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pios: fix packet handler #ifdef guards and Makefile
Conflicts: flight/Libraries/packet_handler.c flight/targets/CopterControl/System/inc/pios_config.h
This commit is contained in:
Oleg Semyonov
parent
f7bdcdb782
commit
a1e17eccf3
@ -1,117 +1,131 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @{
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* @addtogroup OpenPilotCore OpenPilot Core
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* @{
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*
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* @file pios_config.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief PiOS configuration header.
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* Central compile time config for the project.
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* In particular, pios_config.h is where you define which PiOS libraries
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* and features are included in the firmware.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef PIOS_CONFIG_H
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#define PIOS_CONFIG_H
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/* Enable/Disable PiOS Modules */
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#define PIOS_INCLUDE_ADC
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#define PIOS_INCLUDE_DELAY
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//#if defined(USE_I2C)
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//#define PIOS_INCLUDE_I2C
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//#define PIOS_INCLUDE_I2C_ESC
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//#endif
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#define PIOS_INCLUDE_IRQ
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#define PIOS_INCLUDE_LED
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#define PIOS_INCLUDE_IAP
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#define PIOS_INCLUDE_TIM
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#define PIOS_INCLUDE_RCVR
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/* Supported receiver interfaces */
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#define PIOS_INCLUDE_DSM
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#define PIOS_INCLUDE_SBUS
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#define PIOS_INCLUDE_PPM
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#define PIOS_INCLUDE_PPM_FLEXI
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#define PIOS_INCLUDE_PWM
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#define PIOS_INCLUDE_GCSRCVR
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/* Supported USART-based PIOS modules */
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#define PIOS_INCLUDE_TELEMETRY_RF
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#define PIOS_INCLUDE_GPS
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#define PIOS_GPS_MINIMAL
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#define PIOS_INCLUDE_GPS_NMEA_PARSER /* Include the NMEA protocol parser */
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#define PIOS_INCLUDE_GPS_UBX_PARSER /* Include the UBX protocol parser */
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#define PIOS_INCLUDE_SERVO
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#define PIOS_INCLUDE_SPI
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#define PIOS_INCLUDE_SYS
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#define PIOS_INCLUDE_USART
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#define PIOS_INCLUDE_USB
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#define PIOS_INCLUDE_USB_HID
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#define PIOS_INCLUDE_USB_RCTX
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#define PIOS_INCLUDE_USB_CDC
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#define PIOS_INCLUDE_COM
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#define PIOS_INCLUDE_SETTINGS
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#define PIOS_INCLUDE_FREERTOS
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#define PIOS_INCLUDE_GPIO
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#define PIOS_INCLUDE_EXTI
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#define PIOS_INCLUDE_RTC
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#define PIOS_INCLUDE_WDG
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#define PIOS_INCLUDE_BL_HELPER
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#define PIOS_INCLUDE_ADXL345
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#define PIOS_INCLUDE_FLASH
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#define PIOS_INCLUDE_MPU6000
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#define PIOS_MPU6000_ACCEL
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/* A really shitty setting saving implementation */
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#define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS
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/* Alarm Thresholds */
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#define HEAP_LIMIT_WARNING 220
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#define HEAP_LIMIT_CRITICAL 40
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#define IRQSTACK_LIMIT_WARNING 100
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#define IRQSTACK_LIMIT_CRITICAL 60
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#define CPULOAD_LIMIT_WARNING 85
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#define CPULOAD_LIMIT_CRITICAL 95
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/* Task stack sizes */
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#define PIOS_ACTUATOR_STACK_SIZE 1020
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#define PIOS_MANUAL_STACK_SIZE 800
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#define PIOS_SYSTEM_STACK_SIZE 660
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#define PIOS_STABILIZATION_STACK_SIZE 524
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#define PIOS_TELEM_STACK_SIZE 500
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#define PIOS_EVENTDISPATCHER_STACK_SIZE 130
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#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998
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//#define PIOS_QUATERNION_STABILIZATION
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// This can't be too high to stop eventdispatcher thread overflowing
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#define PIOS_EVENTDISAPTCHER_QUEUE 10
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/* PIOS Initcall infrastructure */
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#define PIOS_INCLUDE_INITCALL
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#endif /* PIOS_CONFIG_H */
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/**
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* @}
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* @}
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*/
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/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @{
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* @addtogroup OpenPilotCore OpenPilot Core
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* @{
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* @file pios_config.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013.
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* @brief PiOS configuration header, the compile time config file for the PIOS.
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* Defines which PiOS libraries and features are included in the firmware.
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* @see The GNU Public License (GPL) Version 3
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef PIOS_CONFIG_H
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#define PIOS_CONFIG_H
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/*
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* Below is a complete list of PIOS configurable options.
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* Please do not remove or rearrange them. Only comment out
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* unused options in the list. See main pios.h header for more
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* details.
