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OP-265 CopterControl: Fork main OpenPilot directory

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2416 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2011-01-14 01:38:24 +00:00 committed by peabody124
parent fc54159369
commit 940792db5c
14 changed files with 200 additions and 144 deletions
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180
.gitignore vendored
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@ -67,94 +67,94 @@
#ignore autogenerated files - they should really go into special dirs to be ignored more easy #ignore autogenerated files - they should really go into special dirs to be ignored more easy
flight/OpenPilot/UAVObjects/actuatorcommand.c flight/UAVObjects/actuatorcommand.c
flight/OpenPilot/UAVObjects/actuatordesired.c flight/UAVObjects/actuatordesired.c
flight/OpenPilot/UAVObjects/actuatorsettings.c flight/UAVObjects/actuatorsettings.c
flight/OpenPilot/UAVObjects/ahrscalibration.c flight/UAVObjects/ahrscalibration.c
flight/OpenPilot/UAVObjects/ahrssettings.c flight/UAVObjects/ahrssettings.c
flight/OpenPilot/UAVObjects/ahrsstatus.c flight/UAVObjects/ahrsstatus.c
flight/OpenPilot/UAVObjects/attitudeactual.c flight/UAVObjects/attitudeactual.c
flight/OpenPilot/UAVObjects/attitudedesired.c flight/UAVObjects/attitudedesired.c
flight/OpenPilot/UAVObjects/attituderaw.c flight/UAVObjects/attituderaw.c
flight/OpenPilot/UAVObjects/baroaltitude.c flight/UAVObjects/baroaltitude.c
flight/OpenPilot/UAVObjects/batterysettings.c flight/UAVObjects/batterysettings.c
flight/OpenPilot/UAVObjects/firmwareiapobj.c flight/UAVObjects/firmwareiapobj.c
flight/OpenPilot/UAVObjects/flightbatterystate.c flight/UAVObjects/flightbatterystate.c
flight/OpenPilot/UAVObjects/flightplancontrol.c flight/UAVObjects/flightplancontrol.c
flight/OpenPilot/UAVObjects/flightplansettings.c flight/UAVObjects/flightplansettings.c
flight/OpenPilot/UAVObjects/flightplanstatus.c flight/UAVObjects/flightplanstatus.c
flight/OpenPilot/UAVObjects/flighttelemetrystats.c flight/UAVObjects/flighttelemetrystats.c
flight/OpenPilot/UAVObjects/gcstelemetrystats.c flight/UAVObjects/gcstelemetrystats.c
flight/OpenPilot/UAVObjects/gpsposition.c flight/UAVObjects/gpsposition.c
flight/OpenPilot/UAVObjects/gpssatellites.c flight/UAVObjects/gpssatellites.c
flight/OpenPilot/UAVObjects/gpstime.c flight/UAVObjects/gpstime.c
flight/OpenPilot/UAVObjects/guidancesettings.c flight/UAVObjects/guidancesettings.c
flight/OpenPilot/UAVObjects/homelocation.c flight/UAVObjects/homelocation.c
flight/OpenPilot/UAVObjects/i2cstats.c flight/UAVObjects/i2cstats.c
flight/OpenPilot/UAVObjects/inc/actuatorcommand.h flight/UAVObjects/inc/actuatorcommand.h
flight/OpenPilot/UAVObjects/inc/actuatordesired.h flight/UAVObjects/inc/actuatordesired.h
flight/OpenPilot/UAVObjects/inc/actuatorsettings.h flight//UAVObjects/inc/actuatorsettings.h
flight/OpenPilot/UAVObjects/inc/ahrscalibration.h flight/UAVObjects/inc/ahrscalibration.h
