diff --git a/flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c b/flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c index 20d6b363a..b796ed746 100644 --- a/flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c +++ b/flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c @@ -7,7 +7,15 @@ * * @see The GNU Public License (GPL) Version 3 * - *****************************************************************************/ + * + * @addtogroup OpenPilotModules OpenPilot Modules + * @{ + * @addtogroup AHRSCommsModule AHRSComms Module + * @brief Handles communication with AHRS and updating position + * Specifically updates the the @ref AttitudeActual "AttitudeActual" and @ref HeadingActual "HeadingActual" settings objects + * @{ + * + ******************************************************************************/ /* * 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 @@ -54,18 +62,6 @@ #include "pios_opahrs.h" // library for OpenPilot AHRS access functions #include "pios_opahrs_proto.h" -/** - * @addtogroup OpenPilotModules OpenPilot Modules - * @{ - */ - -/** - * @addtogroup AHRSCommsModule AHRSComms Module - * @brief Handles communication with AHRS and updating position - * Specifically updates the the AttitudeActual and HeadingActual settings objects - * @{ - */ - // Private constants #define STACK_SIZE 400 #define TASK_PRIORITY (tskIDLE_PRIORITY+4) @@ -192,3 +188,8 @@ static void update_ahrs_status(struct opahrs_msg_v1_rsp_serial * serial) AhrsStatusSet(&data); } + +/** + * @} + * @} + */ \ No newline at end of file diff --git a/flight/OpenPilot/Modules/Actuator/actuator.c b/flight/OpenPilot/Modules/Actuator/actuator.c index 4c0ded0d4..0b297dbb3 100644 --- a/flight/OpenPilot/Modules/Actuator/actuator.c +++ b/flight/OpenPilot/Modules/Actuator/actuator.c @@ -27,14 +27,11 @@ /** * @addtogroup OpenPilotModules OpenPilot Modules * @{ + * @addtogroup ActuatorModule Actuator Module + * @brief Compute servo/motor settings based on @ref ActuatorDesired "desired actuator positions" and aircraft type + * @{ */ -/** - * @addtogroup ActuatorModule Actuator Module - * @brief Compute servo/motor settings based on desired actuator positions and aircraft type - * @{ - */ - #include "openpilot.h" #include "actuator.h" #include "actuatorsettings.h" diff --git a/flight/OpenPilot/Modules/Altitude/altitude.c b/flight/OpenPilot/Modules/Altitude/altitude.c index 619e80f5a..d9f41b37c 100644 --- a/flight/OpenPilot/Modules/Altitude/altitude.c +++ b/flight/OpenPilot/Modules/Altitude/altitude.c @@ -7,6 +7,12 @@ * * @see The GNU Public License (GPL) Version 3 * + /** + * @addtogroup OpenPilotModules OpenPilot Modules + * @{ + * @addtogroup AltitudeModule Altitude Module + * @brief Communicate with BMP085 and update @ref AltitudeActual "AltitudeActual UAV Object" + * @{ *****************************************************************************/ /* * This program is free software; you can redistribute it and/or modify @@ -34,17 +40,6 @@ #include "openpilot.h" #include "altitudeactual.h" // object that will be updated by the module -/** - * @addtogroup OpenPilotModules OpenPilot Modules - * @{ - */ - -/** - * @addtogroup AltitudeModule Altitude Module - * @brief Communicate with BMP085 and update AltitudeActual - * @{ - */ - // Private constants #define STACK_SIZE configMINIMAL_STACK_SIZE #define TASK_PRIORITY (tskIDLE_PRIORITY+3) diff --git a/flight/OpenPilot/Modules/Stabilization/stabilization.c b/flight/OpenPilot/Modules/Stabilization/stabilization.c index 77137e9a4..4f7bcb4cc 100644 --- a/flight/OpenPilot/Modules/Stabilization/stabilization.c +++ b/flight/OpenPilot/Modules/Stabilization/stabilization.c @@ -36,11 +36,10 @@ /** * @addtogroup OpenPilotModules OpenPilot Modules * @{ - */ - -/** * @addtogroup StabilizationModule Stabilization Module * @brief Stabilization PID loops in an airframe type independent manner + * @note This object updates the @ref ActuatorDesired "Actuator Desired" based on the + * PID loops on the @ref AttitudeDesired "Attitude Desired" and @ref AttitudeActual "Attitude Actual" * @{ */ diff --git a/flight/PiOS/Common/pios_bmp085.c b/flight/PiOS/Common/pios_bmp085.c index f9d8c7999..8d59b1b96 100644 --- a/flight/PiOS/Common/pios_bmp085.c +++ b/flight/PiOS/Common/pios_bmp085.c @@ -1,14 +1,17 @@ /** - ****************************************************************************** - * - * @file pios_bmp085.c - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @brief BMP085 Pressure Sensor Routines - * @see The GNU Public License (GPL) Version 3 - * @defgroup PIOS_BMP085 BMP085 Functions - * @{ - * - *****************************************************************************/ + ****************************************************************************** + * + * @file pios_bmp085.