rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-20 10:54:14 +01:00
Code Issues Releases Activity

Merge remote branch 'origin/corvuscorax/sanity_additions' into corvus/directory_and_sanity

Browse Source 
Conflicts:
	flight/Modules/FirmwareIAP/firmwareiap.c
	flight/Modules/ManualControl/manualcontrol.c
	flight/targets/SimPosix/Makefile
	shared/uavobjectdefinition/systemalarms.xml
This commit is contained in:
Corvus Corax 2013-02-03 14:57:54 +01:00
commit 7642f44cad
22 changed files with 654 additions and 54 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

34
flight/Libraries/inc/sanitycheck.h Normal file
View File

@ -0,0 +1,34 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
* @file sanitycheck.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Utilities to validate a flight configuration
* @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 SANITYCHECK_H
#define SANITYCHECK_H
extern int32_t configuration_check();
#endif /* SANITYCHECK_H */

1
flight/Libraries/inc/taskmonitor.h
View File

@ -33,6 +33,7 @@
int32_t TaskMonitorInitialize(void);
int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle);
int32_t TaskMonitorRemove(TaskInfoRunningElem task);
bool TaskMonitorQueryRunning(TaskInfoRunningElem task);
void TaskMonitorUpdateAll(void);
#endif // TASKMONITOR_H

189
flight/Libraries/sanitycheck.c Normal file
View File

@ -0,0 +1,189 @@
/**
******************************************************************************
* @addtogroup OpenPilot System OpenPilot System
* @{
* @addtogroup OpenPilot Libraries OpenPilot System Libraries
* @{
* @file sanitycheck.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Utilities to validate a flight configuration
* @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 "taskmonitor.h"
#include <pios_board_info.h>
#include "sanitycheck.h"
#include "manualcontrolsettings.h"
#include "systemalarms.h"
#include "systemsettings.h"
/****************************
* Current checks:
* 1. If a flight mode switch allows autotune and autotune module not running
* 2. If airframe is a multirotor and either manual is available or a stabilization mode uses "none"
****************************/
//! Check a stabilization mode switch position for safety
static int32_t check_stabilization_settings(int index, bool multirotor);
/**
* Run a preflight check over the hardware configuration
* and currently active modules
*/
int32_t configuration_check()
{
int32_t status = SYSTEMALARMS_ALARM_OK;
// Get board type
const struct pios_board_info * bdinfo = &pios_board_info_blob;
bool coptercontrol = bdinfo->board_type == 0x04;
// Classify airframe type
bool multirotor = true;
uint8_t airframe_type;
SystemSettingsAirframeTypeGet(&airframe_type);
switch(airframe_type) {
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADX:
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX:
case SYSTEMSETTINGS_AIRFRAMETYPE_TRI:
multirotor = true;
break;
default:
multirotor = false;
}
// For each available flight mode position sanity check the available
// modes
uint8_t num_modes;
uint8_t modes[MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_NUMELEM];
ManualControlSettingsFlightModeNumberGet(&num_modes);
ManualControlSettingsFlightModePositionGet(modes);
for(uint32_t i = 0; i < num_modes; i++) {
switch(modes[i]) {
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL:
if (multirotor)
status = SYSTEMALARMS_ALARM_ERROR;
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1:
status = (status == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(1, multirotor) : status;
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2:
status = (status == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(2, multirotor) : status;
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3:
status = (status == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(3, multirotor) : status;
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_AUTOTUNE:
if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_AUTOTUNE))
status = SYSTEMALARMS_ALARM_ERROR;
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD:
if (coptercontrol)
status = SYSTEMALARMS_ALARM_ERROR;
else {
// Revo supports altitude hold
if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_ALTITUDEHOLD))
status = SYSTEMALARMS_ALARM_ERROR;
}
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL:
if (coptercontrol)
status = SYSTEMALARMS_ALARM_ERROR;
else {
// Revo supports altitude hold
if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER))
status = SYSTEMALARMS_ALARM_ERROR;
}
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
if (coptercontrol)
status = SYSTEMALARMS_ALARM_ERROR;
else {
// Revo supports altitude hold
if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER))
status = SYSTEMALARMS_ALARM_ERROR;
}
break;
default:
// Uncovered modes are automatically an error
status = SYSTEMALARMS_ALARM_ERROR;
}
}
// TODO: Check on a multirotor no axis supports "None"
if(status != SYSTEMALARMS_ALARM_OK)
AlarmsSet(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION, status);
else
AlarmsClear(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION);
return 0;
}
/**
* Checks the stabiliation settings for a paritcular mode and makes
* sure it is appropriate for the airframe
* @param[in] index Which stabilization mode to check
* @returns SYSTEMALARMS_ALARM_OK or SYSTEMALARMS_ALARM_ERROR
*/
static int32_t check_stabilization_settings(int index, bool multirotor)
{
// Make sure the modes have identical sizes
if (MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM != MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NUMELEM ||
MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM != MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NUMELEM)
return SYSTEMALARMS_ALARM_ERROR;
uint8_t modes[MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM];
// Get the different axis modes for this switch position
switch(index) {
case 1:
ManualControlSettingsStabilization1SettingsGet(modes);
break;
case 2:
ManualControlSettingsStabilization2SettingsGet(modes);
break;
case 3:
ManualControlSettingsStabilization3SettingsGet(modes);
break;
default:
return SYSTEMALARMS_ALARM_ERROR;
}
// For multirotors verify that nothing is set to "none"
if (multirotor) {
for(uint32_t i = 0; i < NELEMENTS(modes); i++) {
if (modes[i] == MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE)
return SYSTEMALARMS_ALARM_ERROR;
}
}
// Warning: This assumes that certain conditions in the XML file are met. That
// MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE has the same numeric value for each channel
// and is the same for STABILIZATIONDESIRED_STABILIZATIONMODE_NONE
return SYSTEMALARMS_ALARM_OK;
}