flight/OpenPilot/UAVObjects/inc/ahrssettings.h flight/UAVObjects/inc/ahrssettings.h
flight/OpenPilot/UAVObjects/inc/ahrsstatus.h flight/UAVObjects/inc/ahrsstatus.h
flight/OpenPilot/UAVObjects/inc/attitudeactual.h flight/UAVObjects/inc/attitudeactual.h
flight/OpenPilot/UAVObjects/inc/attitudedesired.h flight/UAVObjects/inc/attitudedesired.h
flight/OpenPilot/UAVObjects/inc/attituderaw.h flight/UAVObjects/inc/attituderaw.h
flight/OpenPilot/UAVObjects/inc/baroaltitude.h flight/UAVObjects/inc/baroaltitude.h
flight/OpenPilot/UAVObjects/inc/batterysettings.h flight/UAVObjects/inc/batterysettings.h
flight/OpenPilot/UAVObjects/inc/firmwareiapobj.h flight/UAVObjects/inc/firmwareiapobj.h
flight/OpenPilot/UAVObjects/inc/flightbatterystate.h flight/UAVObjects/inc/flightbatterystate.h
flight/OpenPilot/UAVObjects/inc/flightplancontrol.h flight/UAVObjects/inc/flightplancontrol.h
flight/OpenPilot/UAVObjects/inc/flightplansettings.h flight/UAVObjects/inc/flightplansettings.h
flight/OpenPilot/UAVObjects/inc/flightplanstatus.h flight/UAVObjects/inc/flightplanstatus.h
flight/OpenPilot/UAVObjects/inc/flighttelemetrystats.h flight/UAVObjects/inc/flighttelemetrystats.h
flight/OpenPilot/UAVObjects/inc/gcstelemetrystats.h flight/UAVObjects/inc/gcstelemetrystats.h
flight/OpenPilot/UAVObjects/inc/gpsposition.h flight/UAVObjects/inc/gpsposition.h
flight/OpenPilot/UAVObjects/inc/gpssatellites.h flight/UAVObjects/inc/gpssatellites.h
flight/OpenPilot/UAVObjects/inc/gpstime.h flight/UAVObjects/inc/gpstime.h
flight/OpenPilot/UAVObjects/inc/guidancesettings.h flight/UAVObjects/inc/guidancesettings.h
flight/OpenPilot/UAVObjects/inc/homelocation.h flight/UAVObjects/inc/homelocation.h
flight/OpenPilot/UAVObjects/inc/i2cstats.h flight/UAVObjects/inc/i2cstats.h
flight/OpenPilot/UAVObjects/inc/manualcontrolcommand.h flight/UAVObjects/inc/manualcontrolcommand.h
flight/OpenPilot/UAVObjects/inc/manualcontrolsettings.h flight/UAVObjects/inc/manualcontrolsettings.h
flight/OpenPilot/UAVObjects/inc/mixersettings.h flight/UAVObjects/inc/mixersettings.h
flight/OpenPilot/UAVObjects/inc/mixerstatus.h flight/UAVObjects/inc/mixerstatus.h
flight/OpenPilot/UAVObjects/inc/objectpersistence.h flight/UAVObjects/inc/objectpersistence.h
flight/OpenPilot/UAVObjects/inc/pipxtrememodemsettings.h flight/UAVObjects/inc/pipxtrememodemsettings.h
flight/OpenPilot/UAVObjects/inc/pipxtrememodemstatus.h flight/UAVObjects/inc/pipxtrememodemstatus.h
flight/OpenPilot/UAVObjects/inc/positionactual.h flight/UAVObjects/inc/positionactual.h
flight/OpenPilot/UAVObjects/inc/positiondesired.h flight/UAVObjects/inc/positiondesired.h
flight/OpenPilot/UAVObjects/inc/ratedesired.h flight/UAVObjects/inc/ratedesired.h
flight/OpenPilot/UAVObjects/inc/stabilizationsettings.h flight/UAVObjects/inc/stabilizationsettings.h
flight/OpenPilot/UAVObjects/inc/systemalarms.h flight/UAVObjects/inc/systemalarms.h
flight/OpenPilot/UAVObjects/inc/systemsettings.h flight/UAVObjects/inc/systemsettings.h
