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Code Issues Releases Activity

OP-33 Flight/ExampleModule: Created three example modules that can be used as templates for actual modules

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@420 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
vassilis 2010-04-02 03:26:02 +00:00 committed by vassilis
parent 0faaa1e158
commit 8ca3279aa6
16 changed files with 701 additions and 50 deletions
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10
flight/OpenPilot/Makefile
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@ -75,6 +75,8 @@ OPSETTINGS = ./Settings
OPSETTINGSINC = $(OPSETTINGS)/inc
OPTESTS = ./Tests
OPMODULEDIR = ./Modules
MODEXAMPLE = $(OPMODULEDIR)/Example
MODEXAMPLEINC = $(MODEXAMPLE)/inc
MODTELEMETRY = $(OPMODULEDIR)/Telemetry
MODTELEMETRYINC = $(MODTELEMETRY)/inc
MODGPS = $(OPMODULEDIR)/GPS
@ -105,7 +107,8 @@ DOXYGENDIR = ../Doc/Doxygen
# use file-extension c for "c-only"-files
## MODULES
SRC = $(MODTELEMETRY)/telemetry.c
SRC = $(MODEXAMPLE)/examplemodevent.c $(MODEXAMPLE)/examplemodperiodic.c $(MODEXAMPLE)/examplemodthread.c
SRC += $(MODTELEMETRY)/telemetry.c
SRC += $(MODGPS)/GPS.c $(MODGPS)/buffer.c
## OPENPILOT:
@ -125,7 +128,8 @@ SRC += $(OPUAVOBJ)/eventdispatcher.c
## UAVOBJECTS
SRC += $(OPUAVOBJ)/exampleobject.c
SRC += $(OPUAVOBJ)/exampleobject1.c
SRC += $(OPUAVOBJ)/exampleobject2.c
SRC += $(OPUAVOBJ)/examplesettings.c
## PIOS Hardware (STM32F10x)
@ -243,6 +247,8 @@ EXTRAINCDIRS += $(OPUAVOBJ)
EXTRAINCDIRS += $(OPUAVOBJINC)
EXTRAINCDIRS += $(OPSETTINGS)
EXTRAINCDIRS += $(OPSETTINGSINC)
EXTRAINCDIRS += $(MODEXAMPLE)
EXTRAINCDIRS += $(MODEXAMPLEINC)
EXTRAINCDIRS += $(MODTELEMETRY)
EXTRAINCDIRS += $(MODTELEMETRYINC)
EXTRAINCDIRS += $(MODGPS)

128
flight/OpenPilot/Modules/Example/examplemodevent.c Normal file
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@ -0,0 +1,128 @@
/**
******************************************************************************
*
* @file examplemodevent.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Example module to be used as a template for actual modules.
* Event callback version.
*
* @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 objects: ExampleObject1, ExampleSettings
* Output object: ExampleObject2
*
* This module executes in response to ExampleObject1 updates. When the
* module is triggered it will update the data of ExampleObject2.
*
* No threads are used in this example.
*
* UAVObjects are automatically generated by the UAVObjectGenerator from
* the object definition XML file.
*
* 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 "examplemodevent.h"
#include "exampleobject1.h" // object the module will listen for updates (input)
#include "exampleobject2.h" // object the module will update (output)
#include "examplesettings.h" // object holding module settings (input)
// Private constants
// Private types
// Private variables
// Private functions
void ObjectUpdatedCb(UAVObjEvent* ev);
/**
* Initialise the module, called on startup.
* \returns 0 on success or -1 if initialisation failed
*/
int32_t ExampleModEventInitialize(void)
{
// Listen for ExampleObject1 updates, connect a callback function
ExampleObject1ConnectCallback(&ObjectUpdatedCb);
return 0;
}
/**
* This function is called each time ExampleObject1 is updated, this could be
* a local update or a remote update from the GCS. In this example the module
* does not have its own thread, the callbacks are executed from within the
* event thread. Because of that the callback execution time must be kept to
* a minimum, if the callback needs to wait for I/O or other long operations
* then a thread should be used instead (see ExampleModThread.c). This is
* important since all callbacks are executed from the same thread, so other
* queued events can not be executed until the currently active callback returns.
*/
void ObjectUpdatedCb(UAVObjEvent* ev)
{
ExampleSettingsData settings;
ExampleObject1Data data1;
ExampleObject1Data data2;
int32_t step;
// Make sure that the object update is for ExampleObject1
// This is redundant in this case since this callback will
// only be called for a single object, it is however possible
// to use the same callback for multiple object updates.
if ( ev->obj == ExampleObject1Handle() )
{
// Update settings with latest value
ExampleSettingsGet(&settings);
// Get the input object
ExampleObject1Get(&data1);
// Determine how to update the output object
if ( settings.StepDirection == EXAMPLESETTINGS_STEPDIRECTION_UP )
{
step = settings.StepSize;
}
else
{
step = -settings.StepSize;
}
// Update data
data2.Field1 = data1.Field1 + step;
data2.Field2 = data1.Field2 + step;
data2.Field3 = data1.Field3 + step;
data2.Field4[0] = data1.Field4[0] + step;
data2.Field4[1] = data1.Field4[1] + step;
// Update the ExampleObject2, after this function is called
// notifications to any other modules listening to that object
// will be sent and the GCS object will be updated through the
// telemetry link. All operations will take place asynchronously
// and the following call will return immediately.
ExampleObject2Set(&data2);
}
}

