16_t tx_bytes_avail)
 	bool valid = PIOS_USB_HID_validate(usb_hid_dev);
 	PIOS_Assert(valid);
 
+	/* Make sure this USB interface has been initialized */
+	if (!usb_hid_dev->usb_if_enabled) {
+		return;
+	}
+
 	if (!PIOS_USB_CheckAvailable(usb_hid_dev->lower_id)) {
 		return;
 	}
 
-#if 0
+	if (!usb_hid_dev->tx_active) {
-	if (GetEPTxStatus(usb_hid_dev->cfg->data_tx_ep) == EP_TX_VALID) {
+		/* Transmitter is not currently active, send a report */
-		/* Endpoint is already transmitting */
+		PIOS_USB_HID_SendReport(usb_hid_dev);
-		return;
 	}
-#else
-	/*
-	 * FIXME start transmitter
-	 */
-#endif
-
-	PIOS_USB_HID_SendReport(usb_hid_dev);
 }
 
 static void PIOS_USB_HID_RegisterRxCallback(uint32_t usbhid_id, pios_com_callback rx_in_cb, uint32_t context)
@@ -309,13 +324,15 @@ static void PIOS_USB_HID_IF_Init(uint32_t usb_hid_id)
 
 	/* Register endpoint specific callbacks with the USBHOOK layer */
 	PIOS_USBHOOK_RegisterEpInCallback(usb_hid_dev->cfg->data_tx_ep,
-					  sizeof(usb_hid_dev->rx_packet_buffer),
+					  sizeof(usb_hid_dev->tx_packet_buffer),
 					  PIOS_USB_HID_EP_IN_Callback,
 					  (uint32_t) usb_hid_dev);
 	PIOS_USBHOOK_RegisterEpOutCallback(usb_hid_dev->cfg->data_rx_ep,
 					   sizeof(usb_hid_dev->rx_packet_buffer),
 					   PIOS_USB_HID_EP_OUT_Callback,
 					   (uint32_t) usb_hid_dev);
+	usb_hid_dev->usb_if_enabled = true;
+
 }
 
 static void PIOS_USB_HID_IF_DeInit(uint32_t usb_hid_id)
@@ -327,6 +344,7 @@ static void PIOS_USB_HID_IF_DeInit(uint32_t usb_hid_id)
 	}
 
 	/* DeRegister endpoint specific callbacks with the USBHOOK layer */
+	usb_hid_dev->usb_if_enabled = false;
 	PIOS_USBHOOK_DeRegisterEpInCallback(usb_hid_dev->cfg->data_tx_ep);
 	PIOS_USBHOOK_DeRegisterEpOutCallback(usb_hid_dev->cfg->data_rx_ep);
 }
@@ -358,8 +376,8 @@ static bool PIOS_USB_HID_IF_Setup(uint32_t usb_hid_id, struct usb_setup_request
 						MIN(hid_report_desc.length, req->wLength));
 				break;
 			case USB_DESC_TYPE_HID:
-				PIOS_USBHOOK_CtrlTx(hid_if_desc.descriptor,
+				PIOS_USBHOOK_CtrlTx(hid_desc.descriptor,
-						MIN(hid_if_desc.length, req->wLength));
+						MIN(hid_desc.length, req->wLength));
 				break;
 			default:
 				/* Unhandled descriptor request */
@@ -429,11 +447,15 @@ static bool PIOS_USB_HID_EP_IN_Callback(uint32_t usb_hid_id, uint8_t epnum, uint
 		return false;
 	}
 
-	if (!PIOS_USB_CheckAvailable(usb_hid_dev->lower_id)) {
+	if (PIOS_USB_CheckAvailable(usb_hid_dev->lower_id) &&
+		PIOS_USB_HID_SendReport(usb_hid_dev)) {
+		/* More data has been queued, leave tx_active set to true */
+		return true;
+	} else {
+		/* Nothing new sent, transmitter is now inactive */
+		usb_hid_dev->tx_active = false;
 		return false;
 	}
-
-	return (PIOS_USB_HID_SendReport(usb_hid_dev));
 }
 
 /**
@@ -453,6 +475,7 @@ static bool PIOS_USB_HID_EP_OUT_Callback(uint32_t usb_hid_id, uint8_t epnum, uin
 
 	if (!usb_hid_dev->rx_in_cb) {
 		/* No Rx call back registered, disable the receiver */
+		usb_hid_dev->rx_active = false;
 		return false;
 	}
 
@@ -484,6 +507,7 @@ static bool PIOS_USB_HID_EP_OUT_Callback(uint32_t usb_hid_id, uint8_t epnum, uin
 		return true;
 	} else {
 		/* Not enough room left for a message, apply backpressure */
+		usb_hid_dev->rx_active = false;
 		return false;
 	}
 

flight/PiOS/STM32F4xx/pios_usbhook.c

@@ -86,6 +86,13 @@ void PIOS_USBHOOK_Activate(void)
 		&user_callbacks);
 }
 
+void PIOS_USBHOOK_Deactivate(void)
+{
+	DCD_DevDisconnect(&pios_usb_otg_core_handle);
+	USBD_DeInit(&pios_usb_otg_core_handle);
+	USB_OTG_StopDevice(&pios_usb_otg_core_handle);
+}
+
 void OTG_FS_IRQHandler(void)
 {
 	if(!USBD_OTG_ISR_Handler(&pios_usb_otg_core_handle)) {
@@ -333,7 +340,7 @@ static uint8_t PIOS_USBHOOK_CLASS_Setup(void *pdev, USB_SETUP_REQ *req)
 			usb_if_table[ifnum].ifops->setup(usb_if_table[ifnum].context, 
 							 (struct usb_setup_request *)req);
 			if (req->bmRequest & 0x80 && req->wLength > 0) {
-				/* Request is a host-to-device data setup packet, keep track of the request details for the EP0_RxRead call */
+				/* Request is a host-to-device data setup packet, keep track of the request details for the EP0_RxReady call */
 				usb_ep0_active_req.bmRequestType = req->bmRequest;
 				usb_ep0_active_req.bRequest      = req->bRequest;
 				usb_ep0_active_req.wValue        = req->wValue;
@@ -379,11 +386,14 @@ static uint8_t PIOS_USBHOOK_CLASS_DataIn(void *pdev, uint8_t epnum)
 	DCD_EP_Flush(pdev, epnum);	/* NOT SURE IF THIS IS REQUIRED */
 
 	/* Remove the direction bit so we can use this as an index */
-	epnum = epnum & 0xF;
+	uint8_t epnum_idx = epnum & 0x7F;
 
-	if ((epnum < NELEMENTS(usb_epin_table)) && usb_epin_table[epnum].cb) {
+	if ((epnum_idx < NELEMENTS(usb_epin_table)) && usb_epin_table[epnum_idx].cb) {
-		struct usb_ep_entry *ep = &(usb_epin_table[epnum]);
+		struct usb_ep_entry *ep = &(usb_epin_table[epnum_idx]);
-		ep->cb(ep->context, epnum, ep->max_len);
+		if (!ep->cb(ep->context, epnum_idx, ep->max_len)) {
+			/* NOTE: use real endpoint number including direction bit */
+			DCD_SetEPStatus(pdev, epnum, USB_OTG_EP_TX_NAK);
+		}
 	}
 
 	return USBD_OK;
@@ -392,11 +402,14 @@ static uint8_t PIOS_USBHOOK_CLASS_DataIn(void *pdev, uint8_t epnum)
 static uint8_t PIOS_USBHOOK_CLASS_DataOut(void *pdev, uint8_t epnum)
 {
 	/* Remove the direction bit so we can use this as an index */
-	epnum = epnum & 0xF;
+	uint8_t epnum_idx = epnum & 0x7F;
 
-	if ((epnum < NELEMENTS(usb_epout_table)) && usb_epout_table[epnum].cb) {
+	if ((epnum_idx < NELEMENTS(usb_epout_table)) && usb_epout_table[epnum_idx].cb) {
-		struct usb_ep_entry *ep = &(usb_epout_table[epnum]);
+		struct usb_ep_entry *ep = &(usb_epout_table[epnum_idx]);
-		ep->cb(ep->context, epnum, ep->max_len);
+		if (!ep->cb(ep->context, epnum_idx, ep->max_len)) {
+			/* NOTE: use real endpoint number including direction bit */
+			DCD_SetEPStatus(pdev, epnum, USB_OTG_EP_RX_NAK);
+		}
 	}
 
 	return USBD_OK;
@@ -457,441 +470,3 @@ static USBD_Class_cb_TypeDef class_callbacks = {
 #endif	/* USB_SUPPORT_USER_STRING_DESC */
 };
 
-#if 0
-#include "stm32f10x.h"		/* __IO */
-__IO uint8_t EXTI_Enable;
-
-uint32_t ProtocolValue;
-
-DEVICE Device_Table = {
-	PIOS_USB_BOARD_EP_NUM,
-	1
-};
-
-static void PIOS_USBHOOK_Init(void);
-static void PIOS_USBHOOK_Reset(void);
-static void PIOS_USBHOOK_Status_In(void);
-static void PIOS_USBHOOK_Status_Out(void);
-static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo);
-static RESULT PIOS_USBHOOK_NoData_Setup(uint8_t RequestNo);
-static RESULT PIOS_USBHOOK_Get_Interface_Setting(uint8_t Interface, uint8_t AlternateSetting);
-static const uint8_t *PIOS_USBHOOK_GetDeviceDescriptor(uint16_t Length);
-static const uint8_t *PIOS_USBHOOK_GetConfigDescriptor(uint16_t Length);
-static const uint8_t *PIOS_USBHOOK_GetStringDescriptor(uint16_t Length);
-
-DEVICE_PROP Device_Property = {
-	.Init                        = PIOS_USBHOOK_Init,
-	.Reset                       = PIOS_USBHOOK_Reset,
-	.Process_Status_IN           = PIOS_USBHOOK_Status_In,
-	.Process_Status_OUT          = PIOS_USBHOOK_Status_Out,
-	.Class_Data_Setup            = PIOS_USBHOOK_Data_Setup,
-	.Class_NoData_Setup          = PIOS_USBHOOK_NoData_Setup,
-	.Class_Get_Interface_Setting = PIOS_USBHOOK_Get_Interface_Setting,
-	.GetDeviceDescriptor         = PIOS_USBHOOK_GetDeviceDescriptor,
-	.GetConfigDescriptor         = PIOS_USBHOOK_GetConfigDescriptor,
-	.GetStringDescriptor         = PIOS_USBHOOK_GetStringDescriptor,
-	.RxEP_buffer                 = 0,
-	.MaxPacketSize               = 0x40,
-};
-
-static void PIOS_USBHOOK_SetConfiguration(void);
-static void PIOS_USBHOOK_SetDeviceAddress(void);
-
-USER_STANDARD_REQUESTS User_Standard_Requests = {
-	.User_GetConfiguration   = NOP_Process,
-	.User_SetConfiguration   = PIOS_USBHOOK_SetConfiguration,
-	.User_GetInterface       = NOP_Process,
-	.User_SetInterface       = NOP_Process,
-	.User_GetStatus          = NOP_Process,
-	.User_ClearFeature       = NOP_Process,
-	.User_SetEndPointFeature = NOP_Process,
-	.User_SetDeviceFeature   = NOP_Process,
-	.User_SetDeviceAddress   = PIOS_USBHOOK_SetDeviceAddress
-};
-
-static RESULT PIOS_USBHOOK_SetProtocol(void);
-static const uint8_t *PIOS_USBHOOK_GetProtocolValue(uint16_t Length);
-static const uint8_t *PIOS_USBHOOK_GetReportDescriptor(uint16_t Length);
-static const uint8_t *PIOS_USBHOOK_GetHIDDescriptor(uint16_t Length);
-
-/*******************************************************************************
-* Function Name  : PIOS_USBHOOK_Init.
-* Description    : Custom HID init routine.
-* Input          : None.
-* Output         : None.
-* Return         : None.
-*******************************************************************************/
-static void PIOS_USBHOOK_Init(void)
-{
-	pInformation->Current_Configuration = 0;
-
-	/* Connect the device */
-	PowerOn();
-
-	/* Perform basic device initialization operations */
-	USB_SIL_Init();
-
-	bDeviceState = UNCONNECTED;
-}
-
-/*******************************************************************************
-* Function Name  : PIOS_USBHOOK_Reset.
-* Description    : Custom HID reset routine.
-* Input          : None.
-* Output         : None.
-* Return         : None.
-*******************************************************************************/
-static void PIOS_USBHOOK_Reset(void)
-{
-	/* Set DEVICE as not configured */
-	pInformation->Current_Configuration = 0;
-	pInformation->Current_Interface = 0;	/*the default Interface */
-
-	/* Current Feature initialization */
-	pInformation->Current_Feature = 0;
-
-#ifdef STM32F10X_CL
-	/* EP0 is already configured in DFU_Init() by USB_SIL_Init() function */
-
-	/* Init EP1 IN as Interrupt endpoint */
-	OTG_DEV_EP_Init(EP1_IN, OTG_DEV_EP_TYPE_INT, 2);
-
-	/* Init EP1 OUT as Interrupt endpoint */
-	OTG_DEV_EP_Init(EP1_OUT, OTG_DEV_EP_TYPE_INT, 2);
-#else
-	SetBTABLE(BTABLE_ADDRESS);
-
-	/* Initialize Endpoint 0 (Control) */
-	SetEPType(ENDP0, EP_CONTROL);
-	SetEPTxAddr(ENDP0, ENDP0_TXADDR);
-	SetEPTxStatus(ENDP0, EP_TX_STALL);
-	Clear_Status_Out(ENDP0);
-
-	SetEPRxAddr(ENDP0, ENDP0_RXADDR);
-	SetEPRxCount(ENDP0, Device_Property.MaxPacketSize);
-	SetEPRxValid(ENDP0);
-
-#if defined(PIOS_INCLUDE_USB_HID)
-	/* Initialize Endpoint 1 (HID) */
-	SetEPType(ENDP1, EP_INTERRUPT);
-	SetEPTxAddr(ENDP1, ENDP1_TXADDR);
-	SetEPTxCount(ENDP1, PIOS_USB_BOARD_HID_DATA_LENGTH);
-	SetEPTxStatus(ENDP1, EP_TX_NAK);
-
-	SetEPRxAddr(ENDP1, ENDP1_RXADDR);
-	SetEPRxCount(ENDP1, PIOS_USB_BOARD_HID_DATA_LENGTH);
-	SetEPRxStatus(ENDP1, EP_RX_VALID);
-#endif	/* PIOS_INCLUDE_USB_HID */
-
-#if defined(PIOS_INCLUDE_USB_CDC)
-	/* Initialize Endpoint 2 (CDC Call Control) */
-	SetEPType(ENDP2, EP_INTERRUPT);
-	SetEPTxAddr(ENDP2, ENDP2_TXADDR);
-	SetEPTxStatus(ENDP2, EP_TX_NAK);
-
-	SetEPRxAddr(ENDP2, ENDP2_RXADDR);
-	SetEPRxCount(ENDP2, PIOS_USB_BOARD_CDC_MGMT_LENGTH);
-	SetEPRxStatus(ENDP2, EP_RX_DIS);
-
-	/* Initialize Endpoint 3 (CDC Data) */
-	SetEPType(ENDP3, EP_BULK);
-	SetEPTxAddr(ENDP3, ENDP3_TXADDR);
-	SetEPTxStatus(ENDP3, EP_TX_NAK);
-
-	SetEPRxAddr(ENDP3, ENDP3_RXADDR);
-	SetEPRxCount(ENDP3, PIOS_USB_BOARD_CDC_DATA_LENGTH);
-	SetEPRxStatus(ENDP3, EP_RX_VALID);
-
-#endif	/* PIOS_INCLUDE_USB_CDC */
-
-	/* Set this device to response on default address */
-	SetDeviceAddress(0);
-#endif /* STM32F10X_CL */
-
-	bDeviceState = ATTACHED;
-}
-
-/*******************************************************************************
-* Function Name  : PIOS_USBHOOK_SetConfiguration.
-* Description    : Update the device state to configured
-* Input          : None.
-* Output         : None.
-* Return         : None.
-*******************************************************************************/
-static void PIOS_USBHOOK_SetConfiguration(void)
-{
-	if (pInformation->Current_Configuration != 0) {
-		/* Device configured */
-		bDeviceState = CONFIGURED;
-	}
-
-	/* Enable transfers */
-	PIOS_USB_ChangeConnectionState(pInformation->Current_Configuration != 0);
-}
-
-/*******************************************************************************
-* Function Name  : PIOS_USBHOOK_SetConfiguration.
-* Description    : Update the device state to addressed.
-* Input          : None.
-* Output         : None.
-* Return         : None.
-*******************************************************************************/
-static void PIOS_USBHOOK_SetDeviceAddress(void)
-{
-	bDeviceState = ADDRESSED;
-}
-
-/*******************************************************************************
-* Function Name  : PIOS_USBHOOK_Status_In.
-* Description    : status IN routine.
-* Input          : None.
-* Output         : None.
-* Return         : None.
-*******************************************************************************/
-static void PIOS_USBHOOK_Status_In(void)
-{
-}
-
-/*******************************************************************************
-* Function Name  : PIOS_USBHOOK_Status_Out
-* Description    : status OUT routine.
-* Input          : None.
-* Output         : None.
-* Return         : None.
-*******************************************************************************/
-static void PIOS_USBHOOK_Status_Out(void)
-{
-}
-
-/*******************************************************************************
-* Function Name  : PIOS_USBHOOK_Data_Setup
-* Description    : Handle the data class specific requests.
-* Input          : Request Nb.
-* Output         : None.
-* Return         : USB_UNSUPPORT or USB_SUCCESS.
-*******************************************************************************/
-static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
-{
-	const uint8_t *(*CopyRoutine) (uint16_t);
-
-	CopyRoutine = NULL;
-
-	switch (Type_Recipient) {
-	case (STANDARD_REQUEST | INTERFACE_RECIPIENT):
-		switch (pInformation->USBwIndex0) {
-		case 0:		/* HID Interface */
-			switch (RequestNo) {
-			case GET_DESCRIPTOR:
-				switch (pInformation->USBwValue1) {
-				case USB_DESC_TYPE_REPORT:
-					CopyRoutine = PIOS_USBHOOK_GetReportDescriptor;
-					break;
-				case USB_DESC_TYPE_HID:
-					CopyRoutine = PIOS_USBHOOK_GetHIDDescriptor;
-					break;
-				}
-			}
-		}
-		break;
-
-	case (CLASS_REQUEST | INTERFACE_RECIPIENT):
-		switch (pInformation->USBwIndex0) {
-		case 0:		/* HID Interface */
-			switch (RequestNo) {
-			case GET_PROTOCOL:
-				CopyRoutine = PIOS_USBHOOK_GetProtocolValue;
-				break;
-			}
-
-			break;
-#if defined(PIOS_INCLUDE_USB_CDC)
-		case 1:		/* CDC Call Control Interface */
-			switch (RequestNo) {
-			case GET_LINE_CODING:
-				CopyRoutine = PIOS_USB_CDC_GetLineCoding;
-				break;
-			}
-
-			break;
-
-		case 2:		/* CDC Data Interface */
-			switch (RequestNo) {
-			case 0:
-				break;
-			}
-
-			break;
-#endif	/* PIOS_INCLUDE_USB_CDC */
-		}
-		break;
-	}
-
-	if (CopyRoutine == NULL) {
-		return USB_UNSUPPORT;
-	}
-
-	pInformation->Ctrl_Info.CopyDataIn = CopyRoutine;
-	pInformation->Ctrl_Info.Usb_wOffset = 0;
-	(*CopyRoutine) (0);
-	return USB_SUCCESS;
-}
-
-/*******************************************************************************
-* Function Name  : PIOS_USBHOOK_NoData_Setup
-* Description    : handle the no data class specific requests
-* Input          : Request Nb.
-* Output         : None.
-* Return         : USB_UNSUPPORT or USB_SUCCESS.
-*******************************************************************************/
-static RESULT PIOS_USBHOOK_NoData_Setup(uint8_t RequestNo)
-{
-	switch (Type_Recipient) {
-	case (CLASS_REQUEST | INTERFACE_RECIPIENT):
-		switch (pInformation->USBwIndex0) {
-		case 0:		/* HID */
-			switch (RequestNo) {
-			case SET_PROTOCOL:
-				return PIOS_USBHOOK_SetProtocol();
-				break;
-			}
-
-			break;
-
-#if defined(PIOS_INCLUDE_USB_CDC)
-		case 1:		/* CDC Call Control Interface */
-			switch (RequestNo) {
-			case SET_LINE_CODING:
-				return PIOS_USB_CDC_SetLineCoding();
-				break;
-			case SET_CONTROL_LINE_STATE:
-				return PIOS_USB_CDC_SetControlLineState();
-				break;
-			}
-
-			break;
-#endif	/* PIOS_INCLUDE_USB_CDC */
-		}
-
-		break;
-	}
-
-	return USB_UNSUPPORT;
-}
-
-/*******************************************************************************
-* Function Name  : PIOS_USBHOOK_GetDeviceDescriptor.
-* Description    : Gets the device descriptor.
-* Input          : Length
-* Output         : None.
-* Return         : The address of the device descriptor.
-*******************************************************************************/
-static const uint8_t *PIOS_USBHOOK_GetDeviceDescriptor(uint16_t Length)
-{
-	return Standard_GetDescriptorData(Length, &Device_Descriptor);
-}
-
-/*******************************************************************************
-* Function Name  : PIOS_USBHOOK_GetConfigDescriptor.
-* Description    : Gets the configuration descriptor.
-* Input          : Length
-* Output         : None.
-* Return         : The address of the configuration descriptor.
-*******************************************************************************/
-static const uint8_t *PIOS_USBHOOK_GetConfigDescriptor(uint16_t Length)
-{
-	return Standard_GetDescriptorData(Length, &Config_Descriptor);
-}
-
-/*******************************************************************************
-* Function Name  : PIOS_USBHOOK_GetStringDescriptor
-* Description    : Gets the string descriptors according to the needed index
-* Input          : Length
-* Output         : None.
-* Return         : The address of the string descriptors.
-*******************************************************************************/
-static const uint8_t *PIOS_USBHOOK_GetStringDescriptor(uint16_t Length)
-{
-	uint8_t wValue0 = pInformation->USBwValue0;
-	if (wValue0 > 4) {
-		return NULL;
-	} else {
-		return Standard_GetDescriptorData(Length, &String_Descriptor[wValue0]);
-	}
-}
-
-/*******************************************************************************
-* Function Name  : PIOS_USBHOOK_GetReportDescriptor.
-* Description    : Gets the HID report descriptor.
-* Input          : Length
-* Output         : None.
-* Return         : The address of the configuration descriptor.
-*******************************************************************************/
-static const uint8_t *PIOS_USBHOOK_GetReportDescriptor(uint16_t Length)
-{
-	return Standard_GetDescriptorData(Length, &Hid_Report_Descriptor);
-}
-
-/*******************************************************************************
-* Function Name  : PIOS_USBHOOK_GetHIDDescriptor.
-* Description    : Gets the HID descriptor.
-* Input          : Length
-* Output         : None.
-* Return         : The address of the configuration descriptor.
-*******************************************************************************/
-static const uint8_t *PIOS_USBHOOK_GetHIDDescriptor(uint16_t Length)
-{
-	return Standard_GetDescriptorData(Length, &Hid_Interface_Descriptor);
-}
-
-/*******************************************************************************
-* Function Name  : PIOS_USBHOOK_Get_Interface_Setting.
-* Description    : tests the interface and the alternate setting according to the
-*                  supported one.
-* Input          : - Interface : interface number.
-*                  - AlternateSetting : Alternate Setting number.
-* Output         : None.
-* Return         : USB_SUCCESS or USB_UNSUPPORT.
-*******************************************************************************/
-static RESULT PIOS_USBHOOK_Get_Interface_Setting(uint8_t Interface, uint8_t AlternateSetting)
-{
-	if (AlternateSetting > 0) {
-		return USB_UNSUPPORT;
-	} else if (Interface > 0) {
-		return USB_UNSUPPORT;
-	}
-	return USB_SUCCESS;
-}
-
-/*******************************************************************************
-* Function Name  : PIOS_USBHOOK_SetProtocol
-* Description    : Set Protocol request routine.
-* Input          : None.
-* Output         : None.
-* Return         : USB SUCCESS.
-*******************************************************************************/
-static RESULT PIOS_USBHOOK_SetProtocol(void)
-{
-	uint8_t wValue0 = pInformation->USBwValue0;
-	ProtocolValue = wValue0;
-	return USB_SUCCESS;
-}
-
-/*******************************************************************************
-* Function Name  : PIOS_USBHOOK_GetProtocolValue
-* Description    : get the protocol value
-* Input          : Length.
-* Output         : None.
-* Return         : address of the protcol value.
-*******************************************************************************/
-static const uint8_t *PIOS_USBHOOK_GetProtocolValue(uint16_t Length)
-{
-	if (Length == 0) {
-		pInformation->Ctrl_Info.Usb_wLength = 1;
-		return NULL;
-	} else {
-		return (uint8_t *) (&ProtocolValue);
-	}
-}
-
-/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/
-#endif