flight/OpenPilot/UAVObjects/inc/systemstats.h flight/UAVObjects/inc/systemstats.h
flight/OpenPilot/UAVObjects/inc/taskinfo.h flight/UAVObjects/inc/taskinfo.h
flight/OpenPilot/UAVObjects/inc/telemetrysettings.h flight/UAVObjects/inc/telemetrysettings.h
flight/OpenPilot/UAVObjects/inc/velocityactual.h flight/UAVObjects/inc/velocityactual.h
flight/OpenPilot/UAVObjects/inc/velocitydesired.h flight/UAVObjects/inc/velocitydesired.h
flight/OpenPilot/UAVObjects/inc/watchdogstatus.h flight/UAVObjects/inc/watchdogstatus.h
flight/OpenPilot/UAVObjects/manualcontrolcommand.c flight/UAVObjects/manualcontrolcommand.c
flight/OpenPilot/UAVObjects/manualcontrolsettings.c flight/UAVObjects/manualcontrolsettings.c
flight/OpenPilot/UAVObjects/mixersettings.c flight/UAVObjects/mixersettings.c
flight/OpenPilot/UAVObjects/mixerstatus.c flight/UAVObjects/mixerstatus.c
flight/OpenPilot/UAVObjects/objectpersistence.c flight/UAVObjects/objectpersistence.c
flight/OpenPilot/UAVObjects/pipxtrememodemsettings.c flight/UAVObjects/pipxtrememodemsettings.c
flight/OpenPilot/UAVObjects/pipxtrememodemstatus.c flight/UAVObjects/pipxtrememodemstatus.c
flight/OpenPilot/UAVObjects/positionactual.c flight/UAVObjects/positionactual.c
flight/OpenPilot/UAVObjects/positiondesired.c flight/UAVObjects/positiondesired.c
flight/OpenPilot/UAVObjects/ratedesired.c flight/UAVObjects/ratedesired.c
flight/OpenPilot/UAVObjects/stabilizationsettings.c flight/UAVObjects/stabilizationsettings.c
flight/OpenPilot/UAVObjects/systemalarms.c flight/UAVObjects/systemalarms.c
flight/OpenPilot/UAVObjects/systemsettings.c flight/UAVObjects/systemsettings.c
flight/OpenPilot/UAVObjects/systemstats.c flight/UAVObjects/systemstats.c
flight/OpenPilot/UAVObjects/taskinfo.c flight/UAVObjects/taskinfo.c
flight/OpenPilot/UAVObjects/telemetrysettings.c flight/UAVObjects/telemetrysettings.c
flight/OpenPilot/UAVObjects/velocityactual.c flight/UAVObjects/velocityactual.c
flight/OpenPilot/UAVObjects/velocitydesired.c flight/UAVObjects/velocitydesired.c
flight/OpenPilot/UAVObjects/watchdogstatus.c flight/UAVObjects/watchdogstatus.c
flight/OpenPilot/UAVObjects/uavobjectsinit.c flight/UAVObjects/uavobjectsinit.c
ground/src/plugins/uavobjects/actuatorcommand.cpp ground/src/plugins/uavobjects/actuatorcommand.cpp
ground/src/plugins/uavobjects/actuatordesired.cpp ground/src/plugins/uavobjects/actuatordesired.cpp
@ -246,3 +246,9 @@ ground/src/plugins/uavobjects/telemetrysettings.py
ground/src/plugins/uavobjects/velocityactual.py ground/src/plugins/uavobjects/velocityactual.py
ground/src/plugins/uavobjects/velocitydesired.py ground/src/plugins/uavobjects/velocitydesired.py
ground/src/plugins/uavobjects/watchdogstatus.py ground/src/plugins/uavobjects/watchdogstatus.py
openpilotgcs-build-desktop
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/*.mode1v3
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/*.pbxuser
ground/openpilotgcs.pro.user