10
flight/Libraries/taskmonitor.c
View File

@ -89,6 +89,16 @@ int32_t TaskMonitorRemove(TaskInfoRunningElem task)
}
}
/**
* Query if a task is running
*/
bool TaskMonitorQueryRunning(TaskInfoRunningElem task)
{
if (task < TASKINFO_RUNNING_NUMELEM && handles[task] != 0)
return true;
return false;
}
/**
* Update the status of all tasks
*/

22
flight/Modules/ManualControl/manualcontrol.c
View File

@ -40,6 +40,7 @@
#include "baroaltitude.h"
#include "flighttelemetrystats.h"
#include "flightstatus.h"
#include "sanitycheck.h"
#include "manualcontrol.h"
#include "manualcontrolsettings.h"
#include "manualcontrolcommand.h"
@ -48,6 +49,7 @@
#include "stabilizationsettings.h"
#include "stabilizationdesired.h"
#include "receiveractivity.h"
#include "systemsettings.h"
#if defined(PIOS_INCLUDE_USB_RCTX)
#include "pios_usb_rctx.h"
@ -96,6 +98,7 @@ static void updatePathDesired(ManualControlCommandData * cmd, bool changed, bool
static void processFlightMode(ManualControlSettingsData * settings, float flightMode);
static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
static void setArmedIfChanged(uint8_t val);
static void configurationUpdatedCb(UAVObjEvent * ev);
static void manualControlTask(void *parameters);
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral);
@ -174,6 +177,15 @@ static void manualControlTask(void *parameters)
AccessoryDesiredCreateInstance();
AccessoryDesiredCreateInstance();
// Run this initially to make sure the configuration is checked
configuration_check();
// Whenever the configuration changes, make sure it is safe to fly
SystemSettingsConnectCallback(configurationUpdatedCb);
ManualControlSettingsConnectCallback(configurationUpdatedCb);
// Whenever the configuration changes, make sure it is safe to fly
// Make sure unarmed on power up
ManualControlCommandGet(&cmd);
FlightStatusGet(&flightStatus);
@ -1073,6 +1085,16 @@ static void applyLPF(float *value, ManualControlSettingsResponseTimeElem channel
}
#endif // USE_INPUT_LPF
/**
* Called whenever a critical configuration component changes
*/
static void configurationUpdatedCb(UAVObjEvent * ev)
{
configuration_check();
}
/**
* @}
* @}