flight/PiOS/inc/pios_gcsrcvr_priv.h

@@ -37,7 +37,7 @@
 
 extern const struct pios_rcvr_driver pios_gcsrcvr_rcvr_driver;
 
-extern void PIOS_GCSRCVR_Init(void);
+extern int32_t PIOS_GCSRCVR_Init(uint32_t *gcsrcvr_id);
 
 #endif /* PIOS_GCSRCVR_PRIV_H */
 

flight/PiOS/inc/pios_ms5611.h

@@ -58,6 +58,14 @@ struct pios_ms5611_cfg {
 	uint32_t oversampling;
 };
 
+enum pios_ms5611_osr {
+	MS5611_OSR_256   = 0,
+	MS5611_OSR_512   = 2,
+	MS5611_OSR_1024  = 4,
+	MS5611_OSR_2048  = 6,
+	MS5611_OSR_4096  = 8,
+};
+
 /* Public Functions */
 extern void PIOS_MS5611_Init(const struct pios_ms5611_cfg * cfg, int32_t i2c_device);
 extern int32_t PIOS_MS5611_StartADC(ConversionTypeTypeDef Type);
@@ -65,6 +73,7 @@ extern int32_t PIOS_MS5611_ReadADC(void);
 extern float PIOS_MS5611_GetTemperature(void);
 extern float PIOS_MS5611_GetPressure(void);
 extern int32_t PIOS_MS5611_Test();
+extern int32_t PIOS_MS5611_GetDelay();
 
 #endif /* PIOS_MS5611_H */
 

flight/PiOS/inc/pios_usb_hid.h

@@ -35,7 +35,7 @@ extern int32_t PIOS_USB_HID_Reenumerate(void);
 extern int32_t PIOS_USB_HID_ChangeConnectionState(uint32_t Connected);
 extern bool PIOS_USB_HID_CheckAvailable(uint8_t id);
 
-extern void PIOS_USB_HID_RegisterHidInterface(const uint8_t * desc, uint16_t length);
+extern void PIOS_USB_HID_RegisterHidDescriptor(const uint8_t * desc, uint16_t length);
 extern void PIOS_USB_HID_RegisterHidReport(const uint8_t * desc, uint16_t length);
 
 #endif /* PIOS_USB_HID_H */

flight/PiOS/inc/pios_usbhook.h

@@ -72,6 +72,7 @@ extern void PIOS_USBHOOK_CtrlRx(uint8_t *buf, uint16_t len);
 extern void PIOS_USBHOOK_EndpointTx(uint8_t epnum, const uint8_t *buf, uint16_t len);
 extern void PIOS_USBHOOK_EndpointRx(uint8_t epnum, uint8_t *buf, uint16_t len);
 extern void PIOS_USBHOOK_Activate(void);
+extern void PIOS_USBHOOK_Deactivate(void);
 
 #endif /* PIOS_USBHOOK_H */
 

flight/PiOS/pios.h

@@ -50,6 +50,7 @@
 /* STM32 Std Perf Lib */
 #if defined(STM32F4XX)
 # include <stm32f4xx.h>
+# include <stm32f4xx_rcc.h>
 #elif defined(STM32F2XX)
 #include <stm32f2xx.h>
 #include <stm32f2xx_syscfg.h>

flight/PipXtreme/Makefile

@@ -392,7 +392,7 @@ $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 $(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
 
 # Add jtag targets (program and wipe)
-$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
 
 .PHONY: elf lss sym hex bin bino opfw
 elf: $(OUTDIR)/$(TARGET).elf

flight/Project/OpenOCD/0001-armv7m-remove-dummy-FP-regs-for-new-gdb.patch

@@ -1,58 +1,58 @@
-From 7a8a1dbf856a2183c91f441cfdd2eee5b3d9151b Mon Sep 17 00:00:00 2001
+From 8fd5040df32511f57b898bdbff412f61fbe28516 Mon Sep 17 00:00:00 2001
 From: Stacey Sheldon <stac@solidgoldbomb.org>
 Date: Thu, 2 Feb 2012 22:42:03 -0500
 Subject: [PATCH 1/2] armv7m: remove dummy FP regs for new gdb
 
 ---
- src/rtos/rtos_standard_stackings.c |    6 ++++++
+ src/rtos/rtos_standard_stackings.c |    7 +++++++
  src/target/armv7m.c                |   16 ++++++++++++++++
- 2 files changed, 22 insertions(+), 0 deletions(-)
+ 2 files changed, 23 insertions(+), 0 deletions(-)
 
 diff --git a/src/rtos/rtos_standard_stackings.c b/src/rtos/rtos_standard_stackings.c
-index 278d3ef..7ef4659 100644
+index 30d9cd9..6ea6565 100644
 --- a/src/rtos/rtos_standard_stackings.c
 +++ b/src/rtos/rtos_standard_stackings.c
 @@ -41,6 +41,7 @@ static const struct stack_register_offset rtos_standard_Cortex_M3_stack_offsets[
- 	{ -2,   32 },       /* sp   */
+ 	{ -2,   32 },		/* sp   */
- 	{ 0x34, 32 },       /* lr   */
+ 	{ 0x34, 32 },		/* lr   */
- 	{ 0x38, 32 },       /* pc   */
+ 	{ 0x38, 32 },		/* pc   */
 +#ifdef USE_DUMMY_FP_REGS
- 	{ -1,   96 },       /* FPA1 */
+ 	{ -1,   96 },		/* FPA1 */
- 	{ -1,   96 },       /* FPA2 */
+ 	{ -1,   96 },		/* FPA2 */
- 	{ -1,   96 },       /* FPA3 */
+ 	{ -1,   96 },		/* FPA3 */
-@@ -50,6 +51,7 @@ static const struct stack_register_offset rtos_standard_Cortex_M3_stack_offsets[
+@@ -50,13 +51,19 @@ static const struct stack_register_offset rtos_standard_Cortex_M3_stack_offsets[
- 	{ -1,   96 },       /* FPA7 */
+ 	{ -1,   96 },		/* FPA7 */
- 	{ -1,   96 },       /* FPA8 */
+ 	{ -1,   96 },		/* FPA8 */
- 	{ -1,   32 },       /* FPS  */
+ 	{ -1,   32 },		/* FPS  */
 +#endif
- 	{ 0x3c, 32 },       /* xPSR */
+ 	{ 0x3c, 32 },		/* xPSR */
  };
  
-@@ -58,7 +60,11 @@ const struct rtos_register_stacking rtos_standard_Cortex_M3_stacking =
++
- {
+ const struct rtos_register_stacking rtos_standard_Cortex_M3_stacking = {
- 	0x40,                                 /* stack_registers_size */
+ 	0x40,					/* stack_registers_size */
- 	-1,                                   /* stack_growth_direction */
+ 	-1,					/* stack_growth_direction */
 +#ifdef USE_DUMMY_FP_REGS
- 	26,                                   /* num_output_registers */
+ 	26,					/* num_output_registers */
 +#else
 +	17,
 +#endif
- 	8,                                    /* stack_alignment */
+ 	8,					/* stack_alignment */
- 	rtos_standard_Cortex_M3_stack_offsets /* register_offsets */
+ 	rtos_standard_Cortex_M3_stack_offsets	/* register_offsets */
  };
 diff --git a/src/target/armv7m.c b/src/target/armv7m.c
-index 6c1732e..7bb53c7 100644
+index 258653e..50b26d4 100644
 --- a/src/target/armv7m.c
 +++ b/src/target/armv7m.c
-@@ -272,6 +272,7 @@ int armv7m_get_gdb_reg_list(struct target *target, struct reg **reg_list[], int
+@@ -267,6 +267,7 @@ int armv7m_get_gdb_reg_list(struct target *target, struct reg **reg_list[], int
  	struct armv7m_common *armv7m = target_to_armv7m(target);
  	int i;
  
 +#ifdef USE_DUMMY_FP_REGS
  	*reg_list_size = 26;
- 	*reg_list = malloc(sizeof(struct reg*) * (*reg_list_size));
+ 	*reg_list = malloc(sizeof(struct reg *) * (*reg_list_size));
  
-@@ -302,6 +303,21 @@ int armv7m_get_gdb_reg_list(struct target *target, struct reg **reg_list[], int
+@@ -295,6 +296,21 @@ int armv7m_get_gdb_reg_list(struct target *target, struct reg **reg_list[], int
  	(*reg_list)[25] = &armv7m->core_cache->reg_list[ARMV7M_xPSR];
  #endif
  

flight/Project/OpenOCD/0002-rtos-add-stm32_stlink-to-FreeRTOS-targets.patch

@@ -1,34 +1,35 @@
-From fceb681b4421dd00eb47085990b77c0f0716517d Mon Sep 17 00:00:00 2001
+From e29b134e142cd759c85de4ea7c26084e87380ce1 Mon Sep 17 00:00:00 2001
 From: Stacey Sheldon <stac@solidgoldbomb.org>
 Date: Thu, 2 Feb 2012 22:42:26 -0500
 Subject: [PATCH 2/2] rtos: add stm32_stlink to FreeRTOS targets
 