7
Makefile
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@ -245,6 +245,13 @@ ahrs_%:
mkdir -p $(BUILD_DIR)/ahrs mkdir -p $(BUILD_DIR)/ahrs
$(MAKE) OUTDIR="$(BUILD_DIR)/ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" -C $(ROOT_DIR)/flight/AHRS $* $(MAKE) OUTDIR="$(BUILD_DIR)/ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" -C $(ROOT_DIR)/flight/AHRS $*
.PHONY: coptercontrol
coptercontrol: coptercontrol_elf
coptercontrol_%: uavobjects
mkdir -p $(BUILD_DIR)/coptercontrol
$(MAKE) OUTDIR="$(BUILD_DIR)/coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" -C $(ROOT_DIR)/flight/CopterControl $*
.PHONY: sim_posix .PHONY: sim_posix
sim_posix: sim_posix_elf sim_posix: sim_posix_elf

20
flight/CopterControl/Makefile
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@ -57,7 +57,7 @@ FLASH_TOOL = OPENOCD
USE_THUMB_MODE = YES USE_THUMB_MODE = YES
# List of modules to include # List of modules to include
MODULES = Actuator Telemetry GPS ManualControl Altitude AHRSComms Stabilization Guidance FirmwareIAP MODULES = Actuator Telemetry ManualControl Stabilization FirmwareIAP
#MODULES = Telemetry Example #MODULES = Telemetry Example
#MODULES = Telemetry MK/MKSerial #MODULES = Telemetry MK/MKSerial
@ -71,7 +71,7 @@ MODULES = Actuator Telemetry GPS ManualControl Altitude AHRSComms Stabilization
# - BOARD just passed as define (optional) # - BOARD just passed as define (optional)
MCU = cortex-m3 MCU = cortex-m3
CHIP = STM32F103RET CHIP = STM32F103RET
BOARD = STM3210E_OP BOARD = STM3210E_CC_Rev1
MODEL = HD MODEL = HD
ifeq ($(USE_BOOTLOADER), YES) ifeq ($(USE_BOOTLOADER), YES)
BOOT_MODEL = $(MODEL)_BL BOOT_MODEL = $(MODEL)_BL
@ -84,19 +84,19 @@ endif
OUTDIR = Build OUTDIR = Build
# Target file name (without extension). # Target file name (without extension).
TARGET = OpenPilot TARGET = CopterControl
# Paths # Paths
OPSYSTEM = ./System OPSYSTEM = ./System
OPSYSTEMINC = $(OPSYSTEM)/inc OPSYSTEMINC = $(OPSYSTEM)/inc
OPUAVTALK = ./UAVTalk OPUAVTALK = ../UAVTalk
OPUAVTALKINC = $(OPUAVTALK)/inc OPUAVTALKINC = $(OPUAVTALK)/inc
OPUAVOBJ = ./UAVObjects OPUAVOBJ = ../UAVObjects
OPUAVOBJINC = $(OPUAVOBJ)/inc OPUAVOBJINC = $(OPUAVOBJ)/inc
OPTESTS = ./Tests OPTESTS = ./Tests
OPMODULEDIR = ./Modules OPMODULEDIR = ../Modules
FLIGHTLIB = ../Libraries FLIGHTLIB = ../Libraries
FLIGHTLIBINC = ../Libraries/inc FLIGHTLIBINC = $(FLIGHTLIB)/inc
PIOS = ../PiOS PIOS = ../PiOS
PIOSINC = $(PIOS)/inc PIOSINC = $(PIOS)/inc
PIOSSTM32F10X = $(PIOS)/STM32F10x PIOSSTM32F10X = $(PIOS)/STM32F10x
@ -289,8 +289,8 @@ SRC += $(RTOSSRCDIR)/portable/GCC/ARM_CM3/port.c
SRC += $(RTOSSRCDIR)/portable/MemMang/heap_2.c SRC += $(RTOSSRCDIR)/portable/MemMang/heap_2.c
## Dosfs file system ## Dosfs file system
SRC += $(DOSFSDIR)/dosfs.c #SRC += $(DOSFSDIR)/dosfs.c
SRC += $(DOSFSDIR)/dfs_sdcard.c #SRC += $(DOSFSDIR)/dfs_sdcard.c
## AHRS boot loader comms ## AHRS boot loader comms
SRC += $(AHRSBOOTLOADER)/ahrs_spi_program_master.c SRC += $(AHRSBOOTLOADER)/ahrs_spi_program_master.c
@ -363,7 +363,7 @@ EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
EXTRAINCDIRS += $(AHRSBOOTLOADERINC) EXTRAINCDIRS += $(AHRSBOOTLOADERINC)
EXTRAINCDIRS += $(PYMITEINC) EXTRAINCDIRS += $(PYMITEINC)
EXTRAINCDIRS += ${foreach MOD, ${MODULES}, Modules/${MOD}/inc} ${OPMODULEDIR}/System/inc EXTRAINCDIRS += ${foreach MOD, ${MODULES}, ${OPMODULEDIR}/${MOD}/inc} ${OPMODULEDIR}/System/inc
# List any extra directories to look for library files here. # List any extra directories to look for library files here.