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief BMP085 Pressure Sensor Routines + * @see The GNU Public License (GPL) Version 3 + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_BMP085 BMP085 Functions + * @brief Hardware functions to deal with the altitude pressure sensor + * @{ + * + ******************************************************************************/ /* * 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 @@ -249,4 +252,5 @@ int32_t PIOS_BMP085_Write(uint8_t address, uint8_t buffer) return error < 0 ? -1 : 0; } + #endif diff --git a/flight/PiOS/Common/pios_com.c b/flight/PiOS/Common/pios_com.c index deede4a91..b8548ad87 100644 --- a/flight/PiOS/Common/pios_com.c +++ b/flight/PiOS/Common/pios_com.c @@ -6,9 +6,13 @@ * Parts by Thorsten Klose (tk@midibox.org) * @brief COM layer functions * @see The GNU Public License (GPL) Version 3 - * @defgroup PIOS_COM COM layer functions + * @addtogroup PIOS PIOS Core hardware abstraction layer * @{ - * + * @addtogroup PIOS_COM COM layer functions + * @brief Hardware communication layer + * @{ + */ +* *****************************************************************************/ /* * This program is free software; you can redistribute it and/or modify @@ -24,32 +28,32 @@ * 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_COM) - -#include - -static struct pios_com_dev * find_com_dev_by_id (uint8_t port) -{ - if (port >= pios_com_num_devices) { - /* Undefined COM port for this board (see pios_board.c) */ - return NULL; - } - - /* Get a handle for the device configuration */ - return &(pios_com_devs[port]); -} - +#include "pios.h" + +#if defined(PIOS_INCLUDE_COM) + +#include + +static struct pios_com_dev * find_com_dev_by_id (uint8_t port) +{ + if (port >= pios_com_num_devices) { + /* Undefined COM port for this board (see pios_board.c) */ + return NULL; + } + + /* Get a handle for the device configuration */ + return &(pios_com_devs[port]); +} + /** -* Initialises COM layer -* \param[in] mode currently only mode 0 supported -* \return < 0 if initialisation failed -*/ + * Initialises COM layer + * \param[in] mode currently only mode 0 supported + * \return < 0 if initialisation failed + */ int32_t PIOS_COM_Init(void) { int32_t ret = 0; @@ -73,24 +77,24 @@ int32_t PIOS_COM_Init(void) * \return -1 if port not available * \return 0 on success */ -int32_t PIOS_COM_ChangeBaud(uint8_t port, uint32_t baud) -{ - struct pios_com_dev * com_dev; - - com_dev = find_com_dev_by_id (port); - - if (!com_dev) { - /* Undefined COM port for this board (see pios_board.c) */ - return -1; - } - - /* Invoke the driver function if it exists */ - if (com_dev->driver->set_baud) { - com_dev->driver->set_baud(com_dev->id, baud); - } - - return 0; -} +int32_t PIOS_COM_ChangeBaud(uint8_t port, uint32_t baud) +{ + struct pios_com_dev * com_dev; + + com_dev = find_com_dev_by_id (port); + + if (!com_dev) { + /* Undefined COM port for this board (see pios_board.c) */ + return -1; + } + + /* Invoke the driver function if it exists */ + if (com_dev->driver->set_baud) { + com_dev->driver->set_baud(com_dev->id, baud); + } + + return 0; +} /** * Sends a package over given port @@ -102,25 +106,25 @@ int32_t PIOS_COM_ChangeBaud(uint8_t port, uint32_t baud) * caller should retry until buffer is free again * \return 0 on success */ -int32_t PIOS_COM_SendBufferNonBlocking(uint8_t port, const uint8_t *buffer, uint16_t len) -{ - struct pios_com_dev * com_dev; - - com_dev = find_com_dev_by_id (port); - - if (!com_dev) { - /* Undefined COM port for this board (see pios_board.c) */ - return -1; - } - - /* Invoke the driver function if it exists */ - if (com_dev->driver->tx_nb) { - return com_dev->driver->tx_nb(com_dev->id, buffer, len); - } - - return 0; -} - +int32_t PIOS_COM_SendBufferNonBlocking(uint8_t port, const uint8_t *buffer, uint16_t len) +{ + struct pios_com_dev * com_dev; + + com_dev = find_com_dev_by_id (port); + + if (!com_dev) { + /* Undefined COM port for this board (see pios_board.c) */ + return -1; + } + + /* Invoke the driver function if it exists */ + if (com_dev->driver->tx_nb) { + return com_dev->driver->tx_nb(com_dev->id, buffer, len); + } + + return 0; +} + /** * Sends a package over given port * (blocking function) @@ -130,25 +134,25 @@ int32_t PIOS_COM_SendBufferNonBlocking(uint8_t port, const uint8_t *buffer, uint * \return -1 if port not available * \return 0 on success */ -int32_t