 ---
- src/rtos/FreeRTOS.c |   11 +++++++++++
+ src/rtos/FreeRTOS.c |   12 ++++++++++++
- 1 files changed, 11 insertions(+), 0 deletions(-)
+ 1 files changed, 12 insertions(+), 0 deletions(-)
 
 diff --git a/src/rtos/FreeRTOS.c b/src/rtos/FreeRTOS.c
-index eeab134..e57806e 100644
+index c7b4643..e99d471 100644
 --- a/src/rtos/FreeRTOS.c
 +++ b/src/rtos/FreeRTOS.c
-@@ -63,6 +63,17 @@ const struct FreeRTOS_params FreeRTOS_params_list[] =
+@@ -57,6 +57,18 @@ const struct FreeRTOS_params FreeRTOS_params_list[] = {
-           0,                                // thread_stack_offset;
+ 	0,						/* thread_stack_offset; */
-           52,                               // thread_name_offset;
+ 	52,						/* thread_name_offset; */
-           &rtos_standard_Cortex_M3_stacking, // stacking_info
+ 	&rtos_standard_Cortex_M3_stacking,	/* stacking_info */
-+		},
++	},
-+		{ "stm32_stlink",                      // target_name
++	{
-+          4,                                // thread_count_width;
++	"stm32_stlink",			/* target_name */
-+          4,                                // pointer_width;
++	4,						/* thread_count_width; */
-+          16,                               // list_next_offset;
++	4,						/* pointer_width; */
-+          20,                               // list_width;
++	16,						/* list_next_offset; */
-+          8,                                // list_elem_next_offset;
++	20,						/* list_width; */
-+          12,                               // list_elem_content_offset
++	8,						/* list_elem_next_offset; */
-+          0,                                // thread_stack_offset;
++	12,						/* list_elem_content_offset */
-+          52,                               // thread_name_offset;
++	0,						/* thread_stack_offset; */
-+          &rtos_standard_Cortex_M3_stacking, // stacking_info
++	52,						/* thread_name_offset; */
- 		}
++	&rtos_standard_Cortex_M3_stacking,	/* stacking_info */
- 
+ 	}
  };
+ 
 -- 
 1.7.1
 

flight/Project/OpenOCD/stm32f4xx.stlink.cfg

@@ -30,5 +30,5 @@ target create $_TARGETNAME stm32_stlink -chain-position $_TARGETNAME -rtos auto
 
 $_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
 
-#set _FLASHNAME $_CHIPNAME.flash
+set _FLASHNAME $_CHIPNAME.flash
-#flash bank $_FLASHNAME stm32f2x 0x08000000 0 0 0 $_TARGETNAME
+flash bank $_FLASHNAME stm32f2x 0x08000000 0 0 0 $_TARGETNAME

flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj

@@ -8,49 +8,8 @@
 
 /* Begin PBXFileReference section */
 		65003B31121249CA00C183DD /* pios_wdg.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_wdg.c; sourceTree = "<group>"; };
-		65078B09136FCEE600536549 /* flightstatus.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = flightstatus.xml; sourceTree = "<group>"; };
-		650D8E2112DFE16400D05CC9 /* actuator.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = actuator.c; sourceTree = "<group>"; };
-		650D8E2312DFE16400D05CC9 /* actuator.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = actuator.h; sourceTree = "<group>"; };
-		650D8E2512DFE16400D05CC9 /* ahrs_comms.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_comms.c; sourceTree = "<group>"; };
-		650D8E2712DFE16400D05CC9 /* ahrs_comms.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_comms.h; sourceTree = "<group>"; };
-		650D8E2912DFE16400D05CC9 /* altitude.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = altitude.c; sourceTree = "<group>"; };
-		650D8E2B12DFE16400D05CC9 /* altitude.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = altitude.h; sourceTree = "<group>"; };
-		650D8E2F12DFE16400D05CC9 /* battery.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = battery.c; sourceTree = "<group>"; };
-		650D8E3112DFE16400D05CC9 /* battery.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = battery.h; sourceTree = "<group>"; };
-		650D8E3312DFE16400D05CC9 /* example.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = example.c; sourceTree = "<group>"; };
-		650D8E3412DFE16400D05CC9 /* examplemodevent.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = examplemodevent.c; sourceTree = "<group>"; };
-		650D8E3512DFE16400D05CC9 /* examplemodperiodic.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = examplemodperiodic.c; sourceTree = "<group>"; };
-		650D8E3612DFE16400D05CC9 /* examplemodthread.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = examplemodthread.c; sourceTree = "<group>"; };
-		650D8E3812DFE16400D05CC9 /* examplemodevent.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = examplemodevent.h; sourceTree = "<group>"; };
-		650D8E3912DFE16400D05CC9 /* examplemodperiodic.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = examplemodperiodic.h; sourceTree = "<group>"; };
-		650D8E3A12DFE16400D05CC9 /* examplemodthread.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = examplemodthread.h; sourceTree = "<group>"; };
-		650D8E3C12DFE16400D05CC9 /* firmwareiap.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = firmwareiap.c; sourceTree = "<group>"; };
-		650D8E3E12DFE16400D05CC9 /* firmwareiap.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = firmwareiap.h; sourceTree = "<group>"; };
-		650D8E4012DFE16400D05CC9 /* flightplan.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = flightplan.c; sourceTree = "<group>"; };
-		650D8E4212DFE16400D05CC9 /* test.py */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.script.python; path = test.py; sourceTree = "<group>"; };
-		650D8E4412DFE16400D05CC9 /* flightplan.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = flightplan.h; sourceTree = "<group>"; };
-		650D8E4612DFE16400D05CC9 /* uavobjects.py */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.script.python; path = uavobjects.py; sourceTree = "<group>"; };
-		650D8E4812DFE16400D05CC9 /* GPS.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = GPS.c; sourceTree = "<group>"; };
-		650D8E4A12DFE16400D05CC9 /* GPS.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = GPS.h; sourceTree = "<group>"; };
-		650D8E4B12DFE16400D05CC9 /* NMEA.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = NMEA.h; sourceTree = "<group>"; };
-		650D8E4C12DFE16400D05CC9 /* NMEA.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = NMEA.c; sourceTree = "<group>"; };
-		650D8E4E12DFE16400D05CC9 /* guidance.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = guidance.c; sourceTree = "<group>"; };
-		650D8E5012DFE16400D05CC9 /* guidance.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = guidance.h; sourceTree = "<group>"; };
-		650D8E5312DFE16400D05CC9 /* manualcontrol.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = manualcontrol.h; sourceTree = "<group>"; };
-		650D8E5412DFE16400D05CC9 /* manualcontrol.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = manualcontrol.c; sourceTree = "<group>"; };
-		650D8E5812DFE16400D05CC9 /* MkSerial.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = MkSerial.h; sourceTree = "<group>"; };
-		650D8E5912DFE16400D05CC9 /* MKSerial.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = MKSerial.c; sourceTree = "<group>"; };
-		650D8E5C12DFE16400D05CC9 /* OsdEtStd.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = OsdEtStd.c; sourceTree = "<group>"; };
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-		650D8E6012DFE16400D05CC9 /* stabilization.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = stabilization.c; sourceTree = "<group>"; };
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 		650D8ED212DFE17500D05CC9 /* uavtalk.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavtalk.c; sourceTree = "<group>"; };
-		65140DFA1496927D00E01D11 /* sensors.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = sensors.h; sourceTree = "<group>"; };
-		65140DFB1496927D00E01D11 /* sensors.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = sensors.c; sourceTree = "<group>"; };
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@@ -68,13 +27,11 @@
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-		652C8568132B632A00BFCC70 /* firmwareiapobj.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = firmwareiapobj.xml; sourceTree = "<group>"; };
+		652EF83814DF229C00C461BB /* Modules */ = {isa = PBXFileReference; lastKnownFileType = folder; name = Modules; path = ../../Modules; sourceTree = "<group>"; };
-		652C856A132B6EA600BFCC70 /* sonaraltitude.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = sonaraltitude.xml; sourceTree = "<group>"; };
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@@ -2797,45 +2754,6 @@
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 		65B367FF121C2620003EAD18 /* src.pro */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = src.pro; sourceTree = "<group>"; };
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-		65C35E5012EFB2F3004811C2 /* actuatorcommand.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = actuatorcommand.xml; sourceTree = "<group>"; };
-		65C35E5112EFB2F3004811C2 /* actuatordesired.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = actuatordesired.xml; sourceTree = "<group>"; };
-		65C35E5212EFB2F3004811C2 /* actuatorsettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = actuatorsettings.xml; sourceTree = "<group>"; };
-		65C35E5312EFB2F3004811C2 /* ahrscalibration.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ahrscalibration.xml; sourceTree = "<group>"; };
-		65C35E5412EFB2F3004811C2 /* ahrssettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ahrssettings.xml; sourceTree = "<group>"; };
-		65C35E5512EFB2F3004811C2 /* ahrsstatus.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ahrsstatus.xml; sourceTree = "<group>"; };
-		65C35E5612EFB2F3004811C2 /* attitudeactual.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = attitudeactual.xml; sourceTree = "<group>"; };
-		65C35E5812EFB2F3004811C2 /* attituderaw.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = attituderaw.xml; sourceTree = "<group>"; };
-		65C35E5912EFB2F3004811C2 /* baroaltitude.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = baroaltitude.xml; sourceTree = "<group>"; };
-		65C35E5C12EFB2F3004811C2 /* flightbatterystate.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = flightbatterystate.xml; sourceTree = "<group>"; };
-		65C35E5D12EFB2F3004811C2 /* flightplancontrol.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = flightplancontrol.xml; sourceTree = "<group>"; };
-		65C35E5E12EFB2F3004811C2 /* flightplansettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = flightplansettings.xml; sourceTree = "<group>"; };
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-		65C35E7812EFB2F3004811C2 /* velocitydesired.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = velocitydesired.xml; sourceTree = "<group>"; };
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@@ -2846,15 +2764,13 @@
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-		65C35F6612F0DC2D004811C2 /* attitude.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = attitude.c; sourceTree = "<group>"; };
-		65C35F6812F0DC2D004811C2 /* attitude.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = attitude.h; sourceTree = "<group>"; };
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-		65E410AE12F65AEA00725888 /* attitudesettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = attitudesettings.xml; sourceTree = "<group>"; };
+		65E466BC14E244020075459C /* uavobjectdefinition */ = {isa = PBXFileReference; lastKnownFileType = folder; path = uavobjectdefinition; sourceTree = "<group>"; };
 		65E6DF7112E02E8E00058553 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; path = Makefile; sourceTree = "<group>"; };
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 		65E6DF7412E02E8E00058553 /* coptercontrol.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = coptercontrol.c; sourceTree = "<group>"; };
@@ -2901,7 +2817,6 @@
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 		65E8C743139A6D0900E1F979 /* pios_crc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_crc.c; sourceTree = "<group>"; };
 		65E8C745139A6D1A00E1F979 /* pios_crc.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_crc.h; sourceTree = "<group>"; };
-		65E8C788139AA2A800E1F979 /* accessorydesired.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = accessorydesired.xml; sourceTree = "<group>"; };
 		65E8F03211EFF25C00BBF654 /* pios_com.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_com.c; path = ../../PiOS/Common/pios_com.c; sourceTree = SOURCE_ROOT; };
 		65E8F03311EFF25C00BBF654 /* pios_hmc5843.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_hmc5843.c; path = ../../PiOS/Common/pios_hmc5843.c; sourceTree = SOURCE_ROOT; };
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@@ -3290,8 +3205,6 @@
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 		65FA9B70147078450019A260 /* pios_board.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_board.c; sourceTree = "<group>"; };
 		65FA9B71147087020019A260 /* STM32F4xx_Revolution.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM32F4xx_Revolution.h; sourceTree = "<group>"; };
-		65FA9B77147095D40019A260 /* attitude.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = attitude.c; sourceTree = "<group>"; };
-		65FA9B79147095D40019A260 /* attitude.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = attitude.h; sourceTree = "<group>"; };
 		65FA9B7B14709E9E0019A260 /* pios_board_info.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board_info.h; sourceTree = "<group>"; };
 		65FA9B7C14709E9E0019A260 /* pios_gcsrcvr_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_gcsrcvr_priv.h; sourceTree = "<group>"; };
 		65FA9B7D14709E9E0019A260 /* pios_hcsr04.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_hcsr04.h; sourceTree = "<group>"; };
@@ -3302,13 +3215,9 @@
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 		65FA9B8414709E9F0019A260 /* pios_tim.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_tim.h; sourceTree = "<group>"; };
 		65FA9B8514709E9F0019A260 /* pios_usb_hid_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_usb_hid_priv.h; sourceTree = "<group>"; };
-		65FAA03F133B669400F6F5CD /* GTOP_BIN.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = GTOP_BIN.c; sourceTree = "<group>"; };
-		65FAB8CF147FFD76000FF8B2 /* receiveractivity.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = receiveractivity.xml; sourceTree = "<group>"; };
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 		65FAB8FD1480DA19000FF8B2 /* pios_pwm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_pwm.c; sourceTree = "<group>"; };
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-		65FAB9091482072E000FF8B2 /* altitude.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = altitude.c; sourceTree = "<group>"; };
-		65FAB90B1482072E000FF8B2 /* altitude.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = altitude.h; sourceTree = "<group>"; };
 		65FB1E6614CDBE26009C52B9 /* pios_bma180.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_bma180.c; sourceTree = "<group>"; };
 		65FB1E6714CDBE26009C52B9 /* pios_bmp085.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_bmp085.c; sourceTree = "<group>"; };
 		65FB1E6814CDBE26009C52B9 /* pios_hmc5883.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_hmc5883.c; sourceTree = "<group>"; };
@@ -3385,320 +3294,6 @@
 			name = Products;
 			sourceTree = "<group>";
 		};
-		650D8E1F12DFE16400D05CC9 /* Modules */ = {
-			isa = PBXGroup;
-			children = (
-				650D8E2012DFE16400D05CC9 /* Actuator */,
-				650D8E2412DFE16400D05CC9 /* AHRSComms */,
-				650D8E2812DFE16400D05CC9 /* Altitude */,
-				65C35F6512F0DC2D004811C2 /* Attitude */,
-				650D8E2E12DFE16400D05CC9 /* Battery */,
-				650D8E3212DFE16400D05CC9 /* Example */,
-				650D8E3B12DFE16400D05CC9 /* FirmwareIAP */,
-				650D8E3F12DFE16400D05CC9 /* FlightPlan */,
-				650D8E4712DFE16400D05CC9 /* GPS */,
-				650D8E4D12DFE16400D05CC9 /* Guidance */,
-				650D8E5112DFE16400D05CC9 /* ManualControl */,
-				650D8E5512DFE16400D05CC9 /* MK */,
-				650D8E5A12DFE16400D05CC9 /* Osd */,
-				65140DF81496927D00E01D11 /* Sensors */,
-				650D8E5D12DFE16400D05CC9 /* Stabilization */,
-				650D8E6112DFE16400D05CC9 /* System */,
-				650D8E6512DFE16400D05CC9 /* Telemetry */,
-			);
-			name = Modules;
-			path = ../../Modules;
-			sourceTree = SOURCE_ROOT;
-		};
-		650D8E2012DFE16400D05CC9 /* Actuator */ = {
-			isa = PBXGroup;
-			children = (
-				650D8E2112DFE16400D05CC9 /* actuator.c */,
-				650D8E2212DFE16400D05CC9 /* inc */,
-			);
-			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 = (
@@ -3731,23 +3326,6 @@
 			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 = (
@@ -3805,8 +3383,8 @@
 				65FF4BB313791C3300146BE4 /* Bootloaders */,
 				65F93B9012EE09280047DB36 /* PipXtreme */,
 				65E6DF7012E02E8E00058553 /* CopterControl */,
-				650D8E1F12DFE16400D05CC9 /* Modules */,
 				657CEEB6121DBC63007A1FBE /* Libraries */,
+				652EF83814DF229C00C461BB /* Modules */,
 				65E8F02F11EFF25C00BBF654 /* PiOS */,
 				65E6DF9012E0313E00058553 /* PipXtreme */,
 				650D8E6A12DFE17500D05CC9 /* UAVObjects */,
@@ -8243,65 +7821,12 @@
 		65C35E4E12EFB2F3004811C2 /* shared */ = {
 			isa = PBXGroup;
 			children = (
-				65C35E4F12EFB2F3004811C2 /* uavobjectdefinition */,
+				65E466BC14E244020075459C /* uavobjectdefinition */,
 			);
 			name = shared;
 			path = ../../../shared;
 			sourceTree = SOURCE_ROOT;
 		};
-		65C35E4F12EFB2F3004811C2 /* uavobjectdefinition */ = {
-			isa = PBXGroup;
-			children = (
-				65E8C788139AA2A800E1F979 /* accessorydesired.xml */,
-				65C35E5012EFB2F3004811C2 /* actuatorcommand.xml */,
-				65C35E5112EFB2F3004811C2 /* actuatordesired.xml */,
-				65C35E5212EFB2F3004811C2 /* actuatorsettings.xml */,
-				65C35E5312EFB2F3004811C2 /* ahrscalibration.xml */,
-				65C35E5412EFB2F3004811C2 /* ahrssettings.xml */,
-				65C35E5512EFB2F3004811C2 /* ahrsstatus.xml */,
-				65C35E5612EFB2F3004811C2 /* attitudeactual.xml */,
-				65C35E5812EFB2F3004811C2 /* attituderaw.xml */,
-				65E410AE12F65AEA00725888 /* attitudesettings.xml */,
-				65C35E5912EFB2F3004811C2 /* baroaltitude.xml */,
-				652C8568132B632A00BFCC70 /* firmwareiapobj.xml */,
-				65C35E5C12EFB2F3004811C2 /* flightbatterystate.xml */,
-				65C35E5D12EFB2F3004811C2 /* flightplancontrol.xml */,
-				65C35E5E12EFB2F3004811C2 /* flightplansettings.xml */,
-				65C35E5F12EFB2F3004811C2 /* flightplanstatus.xml */,
-				65C35E6012EFB2F3004811C2 /* flighttelemetrystats.xml */,
-				65078B09136FCEE600536549 /* flightstatus.xml */,
-				65C35E6112EFB2F3004811C2 /* gcstelemetrystats.xml */,
-				65C35E6212EFB2F3004811C2 /* gpsposition.xml */,
-				65C35E6312EFB2F3004811C2 /* gpssatellites.xml */,
-				65C35E6412EFB2F3004811C2 /* gpstime.xml */,
-				65C35E6512EFB2F3004811C2 /* guidancesettings.xml */,
-				65C35E6612EFB2F3004811C2 /* homelocation.xml */,
-				65C35E6712EFB2F3004811C2 /* i2cstats.xml */,
-				65C35E6812EFB2F3004811C2 /* manualcontrolcommand.xml */,
-				65C35E6912EFB2F3004811C2 /* manualcontrolsettings.xml */,
-				65C35E6A12EFB2F3004811C2 /* mixersettings.xml */,
-				65C35E6B12EFB2F3004811C2 /* mixerstatus.xml */,
-				65C35E6C12EFB2F3004811C2 /* nedaccel.xml */,
-				65C35E6D12EFB2F3004811C2 /* objectpersistence.xml */,
-				65C35E6E12EFB2F3004811C2 /* positionactual.xml */,
-				65C35E6F12EFB2F3004811C2 /* positiondesired.xml */,
-				65C35E7012EFB2F3004811C2 /* ratedesired.xml */,
-				65FAB8CF147FFD76000FF8B2 /* receiveractivity.xml */,
-				652C856A132B6EA600BFCC70 /* sonaraltitude.xml */,
-				6536D47B1307962C0042A298 /* stabilizationdesired.xml */,
-				65C35E7112EFB2F3004811C2 /* stabilizationsettings.xml */,
-				65C35E7212EFB2F3004811C2 /* systemalarms.xml */,
-				65C35E7312EFB2F3004811C2 /* systemsettings.xml */,
-				65C35E7412EFB2F3004811C2 /* systemstats.xml */,
-				65C35E7512EFB2F3004811C2 /* taskinfo.xml */,
-				65C35E7612EFB2F3004811C2 /* telemetrysettings.xml */,
-				65C35E7712EFB2F3004811C2 /* velocityactual.xml */,
-				65C35E7812EFB2F3004811C2 /* velocitydesired.xml */,
-				65C35E7912EFB2F3004811C2 /* watchdogstatus.xml */,
-			);
-			path = uavobjectdefinition;
-			sourceTree = "<group>";
-		};
 		65C35EA212F0A834004811C2 /* inc */ = {
 			isa = PBXGroup;
 			children = (
@@ -8314,24 +7839,6 @@
 			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 = (
@@ -9140,41 +8647,6 @@
 			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 = (