2
flight/CopterControl/System/openpilot.c
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@ -94,10 +94,8 @@ int main()
/* If all is well we will never reach here as the scheduler will now be running. */ /* If all is well we will never reach here as the scheduler will now be running. */
/* If we do get here, it will most likely be because we ran out of heap space. */ /* If we do get here, it will most likely be because we ran out of heap space. */
PIOS_LED_Off(LED1); PIOS_LED_Off(LED1);
PIOS_LED_Off(LED2);
for(;;) { for(;;) {
PIOS_LED_Toggle(LED1); PIOS_LED_Toggle(LED1);
PIOS_LED_Toggle(LED2);
PIOS_DELAY_WaitmS(100); PIOS_DELAY_WaitmS(100);
} }

3
flight/CopterControl/System/pios_board.c
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@ -48,9 +48,6 @@ void PIOS_Board_Init(void) {
/* SPI Init */ /* SPI Init */
PIOS_SPI_Init(); PIOS_SPI_Init();
/* Enable and mount the SDCard */
PIOS_SDCARD_Init();
PIOS_SDCARD_MountFS(0);
#if defined(PIOS_INCLUDE_SPEKTRUM) #if defined(PIOS_INCLUDE_SPEKTRUM)
/* SPEKTRUM init must come before comms */ /* SPEKTRUM init must come before comms */
PIOS_SPEKTRUM_Init(); PIOS_SPEKTRUM_Init();

4
flight/Modules/System/systemmod.c
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@ -128,11 +128,13 @@ static void systemTask(void *parameters)
PIOS_LED_Toggle(LED1); PIOS_LED_Toggle(LED1);
// Turn on the error LED if an alarm is set // Turn on the error LED if an alarm is set
#if (PIOS_LED_NUM > 1)
if (AlarmsHasWarnings()) { if (AlarmsHasWarnings()) {
PIOS_LED_On(LED2); PIOS_LED_On(LED2);
} else { } else {
PIOS_LED_Off(LED2); PIOS_LED_Off(LED2);
} }
#endif
ManualControlCommandData manualControlCommandData; ManualControlCommandData manualControlCommandData;
ManualControlCommandGet(&manualControlCommandData); ManualControlCommandGet(&manualControlCommandData);
@ -307,7 +309,7 @@ static void updateSystemAlarms()
} }
// Check for SD card // Check for SD card
if (POIS_SDCARD_IsMounted() == 0) { if (PIOS_SDCARD_IsMounted() == 0) {
AlarmsSet(SYSTEMALARMS_ALARM_SDCARD, SYSTEMALARMS_ALARM_WARNING); AlarmsSet(SYSTEMALARMS_ALARM_SDCARD, SYSTEMALARMS_ALARM_WARNING);
} else { } else {
AlarmsClear(SYSTEMALARMS_ALARM_SDCARD); AlarmsClear(SYSTEMALARMS_ALARM_SDCARD);

