mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-03-15 07:29:15 +01:00
Merge branch 'next' into thread/OP-642
This commit is contained in:
Fredrik Arvidsson
commit
88a9b4cf89
53
Makefile
53
Makefile
@ -518,6 +518,7 @@ uavobjects_clean:
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# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
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# $(2) = Name of board used in source tree (e.g. CopterControl)
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# $(3) = Short name for board (e.g CC)
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define FW_TEMPLATE
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.PHONY: $(1) fw_$(1)
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$(1): fw_$(1)_opfw
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@ -528,6 +529,8 @@ fw_$(1)_%: uavobjects_flight
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$(V1) cd $(ROOT_DIR)/flight/$(2) && \
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$$(MAKE) -r --no-print-directory \
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BOARD_NAME=$(1) \
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BOARD_SHORT_NAME=$(3) \
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BUILD_TYPE=fw \
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TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
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REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
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$$*
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@ -551,6 +554,8 @@ bl_$(1)_%:
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$(V1) cd $(ROOT_DIR)/flight/Bootloaders/$(2) && \
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$$(MAKE) -r --no-print-directory \
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BOARD_NAME=$(1) \
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BOARD_SHORT_NAME=$(3) \
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BUILD_TYPE=bl \
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TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
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REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
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$$*
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@ -585,6 +590,8 @@ bu_$(1)_%: bl_$(1)_bino
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$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
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$$(MAKE) -r --no-print-directory \
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BOARD_NAME=$(1) \
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BOARD_SHORT_NAME=$(3) \
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BUILD_TYPE=bu \
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TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
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REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
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$$*
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@ -600,11 +607,13 @@ define EF_TEMPLATE
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.PHONY: ef_$(1)
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ef_$(1): ef_$(1)_bin
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ef_$(1)_%: bl_$(1)_bin fw_$(1)_bin
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ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
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$(V1) mkdir -p $(BUILD_DIR)/ef_$(1)/dep
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$(V1) cd $(ROOT_DIR)/flight/EntireFlash && \
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$$(MAKE) -r --no-print-directory \
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BOARD_NAME=$(1) \
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BOARD_SHORT_NAME=$(3) \
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BUILD_TYPE=ef \
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TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
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DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
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$$*
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@ -615,6 +624,19 @@ ef_$(1)_clean:
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$(V1) $(RM) -fr $(BUILD_DIR)/ef_$(1)
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endef
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# When building any of the "all_*" targets, tell all sub makefiles to display
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# additional details on each line of output to describe which build and target
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# that each line applies to.
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ifneq ($(strip $(filter all_%,$(MAKECMDGOALS))),)
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export ENABLE_MSG_EXTRA := yes
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endif
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# When building more than one goal in a single make invocation, also
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# enable the extra context for each output line
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ifneq ($(word 2,$(MAKECMDGOALS)),)
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export ENABLE_MSG_EXTRA := yes
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endif
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# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
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define BOARD_PHONY_TEMPLATE
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.PHONY: all_$(1)
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@ -632,6 +654,12 @@ endef
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ALL_BOARDS := coptercontrol pipxtreme simposix
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# SimPosix only builds on Linux so drop it from the list for
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# all other platforms.
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ifneq ($(UNAME), Linux)
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ALL_BOARDS := $(filter-out simposix, $(ALL_BOARDS))
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endif
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# Friendly names of each board (used to find source tree)
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coptercontrol_friendly := CopterControl
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pipxtreme_friendly := PipXtreme
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@ -644,6 +672,13 @@ ifneq ($(UNAME), Linux)
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ALL_BOARDS := $(filter-out simposix, $(ALL_BOARDS))
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endif
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# Short hames of each board (used to display board name in parallel builds)
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coptercontrol_short := 'cc '
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pipxtreme_short := 'pipx'
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revolution_short := 'revo'
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simposix_short := 'posx'
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osd_short := 'osd '
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# Start out assuming that we'll build fw, bl and bu for all boards
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FW_BOARDS := $(ALL_BOARDS)
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BL_BOARDS := $(ALL_BOARDS)
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@ -655,6 +690,12 @@ EF_BOARDS := $(ALL_BOARDS)
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BL_BOARDS := $(filter-out ins, $(BL_BOARDS))
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BU_BOARDS := $(filter-out ins, $(BU_BOARDS))
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# SimPosix doesn't have a BL, BU or EF target so we need to
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# filter them out to prevent errors on the all_flight target.