flight/Revolution/Makefile

@@ -49,7 +49,10 @@ endif
 FLASH_TOOL = OPENOCD
 
 # List of modules to include
-MODULES = Sensors Attitude/revolution ManualControl Stabilization Altitude/revolution Actuator GPS Telemetry FirmwareIAP
+MODULES = Sensors Attitude/revolution ManualControl Stabilization Altitude/revolution Actuator GPS FirmwareIAP AltitudeHold
+MODULES += CameraStab
+MODULES += Telemetry
+MODULES += OveroSync
 PYMODULES = 
 #FlightPlan
 
@@ -251,8 +254,8 @@ 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
@@ -271,7 +274,7 @@ DEBUGF = dwarf-2
 
 # Place project-specific -D (define) and/or
 # -U options for C here.
-CDEFS += -DSTM32F10X_$(MODEL)
+CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ)
 CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ)
 CDEFS += -DUSE_STDPERIPH_DRIVER
 CDEFS += -DUSE_$(BOARD)
@@ -417,7 +420,7 @@ $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 $(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
 
 # Add jtag targets (program and wipe)
-$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
 
 .PHONY: elf lss sym hex bin bino opfw
 elf: $(OUTDIR)/$(TARGET).elf

flight/Revolution/System/inc/pios_config.h

@@ -71,7 +71,7 @@
 #define PIOS_INCLUDE_COM_TELEM
 //#define PIOS_INCLUDE_COM_AUX
 #define PIOS_INCLUDE_GPS
-
+#define PIOS_OVERO_SPI
 /* Supported receiver interfaces */
 #define PIOS_INCLUDE_RCVR
 #define PIOS_INCLUDE_DSM
@@ -105,6 +105,8 @@
 // This actually needs calibrating
 #define IDLE_COUNTS_PER_SEC_AT_NO_LOAD (8379692)
 
+#define REVOLUTION
+
 #endif /* PIOS_CONFIG_H */
 /**
  * @}

flight/Revolution/System/pios_board.c

@@ -299,6 +299,13 @@ void PIOS_Board_Init(void) {
 #endif
 	PIOS_FLASHFS_Init(&flashfs_m25p_cfg);
 	
+#if defined(PIOS_OVERO_SPI)
+	/* Set up the SPI interface to the gyro */
+	if (PIOS_SPI_Init(&pios_spi_overo_id, &pios_spi_overo_cfg)) {
+		PIOS_DEBUG_Assert(0);
+	}
+#endif
+
 	/* Initialize UAVObject libraries */
 	EventDispatcherInitialize();
 	UAVObjInitialize();
@@ -326,6 +333,18 @@ void PIOS_Board_Init(void) {
 	PIOS_TIM_InitClock(&tim_11_cfg);
 
 	/* IAP System Setup */
+	PIOS_IAP_Init();
+	uint16_t boot_count = PIOS_IAP_ReadBootCount();
+	if (boot_count < 3) {
+		PIOS_IAP_WriteBootCount(++boot_count);
+		AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
+	} else {
+		/* Too many failed boot attempts, force hwsettings to defaults */
+		HwSettingsSetDefaults(HwSettingsHandle(), 0);
+		AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
+	}
+	
+	
 	//PIOS_IAP_Init();
 
 #if defined(PIOS_INCLUDE_USB)
@@ -462,7 +481,7 @@ void PIOS_Board_Init(void) {
 #if defined(PIOS_INCLUDE_GPS)
 
 	uint32_t pios_usart_gps_id;
-	if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_telem_main_cfg)) {
+	if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
 		PIOS_Assert(0);
 	}
 	
@@ -473,7 +492,6 @@ void PIOS_Board_Init(void) {
 					  NULL, 0)) {
 		PIOS_Assert(0);
 	}
-
 #endif	/* PIOS_INCLUDE_GPS */
 	
 #if defined(PIOS_INCLUDE_COM_AUX)
@@ -503,7 +521,7 @@ void PIOS_Board_Init(void) {
 #if defined(PIOS_INCLUDE_COM_TELEM)
 	{ /* Eventually add switch for this port function */
 		uint32_t pios_usart_telem_rf_id;
-		if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_gps_cfg)) {
+		if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_main_cfg)) {
 			PIOS_Assert(0);
 		}
 		

flight/Revolution/UAVObjects.inc

@@ -28,6 +28,7 @@ UAVOBJSRCFILENAMES += accessorydesired
 UAVOBJSRCFILENAMES += actuatorcommand
 UAVOBJSRCFILENAMES += actuatordesired
 UAVOBJSRCFILENAMES += actuatorsettings
+UAVOBJSRCFILENAMES += altholdsmoothed
 UAVOBJSRCFILENAMES += attitudesettings
 UAVOBJSRCFILENAMES += attitudeactual
 UAVOBJSRCFILENAMES += gyros
@@ -55,6 +56,7 @@ UAVOBJSRCFILENAMES += mixersettings
 UAVOBJSRCFILENAMES += mixerstatus
 UAVOBJSRCFILENAMES += nedaccel
 UAVOBJSRCFILENAMES += objectpersistence
+UAVOBJSRCFILENAMES += overosyncstats
 UAVOBJSRCFILENAMES += positionactual
 UAVOBJSRCFILENAMES += positiondesired
 UAVOBJSRCFILENAMES += ratedesired
@@ -74,6 +76,8 @@ UAVOBJSRCFILENAMES += hwsettings
 UAVOBJSRCFILENAMES += receiveractivity
 UAVOBJSRCFILENAMES += cameradesired
 UAVOBJSRCFILENAMES += camerastabsettings
+UAVOBJSRCFILENAMES += altitudeholdsettings                                                                                                            
+UAVOBJSRCFILENAMES += altitudeholddesired
 
 UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
 UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

flight/board_hw_defs/revolution/board_hw_defs.c

@@ -324,7 +324,7 @@ void PIOS_SPI_gyro_irq_handler(void)
  */
 void PIOS_SPI_flash_irq_handler(void);
 void DMA1_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_flash_irq_handler")));
-void DMA1_Stream2_IRQHandler(void) __attribute__((alias("PIOS_SPI_flash_irq_handler")));
+void DMA1_Stream5_IRQHandler(void) __attribute__((alias("PIOS_SPI_flash_irq_handler")));
 static const struct pios_spi_cfg pios_spi_flash_cfg = {
 	.regs = SPI3,
 	.remap = GPIO_AF_SPI3,
@@ -343,7 +343,7 @@ static const struct pios_spi_cfg pios_spi_flash_cfg = {
 	.dma = {
 		.irq = {
 			// Note this is the stream ID that triggers interrupts (in this case RX)
-			.flags = (DMA_IT_TCIF3 | DMA_IT_TEIF3 | DMA_IT_HTIF3),
+			.flags = (DMA_IT_TCIF0 | DMA_IT_TEIF0 | DMA_IT_HTIF0),
 			.init = {
 				.NVIC_IRQChannel = DMA1_Stream0_IRQn,
 				.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@@ -372,7 +372,7 @@ static const struct pios_spi_cfg pios_spi_flash_cfg = {
 			},
 		},
 		.tx = {
-			.channel = DMA1_Stream2,
+			.channel = DMA1_Stream5,
 			.init = {
 				.DMA_Channel            = DMA_Channel_0,
 				.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR),
@@ -440,6 +440,132 @@ void PIOS_SPI_flash_irq_handler(void)
 	PIOS_SPI_IRQ_Handler(pios_spi_flash_id);
 }
 #endif /* PIOS_FLASH_ON_ACCEL */
+
+#if defined(PIOS_OVERO_SPI)
+/* SPI3 Interface
+ *      - Used for flash communications
+ */
+void PIOS_SPI_overo_irq_handler(void);
+void DMA1_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_overo_irq_handler")));
+void DMA1_Stream7_IRQHandler(void) __attribute__((alias("PIOS_SPI_overo_irq_handler")));
+static const struct pios_spi_cfg pios_spi_overo_cfg = {
+	.regs = SPI3,
+	.remap = GPIO_AF_SPI3,
+	.init = {
+		.SPI_Mode              = SPI_Mode_Slave,
+		.SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
+		.SPI_DataSize          = SPI_DataSize_8b,
+		.SPI_NSS               = SPI_NSS_Hard,
+		.SPI_FirstBit          = SPI_FirstBit_MSB,
+		.SPI_CRCPolynomial     = 7,
+		.SPI_CPOL              = SPI_CPOL_High,
+		.SPI_CPHA              = SPI_CPHA_2Edge,
+		.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
+	},
+	.use_crc = false,
+	.dma = {
+		.irq = {
+			// Note this is the stream ID that triggers interrupts (in this case RX)
+			.flags = (DMA_IT_TCIF0 | DMA_IT_TEIF0 | DMA_IT_HTIF0),
+			.init = {
+				.NVIC_IRQChannel = DMA1_Stream0_IRQn,
+				.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+				.NVIC_IRQChannelSubPriority = 0,
+				.NVIC_IRQChannelCmd = ENABLE,
+			},
+		},
+		
+		.rx = {
+			.channel = DMA1_Stream0,
+			.init = {
+				.DMA_Channel            = DMA_Channel_0,
+				.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR),
+				.DMA_DIR                = DMA_DIR_PeripheralToMemory,
+				.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+				.DMA_MemoryInc          = DMA_MemoryInc_Enable,
+				.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+				.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
+				.DMA_Mode               = DMA_Mode_Normal,
+				.DMA_Priority           = DMA_Priority_Medium,
+				//TODO: Enable FIFO
+				.DMA_FIFOMode           = DMA_FIFOMode_Disable,
+                .DMA_FIFOThreshold      = DMA_FIFOThreshold_Full,
+                .DMA_MemoryBurst        = DMA_MemoryBurst_Single,
+                .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single,
+			},
+		},
+		.tx = {
+			.channel = DMA1_Stream7,
+			.init = {
+				.DMA_Channel            = DMA_Channel_0,
+				.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR),
+				.DMA_DIR                = DMA_DIR_MemoryToPeripheral,
+				.DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+				.DMA_MemoryInc          = DMA_MemoryInc_Enable,
+				.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+				.DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
+				.DMA_Mode               = DMA_Mode_Normal,
+				.DMA_Priority           = DMA_Priority_Medium,
+				.DMA_FIFOMode           = DMA_FIFOMode_Disable,
+                .DMA_FIFOThreshold      = DMA_FIFOThreshold_Full,
+                .DMA_MemoryBurst        = DMA_MemoryBurst_Single,
+                .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single,
+			},
+		},
+	},
+	.sclk = {
+		.gpio = GPIOC,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_10,
+			.GPIO_Speed = GPIO_Speed_100MHz,
+			.GPIO_Mode = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd = GPIO_PuPd_NOPULL
+		},
+	},
+	.miso = {
+		.gpio = GPIOC,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_11,
+			.GPIO_Speed = GPIO_Speed_50MHz,
+			.GPIO_Mode = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd = GPIO_PuPd_NOPULL
+		},
+	},
+	.mosi = {
+		.gpio = GPIOC,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_12,
+			.GPIO_Speed = GPIO_Speed_50MHz,
+			.GPIO_Mode = GPIO_Mode_AF,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd = GPIO_PuPd_NOPULL
+		},
+	},
+	.slave_count = 1,
+	.ssel = { {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_15,
+			.GPIO_Speed = GPIO_Speed_50MHz,
+			.GPIO_Mode  = GPIO_Mode_OUT,
+			.GPIO_OType = GPIO_OType_PP,
+			.GPIO_PuPd = GPIO_PuPd_UP
+		},
+	} },
+};
+
+uint32_t pios_spi_overo_id;
+void PIOS_SPI_overo_irq_handler(void)
+{
+	/* Call into the generic code to handle the IRQ for this specific device */
+	PIOS_SPI_IRQ_Handler(pios_spi_overo_id);
+}
+#else
+uint32_t pios_spi_overo_id = 0;
+#endif /* PIOS_OVERO_SPI */
+
 #endif /* PIOS_INCLUDE_SPI */
 