33
flight/PiOS/Boards/STM3210E_CC_Rev1.h
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@ -72,7 +72,7 @@ TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
#define FUNC_ID 1 #define FUNC_ID 1
#define HW_VERSION 01 #define HW_VERSION 01
#define BOOTLOADER_VERSION 0 #define BOOTLOADER_VERSION 0
#define MEM_SIZE 524288 //512K #define MEM_SIZE 131072 //128K
#define SIZE_OF_DESCRIPTION (uint8_t) 100 #define SIZE_OF_DESCRIPTION (uint8_t) 100
#define START_OF_USER_CODE (uint32_t)0x08005000//REMEMBER SET ALSO IN link_stm32f10x_HD_BL.ld #define START_OF_USER_CODE (uint32_t)0x08005000//REMEMBER SET ALSO IN link_stm32f10x_HD_BL.ld
#define SIZE_OF_CODE (uint32_t) (MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION) #define SIZE_OF_CODE (uint32_t) (MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
@ -89,7 +89,7 @@ TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
//------------------------ //------------------------
// WATCHDOG_SETTINGS // WATCHDOG_SETTINGS
//------------------------ //------------------------
#define PIOS_WATCHDOG_TIMEOUT 250 #define PIOS_WATCHDOG_TIMEOUT 250
#define PIOS_WDG_REGISTER BKP_DR4 #define PIOS_WDG_REGISTER BKP_DR4
#define PIOS_WDG_ACTUATOR 0x0001 #define PIOS_WDG_ACTUATOR 0x0001
#define PIOS_WDG_STABILIZATION 0x0002 #define PIOS_WDG_STABILIZATION 0x0002
@ -99,16 +99,13 @@ TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
//------------------------ //------------------------
// PIOS_LED // PIOS_LED
//------------------------ //------------------------
#define PIOS_LED_LED1_GPIO_PORT GPIOC #define PIOS_LED_LED1_GPIO_PORT GPIOA
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_12 #define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_6
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOC #define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
#define PIOS_LED_LED2_GPIO_PORT GPIOC #define PIOS_LED_NUM 1
#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_13 #define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT }
#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOC #define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN }
#define PIOS_LED_NUM 2 #define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK }
#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
//------------------------ //------------------------
// PIOS_I2C // PIOS_I2C
@ -398,17 +395,17 @@ TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
* glue macros for file IO * glue macros for file IO
* STM32 uses DOSFS for file IO * STM32 uses DOSFS for file IO
*/ */
#define PIOS_FOPEN_READ(filename,file) DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_READ, PIOS_SDCARD_Sector, &file) != DFS_OK #define PIOS_FOPEN_READ(filename,file) 0 /* DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_READ, PIOS_SDCARD_Sector, &file) != DFS_OK */
#define PIOS_FOPEN_WRITE(filename,file) DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_WRITE, PIOS_SDCARD_Sector, &file) != DFS_OK #define PIOS_FOPEN_WRITE(filename,file) 0 /* DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_WRITE, PIOS_SDCARD_Sector, &file) != DFS_OK */
#define PIOS_FREAD(file,bufferadr,length,resultadr) DFS_ReadFile(file, PIOS_SDCARD_Sector, (uint8_t*)bufferadr, resultadr, length) != DFS_OK #define PIOS_FREAD(file,bufferadr,length,resultadr) 0 /* DFS_ReadFile(file, PIOS_SDCARD_Sector, (uint8_t*)bufferadr, resultadr, length) != DFS_OK */
#define PIOS_FWRITE(file,bufferadr,length,resultadr) DFS_WriteFile(file, PIOS_SDCARD_Sector, (uint8_t*)bufferadr, resultadr, length) #define PIOS_FWRITE(file,bufferadr,length,resultadr) 0 /* DFS_WriteFile(file, PIOS_SDCARD_Sector, (uint8_t*)bufferadr, resultadr, length) */
#define PIOS_FCLOSE(file) DFS_Close(&file) #define PIOS_FCLOSE(file) 0 /* DFS_Close(&file) */
#define PIOS_FUNLINK(filename) DFS_UnlinkFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, PIOS_SDCARD_Sector) #define PIOS_FUNLINK(filename) 0 /* DFS_UnlinkFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, PIOS_SDCARD_Sector) */

2
flight/PiOS/Boards/pios_board.h
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@ -7,6 +7,8 @@
#include "STM3210E_OP.h" #include "STM3210E_OP.h"
#elif USE_STM32103CB_PIPXTREME #elif USE_STM32103CB_PIPXTREME
#include "STM32103CB_PIPXTREME_Rev1.h" #include "STM32103CB_PIPXTREME_Rev1.h"
#elif USE_STM3210E_CC_Rev1
#include "STM3210E_CC_Rev1.h"
#endif #endif
#endif /* PIOS_BOARD_H_ */ #endif /* PIOS_BOARD_H_ */

2
flight/PiOS/Common/pios_sdcard.c
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@ -804,7 +804,7 @@ int32_t PIOS_SDCARD_StartupLog(void)
* @return 0 if no * @return 0 if no
* @return 1 if yes * @return 1 if yes
*/ */
int32_t POIS_SDCARD_IsMounted() int32_t PIOS_SDCARD_IsMounted()
{ {
return sdcard_mounted; return sdcard_mounted;
} }

2
flight/PiOS/inc/pios_sdcard.h
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@ -103,7 +103,7 @@ extern int32_t PIOS_SDCARD_CIDRead(SDCARDCidTypeDef * cid);
extern int32_t PIOS_SDCARD_CSDRead(SDCARDCsdTypeDef * csd); extern int32_t PIOS_SDCARD_CSDRead(SDCARDCsdTypeDef * csd);
extern int32_t PIOS_SDCARD_StartupLog(void); extern int32_t PIOS_SDCARD_StartupLog(void);
extern int32_t POIS_SDCARD_IsMounted(); extern int32_t PIOS_SDCARD_IsMounted();
extern int32_t PIOS_SDCARD_MountFS(uint32_t StartupLog); extern int32_t PIOS_SDCARD_MountFS(uint32_t StartupLog);
extern int32_t PIOS_SDCARD_GetFree(void); extern int32_t PIOS_SDCARD_GetFree(void);