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BL_BOARDS := $(filter-out simposix, $(BL_BOARDS))
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BU_BOARDS := $(filter-out simposix, $(BU_BOARDS))
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EF_BOARDS := $(filter-out simposix, $(EF_BOARDS))
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# Generate the targets for whatever boards are left in each list
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FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
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BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))
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@ -674,7 +715,7 @@ all_bu: $(addsuffix _opfw, $(BU_TARGETS))
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all_bu_clean: $(addsuffix _clean, $(BU_TARGETS))
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.PHONY: all_ef all_ef_clean
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all_ef: $(EF_TARGETS))
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all_ef: $(EF_TARGETS)
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all_ef_clean: $(addsuffix _clean, $(EF_TARGETS))
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.PHONY: all_flight all_flight_clean
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@ -685,16 +726,16 @@ all_flight_clean: all_fw_clean all_bl_clean all_bu_clean all_ef_clean
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$(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
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# Expand the bootloader updater rules
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$(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_friendly))))
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$(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short))))
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# Expand the firmware rules
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$(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_friendly))))
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$(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short))))
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# Expand the bootloader rules
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$(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_friendly))))
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$(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short))))
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# Expand the entire-flash rules
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$(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_friendly))))
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$(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_friendly),$($(board)_short))))
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.PHONY: sim_win32
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sim_win32: sim_win32_exe
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File diff suppressed because one or more lines are too long
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Before Width: | Height: | Size: 438 KiB After Width: | Height: | Size: 436 KiB |
@ -35,13 +35,13 @@ bin: $(OUTDIR)/$(TARGET).bin
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FW_PAD = $(shell echo $$[$(FW_BANK_BASE)-$(BL_BANK_BASE)-$(BL_BANK_SIZE)])
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$(OUTDIR)/$(TARGET).pad:
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$(V0) @echo " PADDING $@"
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$(V0) @echo $(MSG_PADDING) $@
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$(V1) dd status=noxfer if=/dev/zero count=$(FW_PAD) bs=1 2>/dev/null | tr '\000' '\377' > $@
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BL_BIN = $(TOP)/build/bl_$(BOARD_NAME)/bl_$(BOARD_NAME).bin
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FW_BIN = $(TOP)/build/fw_$(BOARD_NAME)/fw_$(BOARD_NAME).bin
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$(OUTDIR)/$(TARGET).bin: $(BL_BIN) $(FW_BIN) $(OUTDIR)/$(TARGET).pad
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$(V0) @echo " FLASH IMG $@"
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$(V0) @echo $(MSG_FLASH_IMG) $@
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$(V1) cat $(BL_BIN) $(OUTDIR)/$(TARGET).pad $(FW_BIN) > $@
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.PHONY: dfu
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@ -67,7 +67,8 @@ static xTaskHandle taskHandle;
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static float lastResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
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static float lastFilteredResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
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static float filterAccumulator[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
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// used to inform the actuator thread that actuator update rate is changed
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static uint8_t updateRateChanged = 0;
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// Private functions
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static void actuatorTask(void* parameters);
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@ -76,10 +77,12 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
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static void setFailsafe();
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static float MixerCurve(const float throttle, const float* curve, uint8_t elements);
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static bool set_channel(uint8_t mixer_channel, uint16_t value);
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static void change_update_rate();
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float ProcessMixer(const int index, const float curve1, const float curve2,
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MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
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const float period);
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static uint16_t lastChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM] = {0,0,0,0};
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//this structure is equivalent to the UAVObjects for one mixer.