 
@@ -1129,22 +1255,6 @@ static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
 		},
 		.remap = GPIO_AF_TIM9,		
 	},
-	{
-		.timer = TIM10,
-		.timer_chan = TIM_Channel_1,
-		.pin = {
-			.gpio = GPIOB,
-			.init = {
-				.GPIO_Pin = GPIO_Pin_8,
-				.GPIO_Speed = GPIO_Speed_2MHz,
-				.GPIO_Mode  = GPIO_Mode_AF,
-				.GPIO_OType = GPIO_OType_PP,
-				.GPIO_PuPd  = GPIO_PuPd_UP
-			},
-			.pin_source = GPIO_PinSource8,
-		},
-		.remap = GPIO_AF_TIM10,
-	},
 	{
 		.timer = TIM11,
 		.timer_chan = TIM_Channel_1,
@@ -1161,6 +1271,22 @@ static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
 		},
 		.remap = GPIO_AF_TIM11,
 	},
+	{
+		.timer = TIM10,
+		.timer_chan = TIM_Channel_1,
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_8,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource8,
+		},
+		.remap = GPIO_AF_TIM10,
+	},
 	{
 		.timer = TIM5,
 		.timer_chan = TIM_Channel_3,

ground/openpilotgcs/copydata.pro

@@ -19,7 +19,10 @@ equals(copydata, 1) {
                   QtSql4.dll \
                   QtSvg4.dll \
                   QtTest4.dll \
-                  QtXml4.dll
+                  QtXml4.dll \
+                  QtDeclarative4.dll \
+                  QtXmlPatterns4.dll \
+                  QtScript4.dll
         for(dll, QT_DLLS) {
             data_copy.commands += $(COPY_FILE) $$targetPath(\"$$[QT_INSTALL_BINS]/$$dll\") $$targetPath(\"$$GCS_APP_PATH/$$dll\") $$addNewline()
         }

ground/openpilotgcs/share/openpilotgcs/dials/default/arm-status.svg

@@ -14,8 +14,8 @@
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         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title />
+        <dc:title></dc:title>
         <dc:creator>
           <cc:Agent>
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@@ -1163,8 +1151,7 @@
      inkscape:label="Dark background"
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      inkscape:groupmode="layer"
-     transform="translate(-368.2988,-507.08981)"
+     transform="translate(-368.2988,-507.08981)">
-     sodipodi:insensitive="true">
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        inkscape:label="#g4447">
@@ -1225,17 +1212,16 @@
      id="layer5"
      inkscape:label="Green Zone"
      style="display:inline"
-     transform="translate(-140.85549,-141.35611)"
+     transform="translate(-140.85549,-141.35611)">
-     sodipodi:insensitive="true">
     <rect
        inkscape:label="#rect5741"
        style="fill:url(#linearGradient5112);fill-opacity:1;stroke:none;display:inline"
        id="green"
-       width="260.53882"
+       width="261.80212"
-       height="32.20755"
+       height="32.929432"
-       x="-411.77084"
+       x="-413.03415"
-       y="-184.00433"
+       y="-184.72621"
-       ry="2.3767958"
+       ry="2.430068"
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        inkscape:export-xdpi="88.809998"
        inkscape:export-ydpi="88.809998"
@@ -1246,17 +1232,16 @@
      id="layer4"
      inkscape:label="Yellow Zone"
      style="display:none"
-     transform="translate(-140.85549,-141.35611)"
+     transform="translate(-140.85549,-141.35611)">
-     sodipodi:insensitive="true">
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        inkscape:export-ydpi="88.809998"
        inkscape:export-xdpi="88.809998"
        inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
        ry="2.4231479"
        y="-184.63248"
-       x="-411.45679"
+       x="-412.90054"
        height="32.835663"
-       width="260.53882"
+       width="261.98257"
        id="yellow"
        style="fill:url(#linearGradient5122);fill-opacity:1;stroke:none;display:inline"
        inkscape:label="#rect5741"
@@ -1267,17 +1252,16 @@
      id="layer3"
      inkscape:label="Red zone"
      style="display:none"
-     transform="translate(-140.85549,-141.35611)"
+     transform="translate(-140.85549,-141.35611)">
-     sodipodi:insensitive="true">
     <rect
        inkscape:label="#rect5741"
        style="fill:url(#linearGradient5102);fill-opacity:1;stroke:none;display:inline"
        id="red"
-       width="260.23901"
+       width="261.86325"
-       height="32.519711"
+       height="32.880653"
-       x="-411.38739"
+       x="-413.01163"
-       y="-184.35484"
+       y="-184.71579"
-       ry="2.399832"
+       ry="2.4264681"
        inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
        inkscape:export-xdpi="88.809998"
        inkscape:export-ydpi="88.809998"
@@ -1288,17 +1272,18 @@
      id="layer6"
      inkscape:label="Indicator"
      style="display:inline"
-     transform="translate(-140.85549,-141.35611)"
+     transform="translate(-140.85549,-141.35611)">
-     sodipodi:insensitive="true">
     <rect
-       style="fill:url(#linearGradient3899);fill-opacity:1;stroke:#000000;stroke-width:0.2964696;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+       style="fill:url(#linearGradient3899);fill-opacity:1;stroke:#000000;stroke-width:0.4;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
        id="needle"
-       width="32.035065"
+       width="33.114704"
-       height="6.0045304"
+       height="5.0989962"
-       x="152.63882"
+       x="151.5576"
-       y="-157.12926"
+       y="-156.22531"
        inkscape:label="#rect5246"
-       transform="matrix(0,1,-1,0,0,0)" />
+       transform="matrix(0,1,-1,0,0,0)"
+       ry="2.5494981"
+       rx="1.9392394" />
   </g>
   <g
      inkscape:groupmode="layer"

ground/openpilotgcs/share/openpilotgcs/dials/deluxe/lineardial-vertical.svg

@@ -14,20 +14,31 @@
    height="322.58304"
    id="svg10068"
    version="1.1"
-   inkscape:version="0.48.1 "
+   inkscape:version="0.48.2 r9819"
-   sodipodi:docname="lineardial-vertical.svg"
+   sodipodi:docname="lineardial-vertical-old2.svg"
    inkscape:export-filename="H:\Documents\Hobbies\W433\My Gauges\vbat-001.png"
    inkscape:export-xdpi="103.61"
    inkscape:export-ydpi="103.61"
    style="display:inline">
   <defs
      id="defs10070">
+    <linearGradient
+       id="linearGradient3894">
+      <stop
+         style="stop-color:#171717;stop-opacity:1;"
+         offset="0"
+         id="stop3896" />
+      <stop
+         style="stop-color:#b0b0b0;stop-opacity:1;"
+         offset="1"
+         id="stop3898" />
+    </linearGradient>
     <linearGradient
        id="linearGradient3903">
       <stop
          id="stop3905"
          offset="0"
-         style="stop-color:#000000;stop-opacity:1" />
+         style="stop-color:#656565;stop-opacity:1;" />
       <stop
          style="stop-color:#ffffff;stop-opacity:1"
          offset="0.39386007"
@@ -35,7 +46,7 @@
       <stop
          id="stop3909"
          offset="1"
-         style="stop-color:#000000;stop-opacity:1" />
+         style="stop-color:#757575;stop-opacity:1;" />
     </linearGradient>
     <linearGradient
        id="linearGradient5375">
@@ -83,15 +94,19 @@
       <stop
          id="stop5348"
          offset="0"
-         style="stop-color:#1a1a1a;stop-opacity:1" />
+         style="stop-color:#9c9c9c;stop-opacity:0;" />
       <stop
-         style="stop-color:#666666;stop-opacity:1"
+         id="stop3921"
-         offset="0.35277387"
+         offset="0.359375"
-         id="stop5350" />
+         style="stop-color:#6c6c6c;stop-opacity:0.88793105;" />
+      <stop
+         style="stop-color:#5f5f5f;stop-opacity:0.62931037;"
+         offset="0.62630206"
+         id="stop3923" />
       <stop
          id="stop5352"
          offset="1"
-         style="stop-color:#1a1a1a;stop-opacity:1" />
+         style="stop-color:#9c9c9c;stop-opacity:0;" />
     </linearGradient>
     <linearGradient
        id="linearGradient5326">
@@ -215,46 +230,34 @@
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     <linearGradient
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-      <stop
-         style="stop-color:#000000;stop-opacity:1"
-         offset="0"
-         id="stop5118" />
       <stop
          id="stop5124"
-         offset="0.37640449"
+         offset="0"
-         style="stop-color:#dcaf28;stop-opacity:1" />
+         style="stop-color:#ffc001;stop-opacity:1;" />
       <stop
-         style="stop-color:#000000;stop-opacity:1"
+         style="stop-color:#844700;stop-opacity:1;"
          offset="1"
          id="stop5120" />
     </linearGradient>
     <linearGradient
        id="linearGradient5106">
-      <stop
-         style="stop-color:#000000;stop-opacity:1"
-         offset="0"
-         id="stop5108" />
       <stop
          id="stop5114"
-         offset="0.38184431"
+         offset="0"
          style="stop-color:#00a000;stop-opacity:1" />
       <stop
-         style="stop-color:#000000;stop-opacity:1"
+         style="stop-color:#003d00;stop-opacity:1;"
          offset="1"
          id="stop5110" />
     </linearGradient>
     <linearGradient
        id="linearGradient5096">
-      <stop
-         style="stop-color:#100000;stop-opacity:1"
-         offset="0"
-         id="stop5098" />
       <stop
          id="stop5104"
-         offset="0.39717463"
+         offset="0"
-         style="stop-color:#aa0000;stop-opacity:1" />
+         style="stop-color:#e60000;stop-opacity:1;" />
       <stop
-         style="stop-color:#0c0000;stop-opacity:1"
+         style="stop-color:#710000;stop-opacity:1;"
          offset="1"
          id="stop5100" />
     </linearGradient>
@@ -475,7 +478,8 @@
        y1="132.84332"
        x2="-58.661255"
        y2="169.46072"
-       gradientUnits="userSpaceOnUse" />
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1.0045664,0,0,0.98072534,3.8285685,3.8328979)" />
     <linearGradient
        inkscape:collect="always"
        xlink:href="#linearGradient5106"
@@ -484,7 +488,8 @@
        y1="133.15433"
        x2="-38.946774"
        y2="168.58655"
-       gradientUnits="userSpaceOnUse" />
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1.0048708,0,0,1.0000284,3.816285,2.2385824)" />
     <linearGradient
        inkscape:collect="always"
        xlink:href="#linearGradient5116"
@@ -493,7 +498,8 @@
        y1="133.16322"
        x2="-17.108463"
        y2="168.82289"
-       gradientUnits="userSpaceOnUse" />
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1.0057658,0,0,0.99502095,3.8176724,2.8357789)" />
     <linearGradient
        inkscape:collect="always"
        xlink:href="#linearGradient5129"
@@ -711,7 +717,8 @@
        x1="-246.82069"
        y1="353.9455"
        x2="-247.44464"
-       y2="412.00528" />
+       y2="412.00528"
+       gradientTransform="matrix(1,0,0,0.98663274,0,3.8538758)" />
     <linearGradient
        inkscape:collect="always"
        xlink:href="#linearGradient5375"
@@ -727,11 +734,21 @@
        xlink:href="#linearGradient3903"
        id="linearGradient3899"
        gradientUnits="userSpaceOnUse"
-       gradientTransform="matrix(0.99999998,0,0,1.7142857,306.20028,-235.50286)"
+       gradientTransform="matrix(1.0304804,0,0,1.7130087,311.94981,-242.17845)"
        x1="-172.33069"
        y1="74.562233"
-       x2="-135.50557"
+       x2="-136.75557"
-       y2="74.562233" />
+       y2="74.015358" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3894"
+       id="linearGradient3900"
+       x1="-353.51318"
+       y1="324.74451"
+       x2="-355.30441"
+       y2="355.70587"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1.0187536,0,0,1.2873355,10.177224,-58.104213)" />
   </defs>
   <sodipodi:namedview
      id="base"
@@ -740,16 +757,16 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="1.9843492"
+     inkscape:zoom="7.87"
-     inkscape:cx="13.888309"
+     inkscape:cx="0.68217946"
-     inkscape:cy="302.67927"
+     inkscape:cy="151.28502"
      inkscape:document-units="px"
-     inkscape:current-layer="layer6"
+     inkscape:current-layer="layer4"
      showgrid="false"
-     inkscape:window-width="1366"
+     inkscape:window-width="1680"
-     inkscape:window-height="706"
+     inkscape:window-height="957"
-     inkscape:window-x="-8"
+     inkscape:window-x="0"
-     inkscape:window-y="-8"
+     inkscape:window-y="0"
      inkscape:window-maximized="1"
      inkscape:object-paths="true"
      showguides="true"
@@ -765,7 +782,7 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title />
+        <dc:title></dc:title>
         <dc:creator>
           <cc:Agent>
             <dc:title>Edouard Lafargue</dc:title>
@@ -779,8 +796,7 @@
      inkscape:label="Dark background"
      id="g2932"
      inkscape:groupmode="layer"
-     transform="translate(-357.06525,-236.21351)"
+     transform="translate(-357.06525,-236.21351)">
-     sodipodi:insensitive="true">
     <g
        id="background"
        inkscape:label="#g5354">
@@ -789,39 +805,39 @@
          style="fill:url(#linearGradient5344);fill-opacity:1;stroke:none"
          id="rect2936"
          width="318.58304"
-         height="46.756046"
+         height="46.131046"
          x="-556.79657"
-         y="358.44128"
+         y="357.50378"
-         ry="3.4504199"
+         ry="3.4042974"
          inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
          inkscape:export-xdpi="88.809998"
          inkscape:export-ydpi="88.809998" />
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-         width="260.53882"
-         height="34.835861"
-         x="-519.56018"
-         y="362.7359"
-         ry="2.5707548"
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          inkscape:export-xdpi="88.809998"
          inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
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+         ry="2.9537699"
-         y="365.23175"
+         y="360.57819"
-         x="-519.56018"
+         x="-519.12665"
-         height="31.09215"
+         height="40.026031"
-         width="260.53882"
+         width="265.4249"
          id="bargraph-outer"
-         style="fill:#332d2d;fill-opacity:1;stroke:none" />
+         style="fill:url(#linearGradient3900);fill-opacity:1;stroke:none" />
+      <rect
+         transform="matrix(0,-1,1,0,0,0)"
+         style="fill:#332d2d;fill-opacity:1;stroke:none"
+         id="bargraph"
+         width="262.19809"
+         height="33.195633"
+         x="-516.71185"
+         y="363.7984"
+         ry="16.597816"
+         inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
+         inkscape:export-xdpi="88.809998"
+         inkscape:export-ydpi="88.809998"
+         inkscape:label="#rect4388" />
     </g>
   </g>
   <g
@@ -829,17 +845,16 @@
      id="layer5"
      inkscape:label="Green Zone"
      style="display:inline"
-     transform="translate(-129.62194,129.52019)"
+     transform="translate(-129.62194,129.52019)">
-     sodipodi:insensitive="true">
     <rect
        inkscape:label="#rect5741"
        style="fill:url(#linearGradient5112);fill-opacity:1;stroke:none;display:inline"
        id="green"
-       width="260.53882"
+       width="261.80789"
-       height="34.0919"
+       height="34.092869"
-       x="-153.97397"
+       x="-150.90765"
-       y="134.02345"
+       y="136.26584"
-       ry="2.5158536"
+       ry="2.5159254"
        inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
        inkscape:export-xdpi="88.809998"
        inkscape:export-ydpi="88.809998"
@@ -849,18 +864,17 @@
      inkscape:groupmode="layer"
      id="layer4"
      inkscape:label="Yellow Zone"
-     style="display:none"
+     style="display:inline"
-     transform="translate(-129.62194,129.52019)"
+     transform="translate(-129.62194,129.52019)">
-     sodipodi:insensitive="true">
     <rect
        inkscape:export-ydpi="88.809998"
        inkscape:export-xdpi="88.809998"
        inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
-       ry="2.5158532"
+       ry="2.5033269"
-       y="134.02345"
+       y="136.19191"
-       x="-153.97397"
+       x="-151.04408"
-       height="34.091896"
+       height="33.92215"
-       width="260.53882"
+       width="262.04108"
        id="yellow"
        style="fill:url(#linearGradient5122);fill-opacity:1;stroke:none;display:inline"
        inkscape:label="#rect5741"
@@ -871,17 +885,16 @@
      id="layer3"
      inkscape:label="Red zone"
      style="display:none"
-     transform="translate(-129.62194,129.52019)"
+     transform="translate(-129.62194,129.52019)">
-     sodipodi:insensitive="true">
     <rect
        inkscape:label="#rect5741"
        style="fill:url(#linearGradient5102);fill-opacity:1;stroke:none;display:inline"
        id="red"
-       width="260.53882"
+       width="261.72849"
-       height="34.589863"
+       height="33.923153"
-       x="-154.0755"
+       x="-150.95049"
-       y="134.00487"
+       y="135.25487"
-       ry="2.5526016"
+       ry="2.503401"
        inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
        inkscape:export-xdpi="88.809998"
        inkscape:export-ydpi="88.809998"
@@ -894,35 +907,35 @@
      style="display:inline"
      transform="translate(-129.62194,129.52019)">
     <rect
-       style="fill:url(#linearGradient3899);fill-opacity:1;stroke:#000000;stroke-width:0.30000000999999998;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+       style="fill:url(#linearGradient3899);fill-opacity:1;stroke:#000000;stroke-width:0.30442432;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
        id="needle"
-       width="33.162418"
+       width="34.173222"
-       height="5.9393759"
+       height="5.9349518"
-       x="135.64999"
+       x="136.20108"
-       y="-107.91632"
+       y="-114.68695"
-       inkscape:label="#rect5246" />
+       inkscape:label="#rect5246"
+       ry="2.4981377" />
   </g>
   <g
      inkscape:groupmode="layer"
      id="layer1"
      inkscape:label="Text"
      style="display:inline"
-     transform="translate(-129.62194,129.52019)"
+     transform="translate(-129.62194,129.52019)">
-     sodipodi:insensitive="true">
     <rect
        style="fill:#ffffff;fill-opacity:1;stroke:none"
        id="field"
-       width="33.853165"
+       width="46.305515"
        height="12.626906"
-       x="128.30692"
+       x="129.09726"
        y="157.31393"
        inkscape:label="#rect2878" />
     <rect
        inkscape:label="#rect2878"
        y="170.91206"
-       x="128.88902"
+       x="129.9335"
        height="12.626906"
-       width="32.851257"
+       width="45.176544"
        id="value"
        style="fill:#ffffff;fill-opacity:1;stroke:none" />
   </g>

ground/openpilotgcs/src/app/Info.plist

@@ -172,7 +172,7 @@
 		</dict>
 	</array>
 	<key>CFBundleGetInfoString</key>
-	<string>Qt Creator; Copyright Nokia Corporation</string>
+	<string>OpenPilot GCS; Copyright OpenPilot</string>
 	<key>CFBundleIconFile</key>
 	<string>@ICON@</string>
 	<key>CFBundlePackageType</key>
@@ -182,7 +182,7 @@
 	<key>CFBundleExecutable</key>
 	<string>@EXECUTABLE@</string>
 	<key>CFBundleIdentifier</key>
-	<string>com.nokia.qtcreator</string>
+	<string>org.openpilot.openpilotgcs</string>
 	<key>CFBundleVersion</key>
 	<string>1.3.1</string>
 	<key>CFBundleShortVersionString</key>

ground/openpilotgcs/src/app/main.cpp

@@ -239,6 +239,8 @@ int main(int argc, char **argv)
     setrlimit(RLIMIT_NOFILE, &rl);
 #endif
 