PIOS_COM_SendBuffer(uint8_t port, const uint8_t *buffer, uint16_t len) -{ - struct pios_com_dev * com_dev; - - com_dev = find_com_dev_by_id (port); - - if (!com_dev) { - /* Undefined COM port for this board (see pios_board.c) */ - return -1; - } - - /* Invoke the driver function if it exists */ - if (com_dev->driver->tx) { - return com_dev->driver->tx(com_dev->id, buffer, len); - } - - return 0; -} - +int32_t PIOS_COM_SendBuffer(uint8_t port, const uint8_t *buffer, uint16_t len) +{ + struct pios_com_dev * com_dev; + + com_dev = find_com_dev_by_id (port); + + if (!com_dev) { + /* Undefined COM port for this board (see pios_board.c) */ + return -1; + } + + /* Invoke the driver function if it exists */ + if (com_dev->driver->tx) { + return com_dev->driver->tx(com_dev->id, buffer, len); + } + + return 0; +} + /** * Sends a single character over given port * \param[in] port COM port @@ -246,40 +250,45 @@ int32_t PIOS_COM_SendFormattedString(uint8_t port, const char *format, ...) /** * Transfer bytes from port buffers into another buffer * \param[in] port COM port -* \returns Byte from buffer +* \returns Byte from buffer */ uint8_t PIOS_COM_ReceiveBuffer(uint8_t port) { - struct pios_com_dev * com_dev; - - com_dev = find_com_dev_by_id (port); - PIOS_DEBUG_Assert(com_dev); - PIOS_DEBUG_Assert(com_dev->driver->rx); - - return com_dev->driver->rx(com_dev->id); -} - + struct pios_com_dev * com_dev; + + com_dev = find_com_dev_by_id (port); + PIOS_DEBUG_Assert(com_dev); + PIOS_DEBUG_Assert(com_dev->driver->rx); + + return com_dev->driver->rx(com_dev->id); +} + /** * Get the number of bytes waiting in the buffer * \param[in] port COM port * \return Number of bytes used in buffer */ -int32_t PIOS_COM_ReceiveBufferUsed(uint8_t port) -{ - struct pios_com_dev * com_dev; - - com_dev = find_com_dev_by_id (port); - - if (!com_dev) { - /* Undefined COM port for this board (see pios_board.c) */ - return 0; - } - - if (!com_dev->driver->rx_avail) { - return 0; - } - - return com_dev->driver->rx_avail(com_dev->id); -} +int32_t PIOS_COM_ReceiveBufferUsed(uint8_t port) +{ + struct pios_com_dev * com_dev; + + com_dev = find_com_dev_by_id (port); + + if (!com_dev) { + /* Undefined COM port for this board (see pios_board.c) */ + return 0; + } + + if (!com_dev->driver->rx_avail) { + return 0; + } + + return com_dev->driver->rx_avail(com_dev->id); +} #endif + +/** + * @} + * @} + */ \ No newline at end of file diff --git a/flight/PiOS/Common/pios_hmc5843.c b/flight/PiOS/Common/pios_hmc5843.c index add0ad1af..7a942f199 100644 --- a/flight/PiOS/Common/pios_hmc5843.c +++ b/flight/PiOS/Common/pios_hmc5843.c @@ -5,10 +5,15 @@ * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @brief HMC5843 Magnetic Sensor Functions * @see The GNU Public License (GPL) Version 3 - * @defgroup PIOS_HMC5843 HMC5843 Functions + * + /** + * @addtogroup PIOS PIOS Core hardware abstraction layer * @{ - * - *****************************************************************************/ + * @addtogroup PIOS_HMC5843 HMC5843 Functions + * @brief Deals with the hardware interface to the magnetometers + * @{ + ****************************************************************************** + */ /* * 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 @@ -36,8 +41,8 @@ /* Local Variables */ /** -* Initialise the HMC5843 sensor -*/ + * @brieft Initialise the HMC5843 sensor + */ void PIOS_HMC5843_Init(void) { // Nothing to do here @@ -122,7 +127,7 @@ void PIOS_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef *HMC5843_Config_Struct) } /** -* Read the magnetic readings from the sensor +* Read the magnetic readings from the sensor */ void PIOS_HMC5843_ReadMag(int16_t out[3]) { @@ -185,12 +190,12 @@ void PIOS_HMC5843_ReadMag(int16_t out[3]) } /** -* Read the identification bytes from the sensor +* Read the identification bytes from the sensor */ void PIOS_HMC5843_ReadID(uint8_t out[4]) { PIOS_HMC5843_Read(PIOS_HMC5843_DATAOUT_IDA_REG, out, 3); - out[3] = '\0'; + out[3] = '\0'; } /** @@ -240,3 +245,8 @@ int32_t PIOS_HMC5843_Write(uint8_t address, uint8_t buffer) } #endif + +/** + * @} + * @} + */ diff --git a/flight/PiOS/Common/pios_opahrs.c b/flight/PiOS/Common/pios_opahrs.c index 27ce7e066..a42f2e46e 100644 --- a/flight/PiOS/Common/pios_opahrs.c +++ b/flight/PiOS/Common/pios_opahrs.c @@ -3,9 +3,12 @@ * * @file pios_opahrs.