13
flight/Modules/System/systemmod.c
View File

@ -48,6 +48,7 @@
#include "taskinfo.h"
#include "watchdogstatus.h"
#include "taskmonitor.h"
#include "hwsettings.h"
//#define DEBUG_THIS_FILE
@ -87,6 +88,7 @@ static bool mallocFailed;
// Private functions
static void objectUpdatedCb(UAVObjEvent * ev);
static void hwSettingsUpdatedCb(UAVObjEvent * ev);
static void updateStats();
static void updateSystemAlarms();
static void systemTask(void *parameters);
@ -169,6 +171,9 @@ static void systemTask(void *parameters)
// Listen for SettingPersistance object updates, connect a callback function
ObjectPersistenceConnectQueue(objectPersistenceQueue);
// Whenever the configuration changes, make sure it is safe to fly
HwSettingsConnectCallback(hwSettingsUpdatedCb);
// Main system loop
while (1) {
// Update the system statistics
@ -318,6 +323,14 @@ static void objectUpdatedCb(UAVObjEvent * ev)
}
}
/**
* Called whenever hardware settings changed
*/
static void hwSettingsUpdatedCb(UAVObjEvent * ev)
{
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT,SYSTEMALARMS_ALARM_ERROR);
}
/**
* Called periodically to update the I2C statistics
*/

46
flight/PiOS.posix/inc/pios_bl_helper.h Normal file
View File

@ -0,0 +1,46 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_BOOTLOADER Functions
* @brief HAL code to interface to the OpenPilot AHRS module
* @{
*
* @file pios_bl_helper.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Bootloader Helper Functions
* @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 PIOS_BL_HELPER_H_
#define PIOS_BL_HELPER_H_
extern uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress);
extern uint8_t PIOS_BL_HELPER_FLASH_Ini();
extern uint32_t PIOS_BL_HELPER_CRC_Memory_Calc();
extern void PIOS_BL_HELPER_FLASH_Read_Description(uint8_t * array, uint8_t size);
extern uint8_t PIOS_BL_HELPER_FLASH_Start();
extern void PIOS_BL_HELPER_CRC_Ini();
#endif /* PIOS_BL_HELPER_H_ */

24
flight/PiOS.posix/inc/pios_board_info.h Normal file
View File

@ -0,0 +1,24 @@
#ifndef PIOS_BOARD_INFO_H
#define PIOS_BOARD_INFO_H
#include <stdint.h> /* uint* */
#define PIOS_BOARD_INFO_BLOB_MAGIC 0xBDBDBDBD
struct pios_board_info {
uint32_t magic;
uint8_t board_type;
uint8_t board_rev;
uint8_t bl_rev;
uint8_t hw_type;
uint32_t fw_base;
uint32_t fw_size;
uint32_t desc_base;
uint32_t desc_size;
uint32_t ee_base;
uint32_t ee_size;
} __attribute__((packed));
extern const struct pios_board_info pios_board_info_blob;
#endif /* PIOS_BOARD_INFO_H */

45
flight/PiOS.posix/inc/pios_iap.h Normal file
View File

@ -0,0 +1,45 @@
/*!
* @File iap.h
* @Brief Header file for the In-Application-Programming Module
*
* Created on: Sep 6, 2010
* Author: joe
*/
#ifndef PIOS_IAP_H_
#define PIOS_IAP_H_
/****************************************************************************************
* Header files
****************************************************************************************/
/*****************************************************************************************
* Public Definitions/Macros
****************************************************************************************/
#if defined(STM32F4XX)
#define MAGIC_REG_1 RTC_BKP_DR1
#define MAGIC_REG_2 RTC_BKP_DR2
#define IAP_BOOTCOUNT RTC_BKP_DR3
#else
#define MAGIC_REG_1 BKP_DR1
#define MAGIC_REG_2 BKP_DR2
#define IAP_BOOTCOUNT BKP_DR3
#endif
/****************************************************************************************
* Public Functions
****************************************************************************************/
void PIOS_IAP_Init(void);
uint32_t PIOS_IAP_CheckRequest( void );
void PIOS_IAP_SetRequest1(void);
void PIOS_IAP_SetRequest2(void);
void PIOS_IAP_ClearRequest(void);
uint16_t PIOS_IAP_ReadBootCount(void);
void PIOS_IAP_WriteBootCount(uint16_t);
/****************************************************************************************
* Public Data
****************************************************************************************/
#endif /* PIOS_IAP_H_ */