+    QApplication::setGraphicsSystem("raster");
+
     SharedTools::QtSingleApplication app((QLatin1String(appNameC)), argc, argv);
 
     QString locale = QLocale::system().name();

ground/openpilotgcs/src/plugins/config/Config.pluginspec

@@ -10,5 +10,6 @@
         <dependency name="UAVTalk" version="1.0.0"/>
         <dependency name="UAVObjectUtil" version="1.0.0"/>
         <dependency name="UAVSettingsImportExport" version="1.0.0"/>
+		<dependency name="UAVObjectWidgetUtils" version="1.0.0"/>
     </dependencyList>
 </plugin>   

ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui

@@ -30,9 +30,6 @@
           <property name="text">
            <string/>
           </property>
-          <property name="pixmap">
-           <pixmap resource="configgadget.qrc">:/configgadget/images/coptercontrol.svg</pixmap>
-          </property>
           <property name="scaledContents">
            <bool>true</bool>
           </property>

ground/openpilotgcs/src/plugins/config/config.pri

@@ -0,0 +1,7 @@
+#include(config_dependencies.pri)
+include(../../plugins/uavsettingsimportexport/uavsettingsimportexport.pri)
+include(../../plugins/uavtalk/uavtalk.pri)
+# Add the include path to the built-in uavobject include files.
+INCLUDEPATH += $$PWD
+
+LIBS *= -l$$qtLibraryName(Config)

ground/openpilotgcs/src/plugins/config/config.pro

@@ -1,13 +1,8 @@
 TEMPLATE = lib
 TARGET = Config
+DEFINES += CONFIG_LIBRARY
 QT += svg
-include(../../openpilotgcsplugin.pri)
+include(config_dependencies.pri)
-include(../../libs/utils/utils.pri)
-include(../../plugins/uavtalk/uavtalk.pri)
-include(../../plugins/coreplugin/coreplugin.pri)
-include(../../plugins/uavobjects/uavobjects.pri)
-include(../../plugins/uavobjectutil/uavobjectutil.pri)
-include(../../plugins/uavsettingsimportexport/uavsettingsimportexport.pri)
 INCLUDEPATH += ../../libs/eigen
 OTHER_FILES += Config.pluginspec
 HEADERS += configplugin.h \
@@ -19,25 +14,21 @@ HEADERS += configplugin.h \
     fancytabwidget.h \
     configinputwidget.h \
     configoutputwidget.h \
-    configtaskwidget.h \
     configairframewidget.h \
     config_pro_hw_widget.h \
     config_cc_hw_widget.h \
     configccattitudewidget.h \
-    mixercurvewidget.h \
-    mixercurvepoint.h \
-    mixercurveline.h \
     configccpmwidget.h \
     configstabilizationwidget.h \
     assertions.h \
     calibration.h \
     defaultattitudewidget.h \
-    smartsavebutton.h \
     defaulthwsettingswidget.h \
     inputchannelform.h \
     configcamerastabilizationwidget.h \
     outputchannelform.h \
-    configrevowidget.h
+    configrevowidget.h \
+    config_global.h
 SOURCES += configplugin.cpp \
     configgadgetconfiguration.cpp \
     configgadgetwidget.cpp \
@@ -45,16 +36,12 @@ SOURCES += configplugin.cpp \
     configgadgetoptionspage.cpp \
     configgadget.cpp \
     fancytabwidget.cpp \
-    configtaskwidget.cpp \
     configinputwidget.cpp \
     configoutputwidget.cpp \
     configairframewidget.cpp \
     config_pro_hw_widget.cpp \
     config_cc_hw_widget.cpp \
     configccattitudewidget.cpp \
-    mixercurvewidget.cpp \
-    mixercurvepoint.cpp \
-    mixercurveline.cpp \
     configccpmwidget.cpp \
     configstabilizationwidget.cpp \
     twostep.cpp \
@@ -62,7 +49,6 @@ SOURCES += configplugin.cpp \
     gyro-calibration.cpp \
     alignment-calibration.cpp \
     defaultattitudewidget.cpp \
-    smartsavebutton.cpp \
     defaulthwsettingswidget.cpp \
     inputchannelform.cpp \
     configcamerastabilizationwidget.cpp \

ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp

@@ -40,7 +40,10 @@ ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
 {
     m_telemetry = new Ui_CC_HW_Widget();
     m_telemetry->setupUi(this);
-    setupButtons(m_telemetry->saveTelemetryToRAM,m_telemetry->saveTelemetryToSD);
+
+    m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/coptercontrol.svg"));
+
+    addApplySaveButtons(m_telemetry->saveTelemetryToRAM,m_telemetry->saveTelemetryToSD);
     addUAVObjectToWidgetRelation("HwSettings","CC_FlexiPort",m_telemetry->cbFlexi);
     addUAVObjectToWidgetRelation("HwSettings","CC_MainPort",m_telemetry->cbTele);
     addUAVObjectToWidgetRelation("HwSettings","CC_RcvrPort",m_telemetry->cbRcvr);

ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.h

@@ -28,7 +28,7 @@
 #define CONFIGCCHWWIDGET_H
 
 #include "ui_cc_hw_settings.h"
-#include "configtaskwidget.h"
+#include "../uavobjectwidgetutils/configtaskwidget.h"
 #include "extensionsystem/pluginmanager.h"
 #include "uavobjectmanager.h"
 #include "uavobject.h"
@@ -50,6 +50,7 @@ private slots:
 
 private:
     Ui_CC_HW_Widget *m_telemetry;
+    QSvgRenderer *m_renderer;
 };
 
 #endif // CONFIGCCHWWIDGET_H

ground/openpilotgcs/src/plugins/config/config_dependencies.pri

@@ -0,0 +1,8 @@
+include(../../openpilotgcsplugin.pri)
+include(../../libs/utils/utils.pri)
+include(../../plugins/uavtalk/uavtalk.pri)
+include(../../plugins/coreplugin/coreplugin.pri)
+include(../../plugins/uavobjects/uavobjects.pri)
+include(../../plugins/uavobjectutil/uavobjectutil.pri)
+include(../../plugins/uavsettingsimportexport/uavsettingsimportexport.pri)
+include(../../plugins/uavobjectwidgetutils/uavobjectwidgetutils.pri)

ground/openpilotgcs/src/plugins/config/config_global.h

@@ -1,11 +1,14 @@
 /**
  ******************************************************************************
  *
- * @file       ahrs_bl.h
+ * @file       config_global.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Main AHRS_BL header.
  * @see        The GNU Public License (GPL) Version 3
- *
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup Congig Plugin
+ * @{
+ * @brief The Congig GCS plugin
  *****************************************************************************/
 /*
  * This program is free software; you can redistribute it and/or modify
@@ -23,30 +26,16 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#ifndef AHRS_BL_H
+#ifndef CONFIG_GLOBAL_H
-#define AHRS_BL_H
+#define CONFIG_GLOBAL_H
 
-/* PIOS Includes */
+#include <QtCore/qglobal.h>
-#include <pios.h>
 
-/** Start programming
+#if defined(CONFIG_LIBRARY)
- returns: true if FLASH erased and ready to program
+#  define CONFIG_EXPORT Q_DECL_EXPORT
- */
+#else
-bool
+#  define CONFIG_EXPORT Q_DECL_IMPORT
-StartProgramming(void);
+#endif
 
-/** Write a block to FLASH
- buffer contains the data to be written
- returns: true if FLASH programmed correctly
- */
-bool
-WriteData(uint32_t offset, uint8_t *buffer, uint32_t size);
 
-/** Read a block from FLASH
+#endif // CONFIG_GLOBAL_H
- returns: true if FLASH read correctly.
- Buffer is set to the read data
- */
-bool
-ReadData(uint32_t offset, uint8_t *buffer, uint32_t size);
-
-#endif /* AHRS_BL_H */

ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.cpp

@@ -39,7 +39,7 @@ ConfigProHWWidget::ConfigProHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
     m_telemetry = new Ui_PRO_HW_Widget();
     m_telemetry->setupUi(this);
 
-    setupButtons(m_telemetry->saveTelemetryToRAM,m_telemetry->saveTelemetryToSD);
+    addApplySaveButtons(m_telemetry->saveTelemetryToRAM,m_telemetry->saveTelemetryToSD);
     addUAVObjectToWidgetRelation("HwSettings","TelemetrySpeed",m_telemetry->telemetrySpeed);
     enableControls(false);
     populateWidgets();

ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.h

@@ -28,7 +28,7 @@
 #define CONFIGPROHWWIDGET_H
 
 #include "ui_pro_hw_settings.h"
-#include "configtaskwidget.h"
+#include "../uavobjectwidgetutils/configtaskwidget.h"
 #include "extensionsystem/pluginmanager.h"
 #include "uavobjectmanager.h"
 #include "uavobject.h"

ground/openpilotgcs/src/plugins/config/configairframewidget.cpp

@@ -95,7 +95,7 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p
     m_aircraft = new Ui_AircraftWidget();
     m_aircraft->setupUi(this);
 
-    setupButtons(m_aircraft->saveAircraftToRAM,m_aircraft->saveAircraftToSD);
+    addApplySaveButtons(m_aircraft->saveAircraftToRAM,m_aircraft->saveAircraftToSD);
 
     addUAVObject("SystemSettings");
     addUAVObject("MixerSettings");
@@ -2179,7 +2179,6 @@ void ConfigAirframeWidget::addToDirtyMonitor()
     addWidget(m_aircraft->elevonSlider1);
     addWidget(m_aircraft->elevonSlider2);
     addWidget(m_aircraft->widget_3->m_ccpm->ccpmType);
-    addWidget(m_aircraft->widget_3->m_ccpm->TabObject);
     addWidget(m_aircraft->widget_3->m_ccpm->ccpmTailChannel);
     addWidget(m_aircraft->widget_3->m_ccpm->ccpmEngineChannel);
     addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoWChannel);

ground/openpilotgcs/src/plugins/config/configairframewidget.h

@@ -28,7 +28,7 @@
 #define CONFIGAIRFRAMEWIDGET_H
 
 #include "ui_airframe.h"
-#include "configtaskwidget.h"
+#include "../uavobjectwidgetutils/configtaskwidget.h"
 #include "extensionsystem/pluginmanager.h"
 #include "uavobjectmanager.h"
 #include "uavobject.h"

ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.h

@@ -28,7 +28,7 @@
 #define CONFIGCAMERASTABILIZATIONWIDGET_H
 
 #include "ui_camerastabilization.h"
-#include "configtaskwidget.h"
+#include "../uavobjectwidgetutils/configtaskwidget.h"
 #include "extensionsystem/pluginmanager.h"
 #include "uavobjectmanager.h"
 #include "uavobject.h"

ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp

@@ -44,7 +44,7 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
     connect(ui->zeroBias,SIGNAL(clicked()),this,SLOT(startAccelCalibration()));
 
 
-    setupButtons(ui->applyButton,ui->saveButton);
+    addApplySaveButtons(ui->applyButton,ui->saveButton);
     addUAVObject("AttitudeSettings");
 
     // Connect the help button

ground/openpilotgcs/src/plugins/config/configccattitudewidget.h

@@ -28,7 +28,7 @@
 #define CCATTITUDEWIDGET_H
 
 #include "ui_ccattitude.h"
-#include "configtaskwidget.h"
+#include "../uavobjectwidgetutils/configtaskwidget.h"
 #include "extensionsystem/pluginmanager.h"
 #include "uavobjectmanager.h"
 #include "uavobject.h"

ground/openpilotgcs/src/plugins/config/configccpmwidget.h

@@ -28,7 +28,7 @@
 #define CONFIGccpmWIDGET_H
 
 #include "ui_ccpm.h"
-#include "configtaskwidget.h"
+#include "../uavobjectwidgetutils/configtaskwidget.h"
 #include "extensionsystem/pluginmanager.h"
 #include "uavobjectmanager.h"
 #include "uavobject.h"

ground/openpilotgcs/src/plugins/config/configgadget.h

@@ -28,7 +28,7 @@
 #define CONFIGGADGET_H
 
 #include <coreplugin/iuavgadget.h>
-#include "configgadgetwidget.h"
+#include "../uavobjectwidgetutils/configtaskwidget.h"
 
 class IUAVGadget;
 //class QList<int>;
@@ -46,7 +46,7 @@ public:
     ConfigGadget(QString classId, ConfigGadgetWidget *widget, QWidget *parent = 0);
     ~ConfigGadget();
 
-    QWidget *widget() { return m_widget; }
+    QWidget *widget() { return (QWidget*)m_widget; }
     void loadConfiguration(IUAVGadgetConfiguration* config);
 
 private:

ground/openpilotgcs/src/plugins/config/configgadget.qrc

@@ -17,5 +17,6 @@
         <file>images/gyroscope.png</file>
         <file>images/TX.svg</file>
         <file>images/camera.png</file>
+        <file>images/TX2.svg</file>
     </qresource>
 </RCC>

ground/openpilotgcs/src/plugins/config/configgadgetwidget.h

@@ -40,7 +40,7 @@
 #include <QMessageBox>
 //#include "fancytabwidget.h"
 #include "utils/mytabbedstackwidget.h"
-#include "configtaskwidget.h"
+#include "../uavobjectwidgetutils/configtaskwidget.h"
 
 class ConfigGadgetWidget: public QWidget
 {

ground/openpilotgcs/src/plugins/config/configinputwidget.cpp

@@ -41,8 +41,8 @@
 #include <utils/stylehelper.h>
 #include <QMessageBox>
 
-#define ACCESS_MIN_MOVE -6
+#define ACCESS_MIN_MOVE -3
-#define ACCESS_MAX_MOVE 6
+#define ACCESS_MAX_MOVE 3
 #define STICK_MIN_MOVE -8
 #define STICK_MAX_MOVE 8
 
@@ -54,15 +54,15 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
     m_config = new Ui_InputWidget();
     m_config->setupUi(this);
 
-    setupButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
+    addApplySaveButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
 
     unsigned int index=0;
-    foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
+    foreach(QString name,manualSettingsObj->getField("ChannelNumber")->getElementNames())
     {
         Q_ASSERT(index < ManualControlSettings::CHANNELGROUPS_NUMELEM);
         inputChannelForm * inp=new inputChannelForm(this,index==0);
         m_config->channelSettings->layout()->addWidget(inp);
-        inp->ui->channelName->setText(name);
+        inp->setName(name);
         addUAVObjectToWidgetRelation("ManualControlSettings","ChannelGroups",inp->ui->channelGroup,index);
         addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNumber",inp->ui->channelNumber,index);
         addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMin",inp->ui->channelMin,index);
@@ -108,7 +108,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
     m_renderer = new QSvgRenderer();
     QGraphicsScene *l_scene = m_config->graphicsView->scene();
     m_config->graphicsView->setBackgroundBrush(QBrush(Utils::StyleHelper::baseColor()));
-    if (QFile::exists(":/configgadget/images/TX.svg") && m_renderer->load(QString(":/configgadget/images/TX.svg")) && m_renderer->isValid())
+    if (QFile::exists(":/configgadget/images/TX2.svg") && m_renderer->load(QString(":/configgadget/images/TX2.svg")) && m_renderer->isValid())
     {
         l_scene->clear(); // Deletes all items contained in the scene as well.
 