124
flight/OpenPilot/Modules/Example/examplemodperiodic.c Normal file
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@ -0,0 +1,124 @@
/**
******************************************************************************
*
* @file examplemodperiodic.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Example module to be used as a template for actual modules.
* Threaded periodic version.
*
* @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: ExampleSettings
* Output object: ExampleObject1
*
* This module will periodically update the value of the ExampleObject object.
* The module settings can configure how the ExampleObject is manipulated.
*
* The module executes in its own thread in this example.
*
* UAVObjects are automatically generated by the UAVObjectGenerator from
* the object definition XML file.
*
* 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 "examplemodperiodic.h"
#include "exampleobject1.h" // object that will be updated by the module
#include "examplesettings.h" // object holding module settings
// Private constants
#define STACK_SIZE 200
#define TASK_PRIORITY (tskIDLE_PRIORITY)
// Private types
// Private variables
static xTaskHandle taskHandle;
// Private functions
static void exampleTask(void* parameters);
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t ExampleModPeriodicInitialize(void)
{
// Start main task
xTaskCreate(exampleTask, (signed char*)"ExamplePeriodic", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
return 0;
}
/**
* Module thread, should not return.
*/
void exampleTask(void* parameters)
{
ExampleSettingsData settings;
ExampleObject1Data data;
int32_t step;
// Main task loop
while (1)
{
// Update settings with latest value
ExampleSettingsGet(&settings);
// Get the object data
ExampleObject1Get(&data);
// Determine how to update the data
if ( settings.StepDirection == EXAMPLESETTINGS_STEPDIRECTION_UP )
{
step = settings.StepSize;
}
else
{
step = -settings.StepSize;
}
// Update the data
data.Field1 += step;
data.Field2 += step;
data.Field3 += step;
data.Field4[0] += step;
data.Field4[1] += step;
// Update the ExampleObject, after this function is called
// notifications to any other modules listening to that object
// will be sent and the GCS object will be updated through the
// telemetry link. All operations will take place asynchronously
// and the following call will return immediately.
ExampleObject1Set(&data);
// Since this module executes at fixed time intervals, we need to
// block the task until it is time for the next update.
// The settings field is in ms, to convert to RTOS ticks we need
// to divide by portTICK_RATE_MS.
vTaskDelay( settings.UpdatePeriod / portTICK_RATE_MS );
}
}