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @brief IRQ Enable/Disable routines + * @brief Hardware commands to communicate with the AHRS * @see The GNU Public License (GPL) Version 3 - * @defgroup PIOS_OPAHRS OPAHRS Functions + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_OPAHRS OPAHRS Functions + * @brief STM32 Hardware code to interface to the OpenPilot AHRS module * @{ * *****************************************************************************/ @@ -265,3 +268,8 @@ enum opahrs_result PIOS_OPAHRS_GetAttitude(struct opahrs_msg_v1 *rsp) } #endif /* PIOS_INCLUDE_OPAHRS */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS/Common/pios_sdcard.c b/flight/PiOS/Common/pios_sdcard.c index 9520e1a4f..a9a918b54 100644 --- a/flight/PiOS/Common/pios_sdcard.c +++ b/flight/PiOS/Common/pios_sdcard.c @@ -6,7 +6,10 @@ * Parts by Thorsten Klose (tk@midibox.org) * @brief Sets up basic system hardware, functions are called from Main. * @see The GNU Public License (GPL) Version 3 + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ * @defgroup PIOS_SDCARD SDCard Functions + * @brief STM32 Hardware code to deal with writing to flash * @{ * *****************************************************************************/ @@ -1008,3 +1011,8 @@ int32_t PIOS_SDCARD_FileDelete(char *Filename) } #endif + +/** + * @} + * @} + */ \ No newline at end of file diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/croutine.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/croutine.c index c5a0ad448..2521ff97f 100644 --- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/croutine.c +++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/croutine.c @@ -55,6 +55,15 @@ #include "task.h" #include "croutine.h" +/** + * @file croutine.c + * @author FreeRTOS + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup FreeRTOS FreeRTOS Operating system + * @{ + */ + /* * Some kernel aware debuggers require data to be viewed to be global, rather * than file scope. diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/FreeRTOS.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/FreeRTOS.h index 6da10222e..1ad821d92 100644 --- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/FreeRTOS.h +++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/FreeRTOS.h @@ -54,6 +54,14 @@ #ifndef INC_FREERTOS_H #define INC_FREERTOS_H +/** + * @file FreeRTOS.h + * @author FreeRTOS + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup FreeRTOS FreeRTOS Operating system + * @{ + */ /* * Include the generic headers required for the FreeRTOS port being used. diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/croutine.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/croutine.h index 26909d0fb..a6d3f0ddd 100644 --- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/croutine.h +++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/croutine.h @@ -55,7 +55,14 @@ #error "#include FreeRTOS.h" must appear in source files before "#include croutine.h" #endif - +/** + * @file croutine.h + * @author FreeRTOS + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup FreeRTOS FreeRTOS Operating system + * @{ + */ #ifndef CO_ROUTINE_H diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/portable.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/portable.h index d0735591e..28bfa0150 100644 --- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/portable.h +++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/portable.h @@ -58,6 +58,15 @@ #ifndef PORTABLE_H #define PORTABLE_H +/** + * @file portable.h + * @author FreeRTOS + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup FreeRTOS FreeRTOS Operating system + * @{ + */ + /* Include the macro file relevant to the port being used. */ #ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/queue.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/queue.h index 7cc0a2b42..c3f7db7db 100644 --- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/queue.h +++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/queue.h @@ -56,7 +56,14 @@ #endif - +/** + * @file queue.h + * @author FreeRTOS + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup FreeRTOS FreeRTOS Operating system + * @{ + */ #ifndef QUEUE_H #define QUEUE_H diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/semphr.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/semphr.h index 7f2114f8a..0bb72802f 100644 --- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/semphr.h +++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/semphr.h @@ -58,6 +58,15 @@ #ifndef SEMAPHORE_H #define SEMAPHORE_H +/** + * @file tasks.c + * @author FreeRTOS + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup FreeRTOS FreeRTOS Operating system + * @{ + */ + #include "queue.h" typedef xQueueHandle xSemaphoreHandle; diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/task.