@@ -401,6 +401,7 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
     case wizardChooseMode:
     {
         m_config->graphicsView->setVisible(true);
+        m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
         setTxMovement(nothing);
         m_config->wzText->setText(tr("Please choose your transmiter type.\n"
                                      "Mode 1 means your throttle stick is on the right\n"
@@ -718,7 +719,7 @@ void ConfigInputWidget::identifyControls()
     m_config->wzText->clear();
     setTxMovement(nothing);
 
-    QTimer::singleShot(500, this, SLOT(wzNext()));
+    QTimer::singleShot(2500, this, SLOT(wzNext()));
 }
 
 void ConfigInputWidget::identifyLimits()
@@ -1096,7 +1097,7 @@ void ConfigInputWidget::invertControls()
         QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
         if(cb)
         {
-            int index=manualSettingsObj->getFields().at(0)->getElementNames().indexOf(cb->text());
+            int index=manualSettingsObj->getField("ChannelNumber")->getElementNames().indexOf(cb->text());
             if((cb->isChecked() && (manualSettingsData.ChannelMax[index]>manualSettingsData.ChannelMin[index])) ||
                     (!cb->isChecked() && (manualSettingsData.ChannelMax[index]<manualSettingsData.ChannelMin[index])))
             {

ground/openpilotgcs/src/plugins/config/configinputwidget.h

@@ -28,7 +28,7 @@
 #define CONFIGINPUTWIDGET_H
 
 #include "ui_input.h"
-#include "configtaskwidget.h"
+#include "../uavobjectwidgetutils/configtaskwidget.h"
 #include "extensionsystem/pluginmanager.h"
 #include "uavobjectmanager.h"
 #include "uavobject.h"

ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp

@@ -50,13 +50,13 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
     m_config->setupUi(this);
 
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    setupButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
+    addApplySaveButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
     addUAVObject("ActuatorSettings");
 
     UAVSettingsImportExportFactory * importexportplugin =  pm->getObject<UAVSettingsImportExportFactory>();
     connect(importexportplugin,SIGNAL(importAboutToBegin()),this,SLOT(stopTests()));
 
-    setupButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
+    addApplySaveButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
         addUAVObject("ActuatorSettings");
 
     // NOTE: we have channel indices from 0 to 9, but the convention for OP is Channel 1 to Channel 10.

ground/openpilotgcs/src/plugins/config/configoutputwidget.h

@@ -28,7 +28,7 @@
 #define CONFIGOUTPUTWIDGET_H
 
 #include "ui_output.h"
-#include "configtaskwidget.h"
+#include "../uavobjectwidgetutils/configtaskwidget.h"
 #include "extensionsystem/pluginmanager.h"
 #include "uavobjectmanager.h"
 #include "uavobject.h"

ground/openpilotgcs/src/plugins/config/configrevowidget.h

@@ -29,6 +29,8 @@
 
 #include "ui_revosensors.h"
 #include "configtaskwidget.h"
+
+#include "../uavobjectwidgetutils/configtaskwidget.h"
 #include "extensionsystem/pluginmanager.h"
 #include "uavobjectmanager.h"
 #include "uavobject.h"

ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp

@@ -34,286 +34,110 @@
 #include <QtGui/QPushButton>
 #include <QDesktopServices>
 #include <QUrl>
+#include <QList>
 
 ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent)
 {
-    stabSettings = StabilizationSettings::GetInstance(getObjectManager());
-
     m_stabilization = new Ui_StabilizationWidget();
     m_stabilization->setupUi(this);
+    autoLoadWidgets();
+    realtimeUpdates=new QTimer(this);
+    connect(m_stabilization->realTimeUpdates_6,SIGNAL(stateChanged(int)),this,SLOT(realtimeUpdatesSlot(int)));
+    connect(m_stabilization->realTimeUpdates_7,SIGNAL(stateChanged(int)),this,SLOT(realtimeUpdatesSlot(int)));
+    connect(realtimeUpdates,SIGNAL(timeout()),this,SLOT(apply()));
 
+    connect(m_stabilization->checkBox_7,SIGNAL(stateChanged(int)),this,SLOT(linkCheckBoxes(int)));
+    connect(m_stabilization->checkBox_2,SIGNAL(stateChanged(int)),this,SLOT(linkCheckBoxes(int)));
+    connect(m_stabilization->checkBox_8,SIGNAL(stateChanged(int)),this,SLOT(linkCheckBoxes(int)));
+    connect(m_stabilization->checkBox_3,SIGNAL(stateChanged(int)),this,SLOT(linkCheckBoxes(int)));
 
-    setupButtons(m_stabilization->saveStabilizationToRAM,m_stabilization->saveStabilizationToSD);
+    connect(this,SIGNAL(widgetContentsChanged(QWidget*)),this,SLOT(processLinkedWidgets(QWidget*)));
-
-    addUAVObject("StabilizationSettings");
-
-    refreshWidgetsValues();
-
-    // Create a timer to regularly send the object update in case
-    // we want realtime updates.
-    connect(&updateTimer, SIGNAL(timeout()), this, SLOT(updateObjectsFromWidgets()));
-    connect(m_stabilization->realTimeUpdates, SIGNAL(toggled(bool)), this, SLOT(realtimeUpdateToggle(bool)));
-
-    // Connect the updates of the stab values
-    connect(m_stabilization->rateRollKp, SIGNAL(valueChanged(double)), this, SLOT(updateRateRollKP(double)));
-    connect(m_stabilization->rateRollKi, SIGNAL(valueChanged(double)), this, SLOT(updateRateRollKI(double)));
-    connect(m_stabilization->rateRollILimit, SIGNAL(valueChanged(double)), this, SLOT(updateRateRollILimit(double)));
-
-    connect(m_stabilization->ratePitchKp, SIGNAL(valueChanged(double)), this, SLOT(updateRatePitchKP(double)));
-    connect(m_stabilization->ratePitchKi, SIGNAL(valueChanged(double)), this, SLOT(updateRatePitchKI(double)));
-    connect(m_stabilization->ratePitchILimit, SIGNAL(valueChanged(double)), this, SLOT(updateRatePitchILimit(double)));
-
-    connect(m_stabilization->rollKp, SIGNAL(valueChanged(double)), this, SLOT(updateRollKP(double)));
-    connect(m_stabilization->rollKi, SIGNAL(valueChanged(double)), this, SLOT(updateRollKI(double)));
-    connect(m_stabilization->rollILimit, SIGNAL(valueChanged(double)), this, SLOT(updateRollILimit(double)));
-
-    connect(m_stabilization->pitchKp, SIGNAL(valueChanged(double)), this, SLOT(updatePitchKP(double)));
-    connect(m_stabilization->pitchKi, SIGNAL(valueChanged(double)), this, SLOT(updatePitchKI(double)));
-    connect(m_stabilization->pitchILimit, SIGNAL(valueChanged(double)), this, SLOT(updatePitchILimit(double)));
-
-    // Connect the help button
-    connect(m_stabilization->stabilizationHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
-    addWidget(m_stabilization->rateRollKp);
-    addWidget(m_stabilization->rateRollKi);
-    addWidget(m_stabilization->rateRollILimit);
-    addWidget(m_stabilization->ratePitchKp);
-    addWidget(m_stabilization->ratePitchKi);
-    addWidget(m_stabilization->ratePitchILimit);
-    addWidget(m_stabilization->rateYawKp);
-    addWidget(m_stabilization->rateYawKi);
-    addWidget(m_stabilization->rateYawILimit);
-    addWidget(m_stabilization->rollKp);
-    addWidget(m_stabilization->rollKi);
-    addWidget(m_stabilization->rollILimit);
-    addWidget(m_stabilization->yawILimit);
-    addWidget(m_stabilization->yawKi);
-    addWidget(m_stabilization->yawKp);
-    addWidget(m_stabilization->pitchKp);
-    addWidget(m_stabilization->pitchKi);
-    addWidget(m_stabilization->pitchILimit);
-    addWidget(m_stabilization->rollMax);
-    addWidget(m_stabilization->pitchMax);
-    addWidget(m_stabilization->yawMax);
-    addWidget(m_stabilization->manualRoll);
-    addWidget(m_stabilization->manualPitch);
-    addWidget(m_stabilization->manualYaw);
-    addWidget(m_stabilization->maximumRoll);
-    addWidget(m_stabilization->maximumPitch);
-    addWidget(m_stabilization->maximumYaw);
-    addWidget(m_stabilization->lowThrottleZeroIntegral);
-
 }
 
+
 ConfigStabilizationWidget::~ConfigStabilizationWidget()
 {
-   // Do nothing
+    // Do nothing
 }
 
-void ConfigStabilizationWidget::updateRateRollKP(double val)
+void ConfigStabilizationWidget::realtimeUpdatesSlot(int value)
 {
-    if (m_stabilization->linkRateRP->isChecked()) {
+    m_stabilization->realTimeUpdates_6->setCheckState((Qt::CheckState)value);
-        m_stabilization->ratePitchKp->setValue(val);
+    m_stabilization->realTimeUpdates_7->setCheckState((Qt::CheckState)value);
+    if(value==Qt::Checked && !realtimeUpdates->isActive())
+        realtimeUpdates->start(300);
+    else if(value==Qt::Unchecked)
+        realtimeUpdates->stop();
+}
+
+void ConfigStabilizationWidget::linkCheckBoxes(int value)
+{
+    if(sender()== m_stabilization->checkBox_7)
+        m_stabilization->checkBox_3->setCheckState((Qt::CheckState)value);
+    else if(sender()== m_stabilization->checkBox_3)
+        m_stabilization->checkBox_7->setCheckState((Qt::CheckState)value);
+    else if(sender()== m_stabilization->checkBox_8)
+        m_stabilization->checkBox_2->setCheckState((Qt::CheckState)value);
+    else if(sender()== m_stabilization->checkBox_2)
+        m_stabilization->checkBox_8->setCheckState((Qt::CheckState)value);
+}
+
+void ConfigStabilizationWidget::processLinkedWidgets(QWidget * widget)
+{
+    if(m_stabilization->checkBox_7->checkState()==Qt::Checked)
+    {
+        if(widget== m_stabilization->RateRollKp_2)
+        {
+            m_stabilization->RatePitchKp->setValue(m_stabilization->RateRollKp_2->value());
+        }
+        else if(widget== m_stabilization->RateRollKi_2)
+        {
+            m_stabilization->RatePitchKi->setValue(m_stabilization->RateRollKi_2->value());
+        }
+        else if(widget== m_stabilization->RateRollILimit_2)
+        {
+            m_stabilization->RatePitchILimit->setValue(m_stabilization->RateRollILimit_2->value());
+        }
+        else if(widget== m_stabilization->RatePitchKp)
+        {
+            m_stabilization->RateRollKp_2->setValue(m_stabilization->RatePitchKp->value());
+        }
+        else if(widget== m_stabilization->RatePitchKi)
+        {
+            m_stabilization->RateRollKi_2->setValue(m_stabilization->RatePitchKi->value());
+        }
+        else if(widget== m_stabilization->RatePitchILimit)
+        {
+            m_stabilization->RateRollILimit_2->setValue(m_stabilization->RatePitchILimit->value());
+        }
     }
-}
+    if(m_stabilization->checkBox_8->checkState()==Qt::Checked)
-
+    {
-void ConfigStabilizationWidget::updateRateRollKI(double val)
+        if(widget== m_stabilization->AttitudeRollKp)
-{
+        {
-    if (m_stabilization->linkRateRP->isChecked()) {
+            m_stabilization->AttitudePitchKp_2->setValue(m_stabilization->AttitudeRollKp->value());
-        m_stabilization->ratePitchKi->setValue(val);
+        }
-    }
+        else if(widget== m_stabilization->AttitudeRollKi)
-}
+        {
-
+            m_stabilization->AttitudePitchKi_2->setValue(m_stabilization->AttitudeRollKi->value());
-void ConfigStabilizationWidget::updateRateRollILimit(double val)
+        }
-{
+        else if(widget== m_stabilization->AttitudeRollILimit)
-    if (m_stabilization->linkRateRP->isChecked()) {
+        {
-        m_stabilization->ratePitchILimit->setValue(val);
+            m_stabilization->AttitudePitchILimit_2->setValue(m_stabilization->AttitudeRollILimit->value());
-    }
+        }
-}
+        else if(widget== m_stabilization->AttitudePitchKp_2)
-
+        {
-void ConfigStabilizationWidget::updateRatePitchKP(double val)
+            m_stabilization->AttitudeRollKp->setValue(m_stabilization->AttitudePitchKp_2->value());
-{
+        }
-    if (m_stabilization->linkRateRP->isChecked()) {
+        else if(widget== m_stabilization->AttitudePitchKi_2)
-        m_stabilization->rateRollKp->setValue(val);
+        {
-    }
+            m_stabilization->AttitudeRollKi->setValue(m_stabilization->AttitudePitchKi_2->value());
-}
+        }
-
+        else if(widget== m_stabilization->AttitudePitchILimit_2)
-void ConfigStabilizationWidget::updateRatePitchKI(double val)
+        {
-{
+            m_stabilization->AttitudeRollILimit->setValue(m_stabilization->AttitudePitchILimit_2->value());
-    if (m_stabilization->linkRateRP->isChecked()) {
+        }
-        m_stabilization->rateRollKi->setValue(val);
-    }
-}
-
-void ConfigStabilizationWidget::updateRatePitchILimit(double val)
-{
-    if (m_stabilization->linkRateRP->isChecked()) {
-        m_stabilization->rateRollILimit->setValue(val);
-    }
-}
-
-void ConfigStabilizationWidget::updateRollKP(double val)
-{
-    if (m_stabilization->linkAttitudeRP->isChecked()) {
-        m_stabilization->pitchKp->setValue(val);
-    }
-}
-
-void ConfigStabilizationWidget::updateRollKI(double val)
-{
-    if (m_stabilization->linkAttitudeRP->isChecked()) {
-        m_stabilization->pitchKi->setValue(val);
-    }
-
-}
-
-void ConfigStabilizationWidget::updateRollILimit(double val)
-{
-    if (m_stabilization->linkAttitudeRP->isChecked()) {
-        m_stabilization->pitchILimit->setValue(val);
-    }
-}
-
-void ConfigStabilizationWidget::updatePitchKP(double val)
-{
-    if (m_stabilization->linkAttitudeRP->isChecked()) {
-        m_stabilization->rollKp->setValue(val);
-    }
-}
-
-void ConfigStabilizationWidget::updatePitchKI(double val)
-{
-    if (m_stabilization->linkAttitudeRP->isChecked()) {
-        m_stabilization->rollKi->setValue(val);
-    }
-
-}
-
-void ConfigStabilizationWidget::updatePitchILimit(double val)
-{
-    if (m_stabilization->linkAttitudeRP->isChecked()) {
-        m_stabilization->rollILimit->setValue(val);
     }
 }
 