144
flight/OpenPilot/Modules/Example/examplemodthread.c Normal file
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@ -0,0 +1,144 @@
/**
******************************************************************************
*
* @file examplemodthread.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Example module to be used as a template for actual modules.
* Threaded version.
*
* @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 objects: ExampleObject1, ExampleSettings
* Output object: ExampleObject2
*
* This module executes in response to ExampleObject1 updates. When the
* module is triggered it will update the data of ExampleObject2.
*
* The module executes in its own thread in this example.
*
* UAVObjects are automatically generated by the UAVObjectGenerator from
* the object definition XML file.
*
* 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 "examplemodthread.h"
#include "exampleobject1.h" // object the module will listen for updates (input)
#include "exampleobject2.h" // object the module will update (output)
#include "examplesettings.h" // object holding module settings (input)
// Private constants
#define MAX_QUEUE_SIZE 20
#define STACK_SIZE 200
#define TASK_PRIORITY (tskIDLE_PRIORITY)
// Private types
// Private variables
static xQueueHandle queue;
static xTaskHandle taskHandle;
// Private functions
static void exampleTask(void* parameters);
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t ExampleModThreadInitialize(void)
{
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// Listen for ExampleObject1 updates
ExampleObject1ConnectQueue(queue);
// Start main task
xTaskCreate(exampleTask, (signed char*)"ExampleThread", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
return 0;
}
/**
* Module thread, should not return.
*/
void exampleTask(void* parameters)
{
UAVObjEvent ev;
ExampleSettingsData settings;
ExampleObject1Data data1;
ExampleObject1Data data2;
int32_t step;
// Main task loop
while (1)
{
// Check the event queue for any object updates. In this case
// we are only listening for the ExampleSettings object. However
// the module could listen to multiple objects.
// Since this object only executes on object updates, the task
// will block until an object event is pushed in the queue.
while ( xQueueReceive(queue, &ev, portMAX_DELAY) != pdTRUE );
// Make sure that the object update is for ExampleObject1
// This is redundant in this example since we have only
// registered a single object in the queue, however
// in most practical cases there will be more than one
// object connected in the queue.
if ( ev.obj == ExampleObject1Handle() )
{
// Update settings with latest value
ExampleSettingsGet(&settings);
// Get the input object
ExampleObject1Get(&data1);
// Determine how to update the output object
if ( settings.StepDirection == EXAMPLESETTINGS_STEPDIRECTION_UP )
{
step = settings.StepSize;
}
else
{
step = -settings.StepSize;
}
// Update data
data2.Field1 = data1.Field1 + step;
data2.Field2 = data1.Field2 + step;
data2.Field3 = data1.Field3 + step;
data2.Field4[0] = data1.Field4[0] + step;
data2.Field4[1] = data1.Field4[1] + step;
// Update the ExampleObject2, after this function is called
// notifications to any other modules listening to that object
// will be sent and the GCS object will be updated through the
// telemetry link. All operations will take place asynchronously
// and the following call will return immediately.
ExampleObject2Set(&data2);
}
}
}

34
flight/OpenPilot/Modules/Example/inc/examplemodevent.h Normal file
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@ -0,0 +1,34 @@
/**
******************************************************************************
*
* @file examplemodevent.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Example module to be used as a template for actual modules.
*
* @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 EXAMPLEMODEVENT_H
#define EXAMPLEMODEVENT_H
#include "openpilot.h"
int32_t ExampleModEventInitialize(void);
#endif // EXAMPLEMODEVENT_H

34
flight/OpenPilot/Modules/Example/inc/examplemodperiodic.h Normal file
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@ -0,0 +1,34 @@
/**
******************************************************************************
*
* @file examplemodperiodic.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Example module to be used as a template for actual modules.
*
* @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 EXAMPLEMODPERIODIC_H
#define EXAMPLEMODPERIODIC_H
#include "openpilot.h"
int32_t ExampleModPeriodicInitialize(void);
#endif // EXAMPLEMODPERIODIC_H

34
flight/OpenPilot/Modules/Example/inc/examplemodthread.h Normal file
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@ -0,0 +1,34 @@
/**
******************************************************************************
*
* @file examplemodthread.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Example module to be used as a template for actual modules.
*
* @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 EXAMPLEMODTHREAD_H
#define EXAMPLEMODTHREAD_H
#include "openpilot.h"
int32_t ExampleModThreadInitialize(void);
#endif // EXAMPLEMODTHREAD_H