47
flight/UAVObjects/inc/eventdispatcher.h Normal file
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@ -0,0 +1,47 @@
/**
******************************************************************************
*
* @file eventdispatcher.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Include files of the uavobjectlist library
* @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 EVENTDISPATCHER_H
#define EVENTDISPATCHER_H
// Public types
/**
* Event dispatcher statistics
*/
typedef struct {
uint32_t eventErrors;
} EventStats;
// Public functions
int32_t EventDispatcherInitialize();
void EventGetStats(EventStats* statsOut);
void EventClearStats();
int32_t EventCallbackDispatch(UAVObjEvent* ev, UAVObjEventCallback cb);
int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs);
int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs);
int32_t EventPeriodicQueueCreate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs);
int32_t EventPeriodicQueueUpdate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs);
#endif // EVENTDISPATCHER_H

10
flight/UAVObjects/uavobjectmanager.c
View File

@ -516,7 +516,7 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file)
ObjectInstList* instEntry; ObjectInstList* instEntry;
// Check for file system availability // Check for file system availability
if ( POIS_SDCARD_IsMounted() == 0 ) if ( PIOS_SDCARD_IsMounted() == 0 )
{ {
return -1; return -1;
} }
@ -574,7 +574,7 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
uint8_t filename[14]; uint8_t filename[14];
// Check for file system availability // Check for file system availability
if ( POIS_SDCARD_IsMounted() == 0 ) if ( PIOS_SDCARD_IsMounted() == 0 )
{ {
return -1; return -1;
} }
@ -624,7 +624,7 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO* file)
UAVObjHandle obj; UAVObjHandle obj;
// Check for file system availability // Check for file system availability
if ( POIS_SDCARD_IsMounted() == 0 ) if ( PIOS_SDCARD_IsMounted() == 0 )
{ {
return NULL; return NULL;
} }
@ -706,7 +706,7 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
uint8_t filename[14]; uint8_t filename[14];
// Check for file system availability // Check for file system availability
if ( POIS_SDCARD_IsMounted() == 0 ) if ( PIOS_SDCARD_IsMounted() == 0 )
{ {
return -1; return -1;
} }
@ -763,7 +763,7 @@ int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
uint8_t filename[14]; uint8_t filename[14];
// Check for file system availability // Check for file system availability
if ( POIS_SDCARD_IsMounted() == 0 ) if ( PIOS_SDCARD_IsMounted() == 0 )
{ {
return -1; return -1;
} }

2
ground/src/libs/uavobjgenerator/generators/flight/uavobjectgeneratorflight.cpp
View File

@ -34,7 +34,7 @@ bool UAVObjectGeneratorFlight::generate(UAVObjectParser* parser,QString basepath
<<"uint16_t" << "uint32_t" << "float" << "uint8_t"; <<"uint16_t" << "uint32_t" << "float" << "uint8_t";
QString flightObjInit,objInc; QString flightObjInit,objInc;
flightCodePath = QDir( basepath + QString("flight/OpenPilot/UAVObjects")); flightCodePath = QDir( basepath + QString("flight/UAVObjects"));
flightCodeTemplate = readFile( flightCodePath.absoluteFilePath("uavobjecttemplate.c") ); flightCodeTemplate = readFile( flightCodePath.absoluteFilePath("uavobjecttemplate.c") );
flightIncludeTemplate = readFile( flightCodePath.absoluteFilePath("inc/uavobjecttemplate.h") ); flightIncludeTemplate = readFile( flightCodePath.absoluteFilePath("inc/uavobjecttemplate.h") );

4
ground/src/plugins/uavobjects/firmwareiapobj.h
View File

@ -45,7 +45,7 @@ public:
typedef struct { typedef struct {
quint16 Command; quint16 Command;
quint8 Description[100]; quint8 Description[100];
quint8 HWVersion; quint16 HWVersion;
quint8 Target; quint8 Target;
quint8 ArmReset; quint8 ArmReset;
quint32 crc; quint32 crc;
@ -64,7 +64,7 @@ public:
// Constants // Constants
static const quint32 OBJID = 879185696U; static const quint32 OBJID = 3083476468U;
static const QString NAME; static const QString NAME;
static const QString DESCRIPTION; static const QString DESCRIPTION;
static const bool ISSINGLEINST = 1; static const bool ISSINGLEINST = 1;