85
flight/PiOS.posix/inc/pios_sys.h
View File

@ -1,35 +1,50 @@
/**
******************************************************************************
*
* @file pios_sys.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief System and hardware Init functions header.
* @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 PIOS_SYS_H
#define PIOS_SYS_H
/* Public Functions */
extern void PIOS_SYS_Init(void);
extern int32_t PIOS_SYS_Reset(void);
extern int32_t PIOS_SYS_SerialNumberGet(char *str);
#endif /* PIOS_SYS_H */
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_SYS System Functions
* @brief PIOS System Initialization code
* @{
*
* @file pios_sys.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief System and hardware Init functions header.
* @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 PIOS_SYS_H
#define PIOS_SYS_H
#define PIOS_SYS_SERIAL_NUM_BINARY_LEN 12
#define PIOS_SYS_SERIAL_NUM_ASCII_LEN (PIOS_SYS_SERIAL_NUM_BINARY_LEN * 2)
/* Public Functions */
extern void PIOS_SYS_Init(void);
extern int32_t PIOS_SYS_Reset(void);
extern uint32_t PIOS_SYS_getCPUFlashSize(void);
extern int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t array[PIOS_SYS_SERIAL_NUM_BINARY_LEN]);
extern int32_t PIOS_SYS_SerialNumberGet(char str[PIOS_SYS_SERIAL_NUM_ASCII_LEN+1]);
#endif /* PIOS_SYS_H */
/**
* @}
* @}
*/

7
flight/PiOS.posix/pios.h
View File

@ -68,6 +68,13 @@
#include <pios_crc.h>
#include <pios_rcvr.h>
#if defined(PIOS_INCLUDE_IAP)
#include <pios_iap.h>
#endif
#if defined(PIOS_INCLUDE_BL_HELPER)
#include <pios_bl_helper.h>
#endif
#define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
#endif /* PIOS_H */

53
flight/PiOS.posix/posix/pios_bl_helper.c Normal file
View File

@ -0,0 +1,53 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_BOOTLOADER Functions
* @brief HAL code to interface to the OpenPilot AHRS module
* @{
*
* @file pios_bl_helper.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Bootloader Helper Functions
* @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
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_BL_HELPER)
#include <pios_board_info.h>
uint32_t PIOS_BL_HELPER_CRC_Memory_Calc()
{
return 0;
}
extern const struct fw_version_info fw_version_blob;
void PIOS_BL_HELPER_FLASH_Read_Description(uint8_t * array, uint8_t size)
{
uint8_t * desc = (uint8_t *) &fw_version_blob;
for (uint32_t i = 0; i < size; i++) {
array[i] = desc[i];
}
}
void PIOS_BL_HELPER_CRC_Ini()
{
}
#endif

20
flight/PiOS.posix/posix/pios_board_info.c Normal file
View File

@ -0,0 +1,20 @@
#include <pios.h>
#include <pios_board.h>
#include "pios_board_info.h"
const struct pios_board_info pios_board_info_blob = {
.magic = PIOS_BOARD_INFO_BLOB_MAGIC,
.board_type = BOARD_TYPE,
.board_rev = BOARD_REVISION,
.bl_rev = BOOTLOADER_VERSION,
.hw_type = HW_TYPE,
.fw_base = FW_BANK_BASE,
.fw_size = FW_BANK_SIZE - FW_DESC_SIZE,
.desc_base = FW_BANK_BASE + FW_BANK_SIZE - FW_DESC_SIZE,
.desc_size = FW_DESC_SIZE,
#ifdef EE_BANK_BASE
.ee_base = EE_BANK_BASE,
.ee_size = EE_BANK_SIZE,
#endif
};