73
flight/OpenPilot/UAVObjects/exampleobject1.c Normal file
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@ -0,0 +1,73 @@
/**
******************************************************************************
*
* @file exampleobject1.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the ExampleObject1 object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: exampleobject1.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @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 "exampleobject1.h"
// Private variables
UAVObjHandle handle;
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure
*/
int32_t ExampleObject1Initialize()
{
UAVObjMetadata metadata;
// Register object with the object manager
handle = UAVObjRegister(EXAMPLEOBJECT1_OBJID, EXAMPLEOBJECT1_NAME, 0, EXAMPLEOBJECT1_ISSINGLEINST, EXAMPLEOBJECT1_ISSETTINGS, EXAMPLEOBJECT1_NUMBYTES);
if (handle == 0) return -1;
// Initialize metadata
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryAcked = 1;
metadata.gcsTelemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.gcsTelemetryUpdatePeriod = 200;
metadata.loggingUpdateMode = UPDATEMODE_NEVER;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(handle, &metadata);
// Done
return 0;
}
/**
* Get object handle
*/
UAVObjHandle ExampleObject1Handle()
{
return handle;
}

16
flight/OpenPilot/UAVObjects/exampleobject.c → flight/OpenPilot/UAVObjects/exampleobject2.c
View File

@ -1,12 +1,12 @@
/**
******************************************************************************
*
* @file exampleobject.c
* @file exampleobject2.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the ExampleObject object. This file has been
* @brief Implementation of the ExampleObject2 object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: exampleobject.xml.
* @note Object definition file: exampleobject2.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
@ -29,7 +29,7 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "exampleobject.h"
#include "exampleobject2.h"
// Private variables
UAVObjHandle handle;
@ -39,17 +39,17 @@ UAVObjHandle handle;
* \return 0 Success
* \return -1 Failure
*/
int32_t ExampleObjectInitialize()
int32_t ExampleObject2Initialize()
{
UAVObjMetadata metadata;
// Register object with the object manager
handle = UAVObjRegister(EXAMPLEOBJECT_OBJID, EXAMPLEOBJECT_NAME, 0, EXAMPLEOBJECT_ISSINGLEINST, EXAMPLEOBJECT_ISSETTINGS, EXAMPLEOBJECT_NUMBYTES);
handle = UAVObjRegister(EXAMPLEOBJECT2_OBJID, EXAMPLEOBJECT2_NAME, 0, EXAMPLEOBJECT2_ISSINGLEINST, EXAMPLEOBJECT2_ISSETTINGS, EXAMPLEOBJECT2_NUMBYTES);
if (handle == 0) return -1;
// Initialize metadata
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = 100;
metadata.gcsTelemetryAcked = 1;
metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
@ -65,7 +65,7 @@ int32_t ExampleObjectInitialize()
/**
* Get object handle
*/
UAVObjHandle ExampleObjectGetHandle()
UAVObjHandle ExampleObject2Handle()
{
return handle;
}

2
flight/OpenPilot/UAVObjects/examplesettings.c
View File

@ -65,7 +65,7 @@ int32_t ExampleSettingsInitialize()
/**
* Get object handle
*/
UAVObjHandle ExampleSettingsGetHandle()
UAVObjHandle ExampleSettingsHandle()
{
return handle;
}

71
flight/OpenPilot/UAVObjects/inc/exampleobject1.h Normal file
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@ -0,0 +1,71 @@
/**
******************************************************************************
*
* @file exampleobject1.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the ExampleObject1 object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: exampleobject1.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @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 EXAMPLEOBJECT1_H
#define EXAMPLEOBJECT1_H
#include "openpilot.h"
// Object constants
#define EXAMPLEOBJECT1_OBJID 3852936276U
#define EXAMPLEOBJECT1_NAME "ExampleObject1"
#define EXAMPLEOBJECT1_ISSINGLEINST 0
#define EXAMPLEOBJECT1_ISSETTINGS 0
#define EXAMPLEOBJECT1_NUMBYTES sizeof(ExampleObject1Data)
// Data access macros
#define ExampleObject1Get(dataOut) UAVObjGetData(ExampleObject1Handle(), dataOut)
#define ExampleObject1Set(dataIn) UAVObjSetData(ExampleObject1Handle(), dataIn)
#define ExampleObject1ConnectQueue(queue) UAVObjConnectQueue(ExampleObject1Handle(), queue, EV_MASK_ALL_UPDATES)
#define ExampleObject1ConnectCallback(cb) UAVObjConnectCallback(ExampleObject1Handle(), cb, EV_MASK_ALL_UPDATES)
// Object data
typedef struct {
int8_t Field1;
int16_t Field2;
int32_t Field3;
float Field4[4];
uint8_t Field5;
uint16_t Field6;
uint32_t Field7;
uint8_t Field8;
} __attribute__((packed)) ExampleObject1Data;
// Enumeration types
typedef enum { EXAMPLEOBJECT1_FIELD8_OPTION1=0, EXAMPLEOBJECT1_FIELD8_OPTION2=1, } EXAMPLEOBJECT1FIELD8Enum;
// Generic interface functions
int32_t ExampleObject1Initialize();
UAVObjHandle ExampleObject1Handle();
#endif // EXAMPLEOBJECT1_H