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typedef struct {
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uint8_t type;
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@ -157,10 +160,9 @@ static void actuatorTask(void* parameters)
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int16_t ChannelMax[ACTUATORCOMMAND_CHANNEL_NUMELEM];
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int16_t ChannelMin[ACTUATORCOMMAND_CHANNEL_NUMELEM];
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int16_t ChannelNeutral[ACTUATORCOMMAND_CHANNEL_NUMELEM];
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uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
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ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
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PIOS_Servo_SetHz(&ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
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change_update_rate();
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float * status = (float *)&mixerStatus; //access status objects as an array of floats
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// Go to the neutral (failsafe) values until an ActuatorDesired update is received
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@ -179,6 +181,12 @@ static void actuatorTask(void* parameters)
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continue;
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}
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if(updateRateChanged!=0)
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{
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change_update_rate();
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updateRateChanged=0;
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}
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// Check how long since last update
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thisSysTime = xTaskGetTickCount();
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if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
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@ -547,10 +555,27 @@ static void setFailsafe()
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static void actuator_update_rate(UAVObjEvent * ev)
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{
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uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
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if ( ev->obj == ActuatorSettingsHandle() ) {
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ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
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PIOS_Servo_SetHz(&ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
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}
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// ActuatoSettings are not changed
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if ( ev->obj != ActuatorSettingsHandle() )
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return;
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ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
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// check if the any rate setting is changed
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if (lastChannelUpdateFreq[0]!=0 && memcmp(&lastChannelUpdateFreq[0], &ChannelUpdateFreq[0], sizeof(int16_t) * ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM) ==0)
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return;
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// signal to the actuator task that ChannelUpdateFreq are changed
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updateRateChanged = 1;
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}
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/**
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* @brief Change the update rates according to the ActuatorSettingsChannelUpdateFreq.
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*/
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static void change_update_rate()
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{
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uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
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// save the new rates
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ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
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memcpy(lastChannelUpdateFreq, ChannelUpdateFreq, sizeof(int16_t) * ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
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PIOS_Servo_SetHz(&ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
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}
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#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
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@ -331,10 +331,10 @@ int32_t PIOS_Flash_Jedec_EraseChip()
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// Keep polling when bus is busy too
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int i = 0;
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while(PIOS_Flash_Jedec_Busy() != 0) {
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#if defined(PIOS_INCLUDE_FREERTOS)
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#if defined(FLASH_FREERTOS)
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vTaskDelay(1);
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#endif
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if ((i++) % 100 == 0)
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if ((i++) % 10000 == 0)
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PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
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}
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File diff suppressed because one or more lines are too long
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Before Width: | Height: | Size: 438 KiB After Width: | Height: | Size: 436 KiB |
@ -34,7 +34,7 @@
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#include <QtCore/QList>
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#include <QtCore/QLinkedList>
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#include <QtCore/QVariant>
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#include <QTCore/QTime>
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#include <QtCore/QTime>
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#include <QtCore/QTimer>
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#include <QtCore/QObject>
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#include <QtCore/QDebug>
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@ -23,32 +23,41 @@ else
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quote =
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endif