69
flight/PiOS.posix/posix/pios_iap.c Normal file
View File

@ -0,0 +1,69 @@
/*!
* @File iap.c
* @Brief
*
* Created on: Sep 6, 2010
* Author: joe
*/
/****************************************************************************************
* Header files
****************************************************************************************/
#include <pios.h>
/*!
* \brief PIOS_IAP_Init - performs required initializations for iap module.
* \param none.
* \return none.
* \retval none.
*
* Created: Sep 8, 2010 10:10:48 PM by joe
*/
void PIOS_IAP_Init( void )
{
}
/*!
* \brief Determines if an In-Application-Programming request has been made.
* \param *comm - Which communication stream to use for the IAP (USB, Telemetry, I2C, SPI, etc)
* \return TRUE - if correct sequence found, along with 'comm' updated.
* FALSE - Note that 'comm' will have an invalid comm identifier.
* \retval
*
*/
uint32_t PIOS_IAP_CheckRequest( void )
{
return false;
}
/*!
* \brief Sets the 1st word of the request sequence.
* \param n/a
* \return n/a
* \retval
*/
void PIOS_IAP_SetRequest1(void)
{
}
void PIOS_IAP_SetRequest2(void)
{
}
void PIOS_IAP_ClearRequest(void)
{
}
uint16_t PIOS_IAP_ReadBootCount(void)
{
return 0;
}
void PIOS_IAP_WriteBootCount (uint16_t boot_count)
{
}

32
flight/PiOS.posix/posix/pios_sys.c
View File

@ -110,6 +110,23 @@ int32_t PIOS_SYS_Reset(void)
return -1;
}
/**
* Returns the serial number as a string
* param[out] uint8_t pointer to a string which can store at least 12 bytes
* (12 bytes returned for STM32)
* return < 0 if feature not supported
*/
int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array)
{
/* Stored in the so called "electronic signature" */
for (int i = 0; i < PIOS_SYS_SERIAL_NUM_BINARY_LEN; ++i) {
array[i] = 0xff;
}
/* No error */
return 0;
}
/**
* Returns the serial number as a string
* param[out] str pointer to a string which can store at least 32 digits + zero terminator!
@ -118,19 +135,12 @@ int32_t PIOS_SYS_Reset(void)
*/
int32_t PIOS_SYS_SerialNumberGet(char *str)
{
int i;
/* Stored in the so called "electronic signature" */
for(i=0; i<24; ++i) {
//uint8_t b = MEM8(0x1ffff7e8 + (i/2));
//if( !(i & 1) )
//b >>= 4;
//b &= 0x0f;
//str[i] = ((b > 9) ? ('A'-10) : '0') + b;
str[i]='6';
int i;
for (i = 0; i < PIOS_SYS_SERIAL_NUM_ASCII_LEN; ++i) {
str[i] = 'F';
}
str[i] = 0;
str[i] = '\0';
/* No error */
return 0;

1
flight/targets/CopterControl/Makefile
View File

@ -268,6 +268,7 @@ SRC += $(PIOSCOMMON)/printf-stdarg.c
SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(FLIGHTLIB)/CoordinateConversions.c
SRC += $(FLIGHTLIB)/taskmonitor.c
SRC += $(FLIGHTLIB)/sanitycheck.c
SRC += $(MATHLIB)/sin_lookup.c
SRC += $(MATHLIB)/pid.c

1
flight/targets/RevoMini/Makefile
View File

@ -134,6 +134,7 @@ SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(FLIGHTLIB)/WorldMagModel.c
SRC += $(FLIGHTLIB)/insgps13state.c
SRC += $(FLIGHTLIB)/taskmonitor.c
SRC += $(FLIGHTLIB)/sanitycheck.c
SRC += $(MATHLIB)/sin_lookup.c
SRC += $(MATHLIB)/pid.c

1
flight/targets/Revolution/Makefile
View File

@ -155,6 +155,7 @@ SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(FLIGHTLIB)/WorldMagModel.c
SRC += $(FLIGHTLIB)/insgps13state.c
SRC += $(FLIGHTLIB)/taskmonitor.c
SRC += $(FLIGHTLIB)/sanitycheck.c
SRC += $(MATHLIB)/sin_lookup.c
SRC += $(MATHLIB)/pid.c