47
flight/OpenPilot/UAVObjects/inc/exampleobject.h → flight/OpenPilot/UAVObjects/inc/exampleobject2.h
View File

@ -1,12 +1,12 @@
/**
******************************************************************************
*
* @file exampleobject.h
* @file exampleobject2.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the ExampleObject object. This file has been
* @brief Implementation of the ExampleObject2 object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: exampleobject.xml.
* @note Object definition file: exampleobject2.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
@ -29,41 +29,38 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef EXAMPLEOBJECT_H
#define EXAMPLEOBJECT_H
#ifndef EXAMPLEOBJECT2_H
#define EXAMPLEOBJECT2_H
#include "openpilot.h"
// Object constants
#define EXAMPLEOBJECT_OBJID 1785231914U
#define EXAMPLEOBJECT_NAME "ExampleObject"
#define EXAMPLEOBJECT_ISSINGLEINST 0
#define EXAMPLEOBJECT_ISSETTINGS 0
#define EXAMPLEOBJECT_NUMBYTES sizeof(ExampleObjectData)
#define EXAMPLEOBJECT2_OBJID 2743296914U
#define EXAMPLEOBJECT2_NAME "ExampleObject2"
#define EXAMPLEOBJECT2_ISSINGLEINST 0
#define EXAMPLEOBJECT2_ISSETTINGS 0
#define EXAMPLEOBJECT2_NUMBYTES sizeof(ExampleObject2Data)
// Data access macros
#define ExampleObjectGet(dataOut) UAVObjGetData(ExampleObjectGetHandle(), dataOut)
#define ExampleObjectSet(dataIn) UAVObjSetData(ExampleObjectGetHandle(), dataIn)
#define ExampleObject2Get(dataOut) UAVObjGetData(ExampleObject2Handle(), dataOut)
#define ExampleObject2Set(dataIn) UAVObjSetData(ExampleObject2Handle(), dataIn)
#define ExampleObject2ConnectQueue(queue) UAVObjConnectQueue(ExampleObject2Handle(), queue, EV_MASK_ALL_UPDATES)
#define ExampleObject2ConnectCallback(cb) UAVObjConnectCallback(ExampleObject2Handle(), cb, EV_MASK_ALL_UPDATES)
// Object data
typedef struct {
int8_t field1;
int16_t field2;
int32_t field3;
float field4[4];
uint8_t field5;
uint16_t field6;
uint32_t field7;
uint8_t field8;
int8_t Field1;
int16_t Field2;
int32_t Field3;
float Field4[4];
} __attribute__((packed)) ExampleObjectData;
} __attribute__((packed)) ExampleObject2Data;
// Enumeration types
typedef enum { EXAMPLEOBJECT_FIELD8_OPTION1=0, EXAMPLEOBJECT_FIELD8_OPTION2=1, } EXAMPLEOBJECTFIELD8Enum;
// Generic interface functions
int32_t ExampleObjectInitialize();
UAVObjHandle ExampleObjectGetHandle();
int32_t ExampleObject2Initialize();
UAVObjHandle ExampleObject2Handle();
#endif // EXAMPLEOBJECT_H
#endif // EXAMPLEOBJECT2_H