 
-/*******************************
- * Stabilization Settings
- *****************************/
-
-/**
-  Request stabilization settings from the board
-  */
-void ConfigStabilizationWidget::refreshWidgetsValues()
-{
-    bool dirty=isDirty();
-    // Not needed anymore as this slot is only called whenever we get
-    // a signal that the object was just updated
-    // stabSettings->requestUpdate();
-    StabilizationSettings::DataFields stabData = stabSettings->getData();
-    // Now fill in all the fields, this is fairly tedious:
-    m_stabilization->rateRollKp->setValue(stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_KP]);
-    m_stabilization->rateRollKi->setValue(stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_KI]);
-    m_stabilization->rateRollILimit->setValue(stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_ILIMIT]);
-
-    m_stabilization->ratePitchKp->setValue(stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_KP]);
-    m_stabilization->ratePitchKi->setValue(stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_KI]);
-    m_stabilization->ratePitchILimit->setValue(stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_ILIMIT]);
-
-    m_stabilization->rateYawKp->setValue(stabData.YawRatePID[StabilizationSettings::YAWRATEPID_KP]);
-    m_stabilization->rateYawKi->setValue(stabData.YawRatePID[StabilizationSettings::YAWRATEPID_KI]);
-    m_stabilization->rateYawILimit->setValue(stabData.YawRatePID[StabilizationSettings::YAWRATEPID_ILIMIT]);
-
-    m_stabilization->rollKp->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_KP]);
-    m_stabilization->rollKi->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_KI]);
-    m_stabilization->rollILimit->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_ILIMIT]);
-
-    m_stabilization->pitchKp->setValue(stabData.PitchPI[StabilizationSettings::PITCHPI_KP]);
-    m_stabilization->pitchKi->setValue(stabData.PitchPI[StabilizationSettings::PITCHPI_KI]);
-    m_stabilization->pitchILimit->setValue(stabData.PitchPI[StabilizationSettings::PITCHPI_ILIMIT]);
-
-    m_stabilization->yawKp->setValue(stabData.YawPI[StabilizationSettings::YAWPI_KP]);
-    m_stabilization->yawKi->setValue(stabData.YawPI[StabilizationSettings::YAWPI_KI]);
-    m_stabilization->yawILimit->setValue(stabData.YawPI[StabilizationSettings::YAWPI_ILIMIT]);
-
-    m_stabilization->rollMax->setValue(stabData.RollMax);
-    m_stabilization->pitchMax->setValue(stabData.PitchMax);
-    m_stabilization->yawMax->setValue(stabData.YawMax);
-
-    m_stabilization->manualRoll->setValue(stabData.ManualRate[StabilizationSettings::MANUALRATE_ROLL]);
-    m_stabilization->manualPitch->setValue(stabData.ManualRate[StabilizationSettings::MANUALRATE_PITCH]);
-    m_stabilization->manualYaw->setValue(stabData.ManualRate[StabilizationSettings::MANUALRATE_YAW]);
-
-    m_stabilization->maximumRoll->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_ROLL]);
-    m_stabilization->maximumPitch->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_PITCH]);
-    m_stabilization->maximumYaw->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_YAW]);
-    m_stabilization->lowThrottleZeroIntegral->setChecked(stabData.LowThrottleZeroIntegral==StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_TRUE ? true : false);
-
-    setDirty(dirty);
-}
-
-
-/**
-  Send telemetry settings to the board
-  */
-
-void ConfigStabilizationWidget::updateObjectsFromWidgets()
-{
-    StabilizationSettings::DataFields stabData = stabSettings->getData();
-
-    stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_KP] = m_stabilization->rateRollKp->value();
-    stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_KI] = m_stabilization->rateRollKi->value();
-    stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_ILIMIT] = m_stabilization->rateRollILimit->value();
-
-    stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_KP] = m_stabilization->ratePitchKp->value();
-    stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_KI] = m_stabilization->ratePitchKi->value();
-    stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_ILIMIT] = m_stabilization->ratePitchILimit->value();
-
-    stabData.YawRatePID[StabilizationSettings::YAWRATEPID_KP] = m_stabilization->rateYawKp->value();
-    stabData.YawRatePID[StabilizationSettings::YAWRATEPID_KI] = m_stabilization->rateYawKi->value();
-    stabData.YawRatePID[StabilizationSettings::YAWRATEPID_ILIMIT] = m_stabilization->rateYawILimit->value();
-
-    stabData.RollPI[StabilizationSettings::ROLLPI_KP] = m_stabilization->rollKp->value();
-    stabData.RollPI[StabilizationSettings::ROLLPI_KI] = m_stabilization->rollKi->value();
-    stabData.RollPI[StabilizationSettings::ROLLPI_ILIMIT] = m_stabilization->rollILimit->value();
-
-    stabData.PitchPI[StabilizationSettings::PITCHPI_KP] = m_stabilization->pitchKp->value();
-    stabData.PitchPI[StabilizationSettings::PITCHPI_KI] = m_stabilization->pitchKi->value();
-    stabData.PitchPI[StabilizationSettings::PITCHPI_ILIMIT] = m_stabilization->pitchILimit->value();
-
-    stabData.YawPI[StabilizationSettings::YAWPI_KP] = m_stabilization->yawKp->value();
-    stabData.YawPI[StabilizationSettings::YAWPI_KI] = m_stabilization->yawKi->value();
-    stabData.YawPI[StabilizationSettings::YAWPI_ILIMIT] = m_stabilization->yawILimit->value();
-
-    stabData.RollMax = m_stabilization->rollMax->value();
-    stabData.PitchMax = m_stabilization->pitchMax->value();
-    stabData.YawMax = m_stabilization->yawMax->value();
-
-    stabData.ManualRate[StabilizationSettings::MANUALRATE_ROLL] = m_stabilization->manualRoll->value();
-    stabData.ManualRate[StabilizationSettings::MANUALRATE_PITCH] = m_stabilization->manualPitch->value();
-    stabData.ManualRate[StabilizationSettings::MANUALRATE_YAW] = m_stabilization->manualYaw->value();
-
-    stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_ROLL] = m_stabilization->maximumRoll->value();
-    stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_PITCH] = m_stabilization->maximumPitch->value();
-    stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_YAW] = m_stabilization->maximumYaw->value();
-
-    stabData.LowThrottleZeroIntegral = (m_stabilization->lowThrottleZeroIntegral->isChecked() ? StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_TRUE :StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_FALSE);
-
-
-    stabSettings->setData(stabData); // this is atomic
-}
-
-void ConfigStabilizationWidget::realtimeUpdateToggle(bool state)
-{
-    if (state) {
-        updateTimer.start(300);
-    } else {
-        updateTimer.stop();
-    }
-}
-
-void ConfigStabilizationWidget::openHelp()
-{
-
-    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Stabilization+panel", QUrl::StrictMode) );
-}
-

ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h

@@ -28,7 +28,7 @@
 #define CONFIGSTABILIZATIONWIDGET_H
 
 #include "ui_stabilization.h"
-#include "configtaskwidget.h"
+#include "../uavobjectwidgetutils/configtaskwidget.h"
 #include "extensionsystem/pluginmanager.h"
 #include "uavobjectmanager.h"
 #include "uavobject.h"
@@ -47,30 +47,11 @@ public:
 
 private:
     Ui_StabilizationWidget *m_stabilization;
-    StabilizationSettings* stabSettings;
+    QTimer * realtimeUpdates;
-    QTimer updateTimer;
-
 private slots:
-    virtual void refreshWidgetsValues();
+    void realtimeUpdatesSlot(int);
-    void updateObjectsFromWidgets();
+    void linkCheckBoxes(int value);
-    void realtimeUpdateToggle(bool);
+    void processLinkedWidgets(QWidget*);
-    void openHelp();
-
-    void updateRateRollKP(double);
-    void updateRateRollKI(double);
-    void updateRateRollILimit(double);
-
-    void updateRatePitchKP(double);
-    void updateRatePitchKI(double);
-    void updateRatePitchILimit(double);
-
-    void updateRollKP(double);
-    void updateRollKI(double);
-    void updateRollILimit(double);
-
-    void updatePitchKP(double);
-    void updatePitchKI(double);
-    void updatePitchILimit(double);
 };
 
 #endif // ConfigStabilizationWidget_H

ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp

@@ -1,365 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       configtaskwidget.cpp
- * @author     E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup ConfigPlugin Config Plugin
- * @{
- * @brief The Configuration Gadget used to update settings in the firmware
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-#include "configtaskwidget.h"
-#include <QtGui/QWidget>
-#include "uavsettingsimportexport/uavsettingsimportexportfactory.h"
-#include "configgadgetwidget.h"
-
-ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnected(false),smartsave(NULL),dirty(false)
-{
-    pm = ExtensionSystem::PluginManager::instance();
-    objManager = pm->getObject<UAVObjectManager>();
-    connect((ConfigGadgetWidget*)parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect()));
-    connect((ConfigGadgetWidget*)parent, SIGNAL(autopilotDisconnected()),this, SLOT(onAutopilotDisconnect()));
-    UAVSettingsImportExportFactory * importexportplugin =  pm->getObject<UAVSettingsImportExportFactory>();
-    connect(importexportplugin,SIGNAL(importAboutToBegin()),this,SLOT(invalidateObjects()));
-}
-void ConfigTaskWidget::addWidget(QWidget * widget)
-{
-    addUAVObjectToWidgetRelation("","",widget);
-}
-void ConfigTaskWidget::addUAVObject(QString objectName)
-{
-    addUAVObjectToWidgetRelation(objectName,"",NULL);
-}
-void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString field, QWidget * widget, QString index)
-{
-    UAVObject *obj=NULL;
-    UAVObjectField *_field=NULL;
-    obj = objManager->getObject(QString(object));
-    Q_ASSERT(obj);
-    _field = obj->getField(QString(field));
-    Q_ASSERT(_field);
-    addUAVObjectToWidgetRelation(object,field,widget,_field->getElementNames().indexOf(index));
-}
-
-void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString field, QWidget * widget, int index,int scale)
-{
-    UAVObject *obj=NULL;
-    UAVObjectField *_field=NULL;
-    if(!object.isEmpty())
-    {
-        obj = objManager->getObject(QString(object));
-        Q_ASSERT(obj);
-        objectUpdates.insert(obj,true);
-        connect(obj, SIGNAL(objectUpdated(UAVObject*)),this, SLOT(objectUpdated(UAVObject*)));
-        connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues()));
-    }
-    //smartsave->addObject(obj);
-    if(!field.isEmpty() && obj)
-        _field = obj->getField(QString(field));
-    objectToWidget * ow=new objectToWidget();
-    ow->field=_field;
-    ow->object=obj;
-    ow->widget=widget;
-    ow->index=index;
-    ow->scale=scale;
-    objOfInterest.append(ow);
-    if(obj)
-        smartsave->addObject((UAVDataObject*)obj);
-    if(widget==NULL)
-    {
-        // do nothing
-    }
-    else if(QComboBox * cb=qobject_cast<QComboBox *>(widget))
-    {
-        connect(cb,SIGNAL(currentIndexChanged(int)),this,SLOT(widgetsContentsChanged()));
-    }
-    else if(QSlider * cb=qobject_cast<QSlider *>(widget))
-    {
-        connect(cb,SIGNAL(sliderMoved(int)),this,SLOT(widgetsContentsChanged()));
-    }
-    else if(MixerCurveWidget * cb=qobject_cast<MixerCurveWidget *>(widget))
-    {
-        connect(cb,SIGNAL(curveUpdated(QList<double>,double)),this,SLOT(widgetsContentsChanged()));
-    }
-    else if(QTableWidget * cb=qobject_cast<QTableWidget *>(widget))
-    {
-        connect(cb,SIGNAL(cellChanged(int,int)),this,SLOT(widgetsContentsChanged()));
-    }
-    else if(QSpinBox * cb=qobject_cast<QSpinBox *>(widget))
-    {
-        connect(cb,SIGNAL(valueChanged(int)),this,SLOT(widgetsContentsChanged()));
-    }
-    else if(QDoubleSpinBox * cb=qobject_cast<QDoubleSpinBox *>(widget))
-    {
-        connect(cb,SIGNAL(valueChanged(double)),this,SLOT(widgetsContentsChanged()));
-    }
-    else if(QCheckBox * cb=qobject_cast<QCheckBox *>(widget))
-    {
-        connect(cb,SIGNAL(clicked()),this,SLOT(widgetsContentsChanged()));
-    }
-    else if(QPushButton * cb=qobject_cast<QPushButton *>(widget))
-    {
-        connect(cb,SIGNAL(clicked()),this,SLOT(widgetsContentsChanged()));
-    }
-
-}
-
-
-ConfigTaskWidget::~ConfigTaskWidget()
-{
-    delete smartsave;
-}
-
-void ConfigTaskWidget::saveObjectToSD(UAVObject *obj)
-{
-    qDebug()<<"ConfigTaskWidget::saveObjectToSD";
-    // saveObjectToSD is now handled by the UAVUtils plugin in one
-    // central place (and one central queue)
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
-    utilMngr->saveObjectToSD(obj);
-}
-
-
-UAVObjectManager* ConfigTaskWidget::getObjectManager() {
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
-    Q_ASSERT(objMngr);
-    return objMngr;
-}
-
-double ConfigTaskWidget::listMean(QList<double> list)
-{
-    double accum = 0;
-    for(int i = 0; i < list.size(); i++)
-        accum += list[i];
-    return accum / list.size();
-}
-
-// ************************************
-// telemetry start/stop connect/disconnect signals
-
-void ConfigTaskWidget::onAutopilotDisconnect()
-{
-    isConnected=false;
-    enableControls(false);
-    invalidateObjects();
-}
-
-void ConfigTaskWidget::onAutopilotConnect()
-{
-    invalidateObjects();
-    dirty=false;
-    isConnected=true;
-    enableControls(true);
-    refreshWidgetsValues();
-}
-
-void ConfigTaskWidget::populateWidgets()
-{
-    bool dirtyBack=dirty;
-    foreach(objectToWidget * ow,objOfInterest)
-    {
-        if(ow->object==NULL || ow->field==NULL)
-        {
-            // do nothing
-        }
-        else if(QComboBox * cb=qobject_cast<QComboBox *>(ow->widget))
-        {
-            cb->addItems(ow->field->getOptions());
-            cb->setCurrentIndex(cb->findText(ow->field->getValue(ow->index).toString()));
-        }
-        else if(QLabel * cb=qobject_cast<QLabel *>(ow->widget))
-        {
-            cb->setText(ow->field->getValue(ow->index).toString());
-        }
-        else if(QSpinBox * cb=qobject_cast<QSpinBox *>(ow->widget))
-        {
-            cb->setValue(ow->field->getValue(ow->index).toInt()/ow->scale);
-        }
-        else if(QSlider * cb=qobject_cast<QSlider *>(ow->widget))
-        {
-            cb->setValue(ow->field->getValue(ow->index).toInt()/ow->scale);
-        }
-        else if(QCheckBox * cb=qobject_cast<QCheckBox *>(ow->widget))
-        {
-            cb->setChecked(ow->field->getValue(ow->index).toBool());
-        }
-    }
-    setDirty(dirtyBack);
-}
-
-void ConfigTaskWidget::refreshWidgetsValues()
-{
-    bool dirtyBack=dirty;
-    foreach(objectToWidget * ow,objOfInterest)
-    {
-        if(ow->object==NULL || ow->field==NULL)
-        {
-            //do nothing
-        }
-        else if(QComboBox * cb=qobject_cast<QComboBox *>(ow->widget))
-        {
-            cb->setCurrentIndex(cb->findText(ow->field->getValue(ow->index).toString()));
-        }
-        else if(QLabel * cb=qobject_cast<QLabel *>(ow->widget))
-        {
-            cb->setText(ow->field->getValue(ow->index).toString());
-        }
-        else if(QSpinBox * cb=qobject_cast<QSpinBox *>(ow->widget))
-        {
-            cb->setValue(ow->field->getValue(ow->index).toInt()/ow->scale);
-        }
-        else if(QSlider * cb=qobject_cast<QSlider *>(ow->widget))
-        {
-            cb->setValue(ow->field->getValue(ow->index).toInt()/ow->scale);
-        }
-        else if(QCheckBox * cb=qobject_cast<QCheckBox *>(ow->widget))
-        {
-            cb->setChecked(ow->field->getValue(ow->index).toBool());
-        }
-    }
-    setDirty(dirtyBack);
-}
-
-void ConfigTaskWidget::updateObjectsFromWidgets()
-{
-    foreach(objectToWidget * ow,objOfInterest)
-    {
-        if(ow->object==NULL || ow->field==NULL)
-        {
-            //do nothing
-        }
-        else if(QComboBox * cb=qobject_cast<QComboBox *>(ow->widget))
-        {
-                ow->field->setValue(cb->currentText(),ow->index);
-        }
-        else if(QLabel * cb=qobject_cast<QLabel *>(ow->widget))
-        {
-            ow->field->setValue(cb->text(),ow->index);
-        }
-        else if(QSpinBox * cb=qobject_cast<QSpinBox *>(ow->widget))
-        {
-            ow->field->setValue(cb->value()* ow->scale,ow->index);
-        }
-        else if(QSlider * cb=qobject_cast<QSlider *>(ow->widget))
-        {
-            ow->field->setValue(cb->value()* ow->scale,ow->index);
-        }
-        else if(QCheckBox * cb=qobject_cast<QCheckBox *>(ow->widget))
-        {
-            ow->field->setValue((cb->isChecked()?"TRUE":"FALSE"),ow->index);
-        }
-    }
-}
-
-void ConfigTaskWidget::setupButtons(QPushButton *update, QPushButton *save)
-{
-    smartsave=new smartSaveButton(update,save);
-    connect(smartsave,SIGNAL(preProcessOperations()), this, SLOT(updateObjectsFromWidgets()));
-    connect(smartsave,SIGNAL(saveSuccessfull()),this,SLOT(clearDirty()));
-    connect(smartsave,SIGNAL(beginOp()),this,SLOT(disableObjUpdates()));
-    connect(smartsave,SIGNAL(endOp()),this,SLOT(enableObjUpdates()));
-    enableControls(false);
-}
-
-void ConfigTaskWidget::enableControls(bool enable)
-{
-    if(smartsave)
-        smartsave->enableControls(enable);
-}
-
-void ConfigTaskWidget::widgetsContentsChanged()
-{
-    setDirty(true);
-}
-
-void ConfigTaskWidget::clearDirty()
-{
-    setDirty(false);
-}
-void ConfigTaskWidget::setDirty(bool value)
-{
-    dirty=value;
-}
-bool ConfigTaskWidget::isDirty()
-{
-    if(isConnected)
-        return dirty;
-    else
-        return false;
-}
-
-void ConfigTaskWidget::refreshValues()
-{
-}
-
-void ConfigTaskWidget::disableObjUpdates()
-{
-    foreach(objectToWidget * obj,objOfInterest)
-    {
-        if(obj->object)
-            disconnect(obj->object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues()));
-    }
-}
-
-void ConfigTaskWidget::enableObjUpdates()
-{
-    foreach(objectToWidget * obj,objOfInterest)
-    {
-        if(obj->object)
-            connect(obj->object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues()));
-    }
-}
-
-void ConfigTaskWidget::objectUpdated(UAVObject *obj)
-{
-    objectUpdates[obj]=true;
-}
-
-bool ConfigTaskWidget::allObjectsUpdated()
-{
-    bool ret=true;
-    foreach(UAVObject *obj, objectUpdates.keys())
-    {
-        ret=ret & objectUpdates[obj];
-    }
-    qDebug()<<"ALL OBJECTS UPDATE:"<<ret;
-    return ret;
-}
-
-void ConfigTaskWidget::invalidateObjects()
-{
-    foreach(UAVObject *obj, objectUpdates.keys())
-    {
-        objectUpdates[obj]=false;
-    }
-}
-
-
-
-
-
-
-
-
-/**
-  @}
-  @}
-  */