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# Add a board designator to the terse message text
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ifeq ($(ENABLE_MSG_EXTRA),yes)
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MSG_EXTRA := [$(BUILD_TYPE)|$(BOARD_SHORT_NAME)]
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else
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MSG_BOARD :=
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endif
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# Define Messages
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# English
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MSG_FORMATERROR := ${quote} Can not handle output-format${quote}
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MSG_MODINIT := ${quote} MODINIT ${quote}
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MSG_SIZE := ${quote} SIZE ${quote}
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MSG_LOAD_FILE := ${quote} BIN/HEX ${quote}
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MSG_BIN_OBJ := ${quote} BINO ${quote}
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MSG_STRIP_FILE := ${quote} STRIP ${quote}
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MSG_EXTENDED_LISTING := ${quote} LIS ${quote}
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MSG_SYMBOL_TABLE := ${quote} NM ${quote}
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MSG_LINKING := ${quote} LD ${quote}
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MSG_COMPILING := ${quote} CC ${quote}
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MSG_COMPILING_ARM := ${quote} CC-ARM ${quote}
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MSG_COMPILINGCPP := ${quote} CXX ${quote}
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MSG_COMPILINGCPP_ARM := ${quote} CXX-ARM ${quote}
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MSG_ASSEMBLING := ${quote} AS ${quote}
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MSG_ASSEMBLING_ARM := ${quote} AS-ARM ${quote}
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MSG_CLEANING := ${quote} CLEAN ${quote}
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MSG_ASMFROMC := ${quote} AS(C) ${quote}
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MSG_ASMFROMC_ARM := ${quote} AS(C)-ARM ${quote}
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MSG_PYMITEINIT := ${quote} PY ${quote}
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MSG_INSTALLING := ${quote} INSTALL ${quote}
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MSG_OPFIRMWARE := ${quote} OPFW ${quote}
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MSG_FWINFO := ${quote} FWINFO ${quote}
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MSG_JTAG_PROGRAM := ${quote} JTAG-PGM ${quote}
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MSG_JTAG_WIPE := ${quote} JTAG-WIPE ${quote}
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MSG_FORMATERROR = ${quote} Can not handle output-format${quote}
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MSG_MODINIT = ${quote} MODINIT $(MSG_EXTRA) ${quote}
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MSG_SIZE = ${quote} SIZE $(MSG_EXTRA) ${quote}
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MSG_LOAD_FILE = ${quote} BIN/HEX $(MSG_EXTRA) ${quote}
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MSG_BIN_OBJ = ${quote} BINO $(MSG_EXTRA) ${quote}
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MSG_STRIP_FILE = ${quote} STRIP $(MSG_EXTRA) ${quote}
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MSG_EXTENDED_LISTING = ${quote} LIS $(MSG_EXTRA) ${quote}
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MSG_SYMBOL_TABLE = ${quote} NM $(MSG_EXTRA) ${quote}
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MSG_LINKING = ${quote} LD $(MSG_EXTRA) ${quote}
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MSG_COMPILING = ${quote} CC ${MSG_EXTRA} ${quote}
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MSG_COMPILING_ARM = ${quote} CC-ARM $(MSG_EXTRA) ${quote}
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MSG_COMPILINGCPP = ${quote} CXX $(MSG_EXTRA) ${quote}
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MSG_COMPILINGCPP_ARM = ${quote} CXX-ARM $(MSG_EXTRA) ${quote}
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MSG_ASSEMBLING = ${quote} AS $(MSG_EXTRA) ${quote}
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MSG_ASSEMBLING_ARM = ${quote} AS-ARM $(MSG_EXTRA) ${quote}
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MSG_CLEANING = ${quote} CLEAN $(MSG_EXTRA) ${quote}
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MSG_ASMFROMC = ${quote} AS(C) $(MSG_EXTRA) ${quote}
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MSG_ASMFROMC_ARM = ${quote} AS(C)-ARM $(MSG_EXTRA) ${quote}
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MSG_PYMITEINIT = ${quote} PY $(MSG_EXTRA) ${quote}
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MSG_INSTALLING = ${quote} INSTALL $(MSG_EXTRA) ${quote}
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MSG_OPFIRMWARE = ${quote} OPFW $(MSG_EXTRA) ${quote}
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MSG_FWINFO = ${quote} FWINFO $(MSG_EXTRA) ${quote}
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MSG_JTAG_PROGRAM = ${quote} JTAG-PGM $(MSG_EXTRA) ${quote}
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MSG_JTAG_WIPE = ${quote} JTAG-WIPE $(MSG_EXTRA) ${quote}
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MSG_PADDING = ${quote} PADDING $(MSG_EXTRA) ${quote}
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MSG_FLASH_IMG = ${quote} FLASH_IMG $(MSG_EXTRA) ${quote}
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toprel = $(subst $(realpath $(TOP))/,,$(abspath $(1)))
|
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@ -200,6 +200,8 @@ Section "Shortcuts" InSecShortcuts
|
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CreateDirectory "$SMPROGRAMS\OpenPilot"
|
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CreateShortCut "$SMPROGRAMS\OpenPilot\OpenPilot GCS.lnk" "$INSTDIR\bin\openpilotgcs.exe" \
|
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"" "$INSTDIR\bin\openpilotgcs.exe" 0 "" "" "${PRODUCT_NAME} ${PRODUCT_VERSION}. ${BUILD_DESCRIPTION}"
|
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CreateShortCut "$SMPROGRAMS\OpenPilot\OpenPilot GCS (clean configuration).lnk" "$INSTDIR\bin\openpilotgcs.exe" \
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"-clean-config" "$INSTDIR\bin\openpilotgcs.exe" 0 "" "" "${PRODUCT_NAME} ${PRODUCT_VERSION}. ${BUILD_DESCRIPTION}"
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CreateShortCut "$SMPROGRAMS\OpenPilot\OpenPilot ChangeLog.lnk" "$INSTDIR\HISTORY.txt" \
|
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"" "$INSTDIR\bin\openpilotgcs.exe" 0
|
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CreateShortCut "$SMPROGRAMS\OpenPilot\OpenPilot Website.lnk" "http://www.openpilot.org" \
|
||||
|
||||
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