18
flight/OpenPilot/UAVObjects/inc/examplesettings.h
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@ -35,30 +35,32 @@
#include "openpilot.h"
// Object constants
#define EXAMPLESETTINGS_OBJID 3555345034U
#define EXAMPLESETTINGS_OBJID 1640607828U
#define EXAMPLESETTINGS_NAME "ExampleSettings"
#define EXAMPLESETTINGS_ISSINGLEINST 1
#define EXAMPLESETTINGS_ISSETTINGS 1
#define EXAMPLESETTINGS_NUMBYTES sizeof(ExampleSettingsData)
// Data access macros
#define ExampleSettingsGet(dataOut) UAVObjGetData(ExampleSettingsGetHandle(), dataOut)
#define ExampleSettingsSet(dataIn) UAVObjSetData(ExampleSettingsGetHandle(), dataIn)
#define ExampleSettingsGet(dataOut) UAVObjGetData(ExampleSettingsHandle(), dataOut)
#define ExampleSettingsSet(dataIn) UAVObjSetData(ExampleSettingsHandle(), dataIn)
#define ExampleSettingsConnectQueue(queue) UAVObjConnectQueue(ExampleSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
#define ExampleSettingsConnectCallback(cb) UAVObjConnectCallback(ExampleSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
// Object data
typedef struct {
int8_t setting1;
int16_t setting2;
int8_t setting3;
int32_t setting4;
int32_t UpdatePeriod;
int32_t StepSize;
uint8_t StepDirection;
} __attribute__((packed)) ExampleSettingsData;
// Enumeration types
typedef enum { EXAMPLESETTINGS_STEPDIRECTION_UP=0, EXAMPLESETTINGS_STEPDIRECTION_DOWN=1, } EXAMPLESETTINGSSTEPDIRECTIONEnum;
// Generic interface functions
int32_t ExampleSettingsInitialize();
UAVObjHandle ExampleSettingsGetHandle();
UAVObjHandle ExampleSettingsHandle();
#endif // EXAMPLESETTINGS_H

8
flight/OpenPilot/UAVObjects/inc/uavobjecttemplate.h
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@ -42,8 +42,10 @@
#define $(NAMEUC)_NUMBYTES sizeof($(NAME)Data)
// Data access macros
#define $(NAME)Get(dataOut) UAVObjGetData($(NAME)GetHandle(), dataOut)
#define $(NAME)Set(dataIn) UAVObjSetData($(NAME)GetHandle(), dataIn)
#define $(NAME)Get(dataOut) UAVObjGetData($(NAME)Handle(), dataOut)
#define $(NAME)Set(dataIn) UAVObjSetData($(NAME)Handle(), dataIn)
#define $(NAME)ConnectQueue(queue) UAVObjConnectQueue($(NAME)Handle(), queue, EV_MASK_ALL_UPDATES)
#define $(NAME)ConnectCallback(cb) UAVObjConnectCallback($(NAME)Handle(), cb, EV_MASK_ALL_UPDATES)
// Object data
typedef struct {
@ -55,6 +57,6 @@ $(DATAENUM)
// Generic interface functions
int32_t $(NAME)Initialize();
UAVObjHandle $(NAME)GetHandle();
UAVObjHandle $(NAME)Handle();
#endif // $(NAMEUC)_H

6
flight/OpenPilot/UAVObjects/uavobjectsinit.c
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@ -28,7 +28,8 @@
*/
#include "openpilot.h"
#include "exampleobject.h"
#include "exampleobject1.h"
#include "exampleobject2.h"
#include "examplesettings.h"
@ -38,7 +39,8 @@
*/
void UAVObjectsInitializeAll()
{
ExampleObjectInitialize();
ExampleObject1Initialize();
ExampleObject2Initialize();
ExampleSettingsInitialize();
}

2
flight/OpenPilot/UAVObjects/uavobjecttemplate.c
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@ -65,7 +65,7 @@ int32_t $(NAME)Initialize()
/**
* Get object handle
*/
UAVObjHandle $(NAME)GetHandle()
UAVObjHandle $(NAME)Handle()
{
return handle;
}