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/task.h index cca407d4a..753ac3f76 100644 --- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/task.h +++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/include/task.h @@ -56,6 +56,13 @@ #error "#include FreeRTOS.h" must appear in source files before "#include task.h" #endif +/** + * @author FreeRTOS + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup FreeRTOS FreeRTOS Operating system + * @{ + */ #ifndef TASK_H diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/list.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/list.c index 9917fa172..76598be1d 100644 --- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/list.c +++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/list.c @@ -51,6 +51,14 @@ licensing and training services. */ +/** + * @file list.c + * @author FreeRTOS + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup FreeRTOS FreeRTOS Operating system + * @{ + */ #include #include "FreeRTOS.h" diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c index 146efa7ea..4a8a07934 100644 --- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c +++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c @@ -51,6 +51,15 @@ licensing and training services. */ +/** + * @file port.c + * @author FreeRTOS + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup FreeRTOS FreeRTOS Operating system + * @{ + */ + /*----------------------------------------------------------- * Implementation of functions defined in portable.h for the ARM CM3 port. *----------------------------------------------------------*/ diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h index a7c2966bd..25be9e324 100644 --- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h +++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h @@ -55,6 +55,15 @@ #ifndef PORTMACRO_H #define PORTMACRO_H +/** + * @file portmacro.h + * @author FreeRTOS + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup FreeRTOS FreeRTOS Operating system + * @{ + */ + #ifdef __cplusplus extern "C" { #endif diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/queue.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/queue.c index 91ad6afaa..04d7e8c22 100644 --- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/queue.c +++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/queue.c @@ -54,6 +54,15 @@ #include #include +/** + * @file queue.c + * @author FreeRTOS + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup FreeRTOS FreeRTOS Operating system + * @{ + */ + /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining all the API functions to use the MPU wrappers. That should only be done when task.h is included from an application file. */ diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/tasks.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/tasks.c index c0e851c14..8af5cd309 100644 --- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/tasks.c +++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/tasks.c @@ -51,6 +51,16 @@ licensing and training services. */ +/** + * @file tasks.c + * @author FreeRTOS + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup FreeRTOS FreeRTOS Operating system + * @{ + */ + + #include #include diff --git a/flight/PiOS/STM32F10x/pios_adc.c b/flight/PiOS/STM32F10x/pios_adc.c index 8edfb27b3..d51dd0a5c 100644 --- a/flight/PiOS/STM32F10x/pios_adc.c +++ b/flight/PiOS/STM32F10x/pios_adc.c @@ -6,9 +6,11 @@ * Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org) * @brief Analog to Digital converstion routines * @see The GNU Public License (GPL) Version 3 - * @defgroup PIOS_ADC ADC Functions + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_ADC ADC Functions + * @brief Analog to Digital PIOS interface * @{ - * *****************************************************************************/ /* * This program is free software; you can redistribute it and/or modify @@ -205,4 +207,9 @@ void DMA1_Channel1_IRQHandler(void) ADC_SoftwareStartConvCmd(ADC1, ENABLE); } +/** + * @} + * @} + */ + #endif diff --git a/flight/PiOS/STM32F10x/pios_debug.c b/flight/PiOS/STM32F10x/pios_debug.c index df4705b0d..30e6172fe 100644 --- a/flight/PiOS/STM32F10x/pios_debug.c +++ b/flight/PiOS/STM32F10x/pios_debug.c @@ -5,7 +5,10 @@ * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @brief Debugging Functions * @see The GNU Public License (GPL) Version 3 + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ * @defgroup PIOS_DEBUG Debugging Functions + * @brief Debugging functionality * @{ * *****************************************************************************/ @@ -87,16 +90,20 @@ void PIOS_DEBUG_PinLow(uint8_t Pin) } /** - * Report a serious error and halt + * Report a serious error and halt */ void PIOS_DEBUG_Panic(const char* msg) { -#ifdef PIOS_COM_DEBUG +#ifdef PIOS_COM_DEBUG register int *lr asm ("lr"); // Link-register holds the PC of the caller PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_DEBUG, "\r%s @0x%x\r", msg, lr); -#endif +#endif // Stay put while(1); } +/** + * @} + * @} + */ diff --git a/flight/PiOS/STM32F10x/pios_delay.c b/flight/PiOS/STM32F10x/pios_delay.c index 31b19270c..59b150e73 100644 --- a/flight/PiOS/STM32F10x/pios_delay.c +++ b/flight/PiOS/STM32F10x/pios_delay.c @@ -7,7 +7,10 @@ * @brief Delay Functions * - Provides a micro-second granular delay using a TIM * @see The GNU Public License (GPL) Version 3 + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ * @defgroup PIOS_DELAY Delay Functions + * @brief PiOS Delay functionality * @{ * *****************************************************************************/ diff --git a/flight/PiOS/STM32F10x/pios_exti.c b/flight/PiOS/STM32F10x/pios_exti.c index 8c8b0907b..f7d108717 100644 --- a/flight/PiOS/STM32F10x/pios_exti.c +++ b/flight/PiOS/STM32F10x/pios_exti.c @@ -5,6 +5,9 @@ * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @brief External Interrupt Handlers * @see The GNU Public License (GPL) Version 3 + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_EXTI External Interrupt Handlers * @{ * *****************************************************************************/ @@ -68,3 +71,8 @@ void EXTI4_IRQHandler(void) } #endif #endif + +/** + * @} + * @} + */ diff --git a/flight/PiOS/STM32F10x/pios_gpio.c b/flight/PiOS/STM32F10x/pios_gpio.c index 6293969d6..11d938856 100644 --- a/flight/PiOS/STM32F10x/pios_gpio.c +++ b/flight/PiOS/STM32F10x/pios_gpio.c @@ -5,7 +5,10 @@ * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @brief GPIO functions, init, toggle, on & off. * @see The GNU Public License (GPL) Version 3 + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ * @defgroup PIOS_GPIO GPIO Functions + * @brief GPIO hardware code for STM32 * @{ * *****************************************************************************/ @@ -94,3 +97,8 @@ void PIOS_GPIO_Toggle(uint8_t Pin) } #endif + +/** + * @} + * @} + */ \ No newline at end of file diff --git a/flight/PiOS/STM32F10x/pios_i2c.c b/flight/PiOS/STM32F10x/pios_i2c.c index 1b67f886c..66854ee91 100644 --- a/flight/PiOS/STM32F10x/pios_i2c.c +++ b/flight/PiOS/STM32F10x/pios_i2c.c @@ -6,6 +6,8 @@ * Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org) * @brief I2C Enable/Disable routines * @see The GNU Public License (GPL) Version 3 + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ * @defgroup PIOS_I2C I2C Functions * @{ * @@ -231,7 +233,7 @@ void PIOS_I2C_UnlockDevice(void) /** - * Internal function called at the start of a transfer + * Internal function called at the start of a transfer */ static void TransferStart(I2CRecTypeDef *i2cx) { @@ -285,7 +287,7 @@ int32_t PIOS_I2C_TransferCheck(void) /** * Stop the current transfer - * \param error the error that must be reported + * \param error the error that must be reported */ void PIOS_I2C_TerminateTransfer(uint32_t error) { @@ -665,3 +667,8 @@ PIOS_I2C_IRQ_ER_HANDLER } #endif + +/** + * @} + * @} + */ \ No newline at end of file diff --git a/flight/PiOS/STM32F10x/pios_irq.c b/flight/PiOS/STM32F10x/pios_irq.c index 7e1e85a03..9690f45a0 100644 --- a/flight/PiOS/STM32F10x/pios_irq.c +++ b/flight/PiOS/STM32F10x/pios_irq.c @@ -6,7 +6,10 @@ * Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org) * @brief IRQ Enable/Disable routines * @see The GNU Public License (GPL) Version 3 - * @defgroup PIOS_IRQ IRQ Setup Functions + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @defgroup PIOS_IRQ IRQ Setup Functions + * @brief STM32 Hardware code to enable and disable interrupts * @{ * *****************************************************************************/ @@ -101,3 +104,8 @@ int32_t PIOS_IRQ_Enable(void) } #endif + +/** + * @} + * @} + */ \ No newline at end of file diff --git a/flight/PiOS/STM32F10x/pios_led.c b/flight/PiOS/STM32F10x/pios_led.c index 3e3ec9c36..17463bc3d 100644 --- a/flight/PiOS/STM32F10x/pios_led.c +++ b/flight/PiOS/STM32F10x/pios_led.c @@ -5,7 +5,10 @@ * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @brief LED functions, init, toggle, on & off. * @see The GNU Public License (GPL) Version 3 - * @defgroup PIOS_LED LED Functions + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_LED LED Functions + * @brief STM32 Hardware LED handling code * @{ * *****************************************************************************/ @@ -90,3 +93,8 @@ void PIOS_LED_Toggle(LedTypeDef LED) } #endif + +/** + * @} + * @} + */ \ No newline at end of file diff --git a/flight/PiOS/STM32F10x/pios_ppm.c b/flight/PiOS/STM32F10x/pios_ppm.c index ee3b7faf0..f7382555d 100644 --- a/flight/PiOS/STM32F10x/pios_ppm.c +++ b/flight/PiOS/STM32F10x/pios_ppm.c @@ -5,7 +5,10 @@ * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @brief PPM Input functions * @see The GNU Public License (GPL) Version 3 + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ * @defgroup PIOS_PPM PPM Input Functions + * @brief STM32 Hardware code to deal with PPM input * @{ * *****************************************************************************/ @@ -231,3 +234,8 @@ PIOS_PPM_SUPV_IRQ_FUNC } #endif + +/** + * @} + * @} + */ \ No newline at end of file diff --git a/flight/PiOS/STM32F10x/pios_pwm.c b/flight/PiOS/STM32F10x/pios_pwm.c index 4d8a527f1..066d48e88 100644 --- a/flight/PiOS/STM32F10x/pios_pwm.c +++ b/flight/PiOS/STM32F10x/pios_pwm.c @@ -5,7 +5,10 @@ * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @brief PWM Input functions * @see The GNU Public License (GPL) Version 3 + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ * @defgroup PIOS_PWM PWM Input Functions + * @brief STM32 Hardware code to deal with PWM input * @{ * *****************************************************************************/ @@ -404,3 +407,8 @@ PIOS_PWM_SUPV_IRQ_FUNC } #endif + +/** + * @} + * @} + */ \ No newline at end of file diff --git a/flight/PiOS/STM32F10x/pios_servo.c b/flight/PiOS/STM32F10x/pios_servo.c index 31dd3d5d7..b0c9fa36c 100644 --- a/flight/PiOS/STM32F10x/pios_servo.c +++ b/flight/PiOS/STM32F10x/pios_servo.c @@ -5,7 +5,10 @@ * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @brief RC Servo routines * @see The GNU Public License (GPL) Version 3 + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ * @defgroup PIOS_SERVO RC Servo Functions + * @brief STM32 Hardware code to do RC servo output * @{ * *****************************************************************************/ @@ -117,7 +120,7 @@ void PIOS_Servo_Init(void) /** * Set the servo update rate (Max 500Hz) * \param[in] onetofour Rate for outputs 1 to 4 (Hz) -* \param[in] fivetoeight Rate for outputs 5 to 8 (Hz) +* \param[in] fivetoeight Rate for outputs 5 to 8 (Hz) */ void PIOS_Servo_SetHz(uint16_t onetofour, uint16_t fivetoeight) { diff --git a/flight/PiOS/STM32F10x/pios_spektrum.c b/flight/PiOS/STM32F10x/pios_spektrum.c index 9005f5a10..632c6214e 100644 --- a/flight/PiOS/STM32F10x/pios_spektrum.c +++ b/flight/PiOS/STM32F10x/pios_spektrum.c @@ -6,7 +6,10 @@ * Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org) * @brief USART commands. Inits USARTs, controls USARTs & Interrupt handlers. * @see The GNU Public License (GPL) Version 3 + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ * @defgroup PIOS_SPEKTRUM USART Functions + * @brief STM32 Hardware code to read Spektrum input * @{ * *****************************************************************************/ @@ -235,3 +238,8 @@ PIOS_USART3_IRQHANDLER_FUNC } #endif + +/** + * @} + * @} + */ \ No newline at end of file diff --git a/flight/PiOS/STM32F10x/pios_spi.c b/flight/PiOS/STM32F10x/pios_spi.c index b47eeb5fe..8a0552b1f 100644 --- a/flight/PiOS/STM32F10x/pios_spi.c +++ b/flight/PiOS/STM32F10x/pios_spi.c @@ -6,7 +6,10 @@ * Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org) * @brief Hardware Abstraction Layer for SPI ports of STM32 * @see The GNU Public License (GPL) Version 3 - * @defgroup PIOS_SPI SPI Functions + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_SPI SPI Functions + * @brief STM32 Hardware SPI code * @notes * * Note that additional chip select lines can be easily added by using @@ -445,3 +448,8 @@ void PIOS_SPI_IRQ_Handler(uint8_t spi) } #endif + +/** + * @} + * @} + */ diff --git a/flight/PiOS/STM32F10x/pios_sys.c b/flight/PiOS/STM32F10x/pios_sys.c index df8c4e0c0..293ee09b8 100644 --- a/flight/PiOS/STM32F10x/pios_sys.c +++ b/flight/PiOS/STM32F10x/pios_sys.c @@ -6,7 +6,10 @@ * Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org) * @brief Sets up basic system hardware, functions are called from Main. * @see The GNU Public License (GPL) Version 3 + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ * @defgroup PIOS_SYS System Functions + * @brief Initialization code for STM32 * @{ * *****************************************************************************/ @@ -192,3 +195,8 @@ void assert_failed(uint8_t* file, uint32_t line) #endif #endif + +/** + * @} + * @} + */ \ No newline at end of file diff --git a/flight/PiOS/STM32F10x/pios_usart.c b/flight/PiOS/STM32F10x/pios_usart.c index 195ea630d..323b3fb16 100644 --- a/flight/PiOS/STM32F10x/pios_usart.c +++ b/flight/PiOS/STM32F10x/pios_usart.c @@ -6,7 +6,11 @@ * Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org) * @brief USART commands. Inits USARTs, controls USARTs & Interupt handlers. * @see The GNU Public License (GPL) Version 3 - * @defgroup PIOS_USART USART Functions + * + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USART USART Functions + * @brief STM32 Hardware USART code * @{ * *****************************************************************************/ @@ -512,3 +516,8 @@ void PIOS_USART_IRQ_Handler(uint8_t usart) } #endif + +/** + * @} + * @} + */ \ No newline at end of file diff --git a/flight/PiOS/STM32F10x/pios_usb.c b/flight/PiOS/STM32F10x/pios_usb.c index eaa32deb9..43cfa27b8 100644 --- a/flight/PiOS/STM32F10x/pios_usb.c +++ b/flight/PiOS/STM32F10x/pios_usb.c @@ -6,7 +6,10 @@ * Parts by Thorsten Klose (tk@midibox.org) * @brief USB functions * @see The GNU Public License (GPL) Version 3 - * @defgroup PIOS_USB USB Functions + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB USB Functions + * @brief STM32 Hardware USB functions * @{ * *****************************************************************************/ diff --git a/flight/PiOS/STM32F10x/pios_usb_com.c b/flight/PiOS/STM32F10x/pios_usb_com.c index 8821d2e56..e18010e48 100644 --- a/flight/PiOS/STM32F10x/pios_usb_com.c +++ b/flight/PiOS/STM32F10x/pios_usb_com.c @@ -1,11 +1,14 @@ /** ****************************************************************************** * - * @file pios_sys.c + * @file pios_usb_com.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009. * @brief Sets up basic system hardware, functions are called from Main. * @see The GNU Public License (GPL) Version 3 - * @defgroup PIOS_SYS System Functions + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_SYS System Functions + * @brief STM32 Hardware USB communication code * @{ * *****************************************************************************/ @@ -500,3 +503,8 @@ s32 PIOS_USB_COM_CB_NoData_Setup(u8 RequestNo) } #endif + +/** + * @} + * @} + */ \ No newline at end of file diff --git a/flight/PiOS/STM32F10x/pios_usb_hid.c b/flight/PiOS/STM32F10x/pios_usb_hid.c index 8d3b436a2..a2076cc84 100644 --- a/flight/PiOS/STM32F10x/pios_usb_hid.c +++ b/flight/PiOS/STM32F10x/pios_usb_hid.c @@ -6,7 +6,10 @@ * Parts by Thorsten Klose (tk@midibox.org) * @brief USB HID functions * @see The GNU Public License (GPL) Version 3 - * @defgroup PIOS_USB_HID USB HID Functions + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_HID USB HID Functions + * @brief STM32 Hardware HID functions * @notes This implements a very simple HID device with a simple data in * and data out endpoints. * @{ diff --git a/flight/PiOS/inc/FreeRTOSConfig.h b/flight/PiOS/inc/FreeRTOSConfig.h index 79e10e6a7..16284d492 100644 --- a/flight/PiOS/inc/FreeRTOSConfig.h +++ b/flight/PiOS/inc/FreeRTOSConfig.h @@ -14,6 +14,13 @@ * See http://www.freertos.org/a00110.html. *----------------------------------------------------------*/ +/** + * @addtogroup PIOS PIOS + * @{ + * @addtogroup FreeRTOS FreeRTOS + * @{ + */ + /* Notes: We use 5 task priorities */ #define configUSE_PREEMPTION 1 @@ -69,5 +76,9 @@ configKERNEL_INTERRUPT_PRIORITY setting. Here 15 corresponds to the lowest NVIC value of 255. */ #define configLIBRARY_KERNEL_INTERRUPT_PRIORITY 15 +/** + * @} + */ + #endif /* FREERTOS_CONFIG_H */ diff --git a/flight/PiOS/inc/pios_stm32.h b/flight/PiOS/inc/pios_stm32.h index 5034ae43a..c0353e115 100644 --- a/flight/PiOS/inc/pios_stm32.h +++ b/flight/PiOS/inc/pios_stm32.h @@ -5,6 +5,10 @@ * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @brief Types that are specific to the STM32 peripherals * @see The GNU Public License (GPL) Version 3 + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_STM32 STM32 HAL + * @{ * *****************************************************************************/ /* @@ -49,4 +53,9 @@ struct stm32_gpio { GPIO_InitTypeDef init; }; +/** + * @} + * @} + */ + #endif /* PIOS_STM32_H */ diff --git a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj index 4ec3ecabd..e2d130e15 100644 --- a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj +++ b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj @@ -153,6 +153,175 @@ 65E8EFAA11EEA61E00BBF654 /* uavobjecttemplate.c */ = {isa = PBXFileReference; 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