19
flight/targets/SimPosix/Makefile
View File

@ -58,6 +58,7 @@ MODULES += FixedWingPathFollower
MODULES += VtolPathFollower
MODULES += CameraStab
MODULES += Telemetry
MODULES += FirmwareIAP
#MODULES += OveroSync
PYMODULES =
#FlightPlan
@ -137,6 +138,7 @@ SRC += $(FLIGHTLIB)/WorldMagModel.c
SRC += $(FLIGHTLIB)/insgps13state.c
SRC += $(FLIGHTLIB)/taskmonitor.c
SRC += $(FLIGHTLIB)/paths.c
SRC += $(FLIGHTLIB)/sanitycheck.c
SRC += $(MATHLIB)/sin_lookup.c
SRC += $(MATHLIB)/pid.c
@ -246,6 +248,19 @@ EXTRA_LIBS =
# 0 = turn off optimization. s = optimize for size.
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
# Since we are simulating all this firmware the code needs to know what the BL would
# normally contain
CFLAGS += $(BLONLY_CDEFS)
ifeq ($(DEBUG),YES)
CFLAGS += -O0
CFLAGS += -DGENERAL_COV
@ -374,7 +389,7 @@ ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
# Define all object files.
ALLOBJ = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
ALLOBJ = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE) uavobjectsinit.o.firmwareinfo ))
# Define all listing files (used for make clean).
LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
@ -430,6 +445,8 @@ $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/uavobjectsinit.o,$(BOARD_TYPE),$(BOARD_REVISION)))
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))

2
flight/targets/SimPosix/System/inc/pios_config.h
View File

@ -84,6 +84,8 @@
#define PIOS_INCLUDE_PPM
#define PIOS_INCLUDE_PWM
//#define PIOS_INCLUDE_GCSRCVR
#define PIOS_INCLUDE_IAP
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_SETTINGS
#define PIOS_INCLUDE_FLASH

10
make/boards/simposix/board-info.mk
View File

@ -13,12 +13,12 @@ OPENOCD_JTAG_CONFIG :=
OPENOCD_CONFIG :=
# Note: These must match the values in link_$(BOARD)_memory.ld
#BL_BANK_BASE := 0x08000000 # Start of bootloader flash
#BL_BANK_SIZE := 0x00008000 # Should include BD_INFO region
#FW_BANK_BASE := 0x08008000 # Start of firmware flash
#FW_BANK_SIZE := 0x00038000 # Should include FW_DESC_SIZE
BL_BANK_BASE := 0x08000000 # Start of bootloader flash
BL_BANK_SIZE := 0x00008000 # Should include BD_INFO region
FW_BANK_BASE := 0x08008000 # Start of firmware flash
FW_BANK_SIZE := 0x00038000 # Should include FW_DESC_SIZE
#FW_DESC_SIZE := 0x00000064
FW_DESC_SIZE := 0x00000064
OSCILLATOR_FREQ := 8000000
SYSCLK_FREQ := 168000000

24
shared/uavobjectdefinition/systemalarms.xml
View File

@ -1,8 +1,28 @@
<xml>
<object name="SystemAlarms" singleinstance="true" settings="false">
<description>Alarms from OpenPilot to indicate failure conditions or warnings. Set by various modules.</description>
<field name="Alarm" units="" type="enum" options="Uninitialised,OK,Warning,Error,Critical"
elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,Telemetry,ManualControl,Actuator,Attitude,Sensors,Stabilization,Guidance,Battery,FlightTime,I2C,GPS,BootFault,Power" defaultvalue="Uninitialised"/>
<field name="Alarm" units="" type="enum" options="Uninitialised,OK,Warning,Error,Critical" defaultvalue="Uninitialised">
<elementnames>
<elementname>OutOfMemory</elementname>
<elementname>StackOverflow</elementname>
<elementname>CPUOverload</elementname>
<elementname>SystemConfiguration</elementname>
<elementname>EventSystem</elementname>
<elementname>Telemetry</elementname>
<elementname>ManualControl</elementname>
<elementname>Actuator</elementname>
<elementname>Attitude</elementname>
<elementname>Sensors</elementname>
<elementname>Stabilization</elementname>
<elementname>Guidance</elementname>
<elementname>Battery</elementname>
<elementname>FlightTime</elementname>
<elementname>I2C</elementname>
<elementname>GPS</elementname>
<elementname>BootFault</elementname>
<elementname>Power</elementname>
</elementnames>
</field>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>