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*/
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#define PIOS_INCLUDE_FREERTOS
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#define PIOS_INCLUDE_DELAY
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#define PIOS_INCLUDE_INITCALL
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#define PIOS_INCLUDE_SYS
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#define PIOS_INCLUDE_IRQ
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#define PIOS_INCLUDE_RTC
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#define PIOS_INCLUDE_TIM
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#define PIOS_INCLUDE_USART
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#define PIOS_INCLUDE_ADC
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/* #define PIOS_INCLUDE_I2C */
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#define PIOS_INCLUDE_SPI
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#define PIOS_INCLUDE_GPIO
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#define PIOS_INCLUDE_EXTI
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#define PIOS_INCLUDE_WDG
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#define PIOS_INCLUDE_USB
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#define PIOS_INCLUDE_USB_HID
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#define PIOS_INCLUDE_USB_CDC
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#define PIOS_INCLUDE_USB_RCTX
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#define PIOS_INCLUDE_ADXL345
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/* #define PIOS_INCLUDE_BMA180 */
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/* #define PIOS_INCLUDE_L3GD20 */
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#define PIOS_INCLUDE_MPU6000
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#define PIOS_MPU6000_ACCEL
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/* #define PIOS_INCLUDE_HMC5843 */
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/* #define PIOS_INCLUDE_HMC5883 */
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/* #define PIOS_INCLUDE_BMP085 */
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/* #define PIOS_INCLUDE_MS5611 */
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/* #define PIOS_INCLUDE_MPXV */
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/* #define PIOS_INCLUDE_ETASV3 */
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/* #define PIOS_INCLUDE_HCSR04 */
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#define PIOS_INCLUDE_PWM
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#define PIOS_INCLUDE_PPM
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#define PIOS_INCLUDE_DSM
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#define PIOS_INCLUDE_SBUS
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#define PIOS_INCLUDE_GCSRCVR
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#define PIOS_INCLUDE_LED
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#define PIOS_INCLUDE_IAP
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#define PIOS_INCLUDE_SERVO
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/* #define PIOS_INCLUDE_I2C_ESC */
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/* #define PIOS_INCLUDE_OVERO */
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/* #define PIOS_INCLUDE_SDCARD */
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#define PIOS_INCLUDE_FLASH
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#define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS
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/* #define PIOS_INCLUDE_FLASH_EEPROM */
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/* #define PIOS_INCLUDE_RFM22B */
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/* #define PIOS_INCLUDE_PACKET_HANDLER */
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/* #define PIOS_INCLUDE_VIDEO */
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/* #define PIOS_INCLUDE_WAVE */
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#define PIOS_INCLUDE_BL_HELPER
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/* #define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT */
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/* #define PIOS_INCLUDE_UDP */
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#define PIOS_INCLUDE_RCVR
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#define PIOS_INCLUDE_COM
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/* #define PIOS_INCLUDE_COM_MSG */
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#define PIOS_INCLUDE_TELEMETRY_RF
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#define PIOS_INCLUDE_GPS
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#define PIOS_GPS_MINIMAL
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#define PIOS_INCLUDE_GPS_NMEA_PARSER
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#define PIOS_INCLUDE_GPS_UBX_PARSER
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/* Alarm Thresholds */
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#define HEAP_LIMIT_WARNING 220
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#define HEAP_LIMIT_CRITICAL 40
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#define IRQSTACK_LIMIT_WARNING 100
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#define IRQSTACK_LIMIT_CRITICAL 60
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#define CPULOAD_LIMIT_WARNING 85
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#define CPULOAD_LIMIT_CRITICAL 95
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/* Task stack sizes */
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#define PIOS_ACTUATOR_STACK_SIZE 1020
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#define PIOS_MANUAL_STACK_SIZE 800
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#define PIOS_SYSTEM_STACK_SIZE 660
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#define PIOS_STABILIZATION_STACK_SIZE 524
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#define PIOS_TELEM_STACK_SIZE 500
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#define PIOS_EVENTDISPATCHER_STACK_SIZE 130
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#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998
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/* Stabilization options */
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/* #define PIOS_QUATERNION_STABILIZATION */
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/* This can't be too high to stop eventdispatcher thread overflowing */
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#define PIOS_EVENTDISAPTCHER_QUEUE 10
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#endif /* PIOS_CONFIG_H */
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/**
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* @}
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* @}
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*/
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@ -144,6 +144,7 @@ ifeq ($(MCU),cortex-m3)
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## Libraries for flight calculations
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SRC += $(FLIGHTLIB)/fifo_buffer.c
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SRC += $(FLIGHTLIB)/CoordinateConversions.c
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SRC += $(FLIGHTLIB)/packet_handler.c
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SRC += $(FLIGHTLIB)/taskmonitor.c
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SRC += $(FLIGHTLIB)/sanitycheck.c
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SRC += $(MATHLIB)/sin_lookup.c
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