rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-01 17:52:12 +01:00
Code Issues Releases Activity

Merge remote-tracking branch 'origin/next' into ins

Browse Source
This commit is contained in:
James Cotton 2011-08-21 01:34:40 -05:00
commit b1c522def3
13 changed files with 89 additions and 36 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
flight/Libraries/ahrs_comm_objects.c
View File

@ -79,6 +79,7 @@ CREATEHANDLE(10, FirmwareIAPObj);
static void ObjectUpdatedCb(UAVObjEvent * ev);
#define ADDHANDLE(idx,obj) {\
obj##Initialize();\
int n = idx;\
objectHandles[n].data = &obj;\
objectHandles[n].uavHandle = obj##Handle();\

2
flight/Modules/Guidance/guidance.c
View File

@ -100,8 +100,6 @@ int32_t GuidanceInitialize()
GuidanceSettingsInitialize();
PositionDesiredInitialize();
ManualControlCommandInitialize();
FlightStatusInitialize();
NedAccelInitialize();
VelocityDesiredInitialize();

3
flight/Modules/ManualControl/manualcontrol.c
View File

@ -117,8 +117,7 @@ int32_t ManualControlInitialize()
FlightStatusInitialize();
StabilizationDesiredInitialize();
// ManualControlSettingsInitialize(); // this is initialized in
// pios_board.c
ManualControlSettingsInitialize();
return 0;
}

5
flight/Modules/System/systemmod.c
View File

@ -244,6 +244,11 @@ static void objectUpdatedCb(UAVObjEvent * ev)
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
retval = UAVObjDeleteMetaobjects();
}
} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_FULLERASE) {
retval = -1;
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
retval = PIOS_FLASHFS_Format();
#endif
}
if(retval == 0) {
objper.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;

1
flight/OpenPilot/System/inc/pios_config.h
View File

@ -60,6 +60,7 @@
//#define PIOS_INCLUDE_HCSR04
#define PIOS_INCLUDE_OPAHRS
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_GPS
#define PIOS_INCLUDE_SDCARD
#define PIOS_INCLUDE_SETTINGS
#define PIOS_INCLUDE_FREERTOS

5
flight/OpenPilot/System/pios_board.c
View File

@ -525,6 +525,7 @@ static const struct pios_spektrum_cfg pios_spektrum_cfg = {
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
#define PIOS_COM_GPS_RX_BUF_LEN 96
#define PIOS_COM_GPS_TX_BUF_LEN 96
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
@ -1074,10 +1075,12 @@ void PIOS_Board_Init(void) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
NULL, 0)) {
tx_buffer, PIOS_COM_GPS_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}

2
flight/OpenPilot/System/pios_board_posix.c
View File

@ -30,6 +30,7 @@
#include <uavobjectsinit.h>
#include "attituderaw.h"
#include "attitudeactual.h"
#include "positionactual.h"
#include "velocityactual.h"
@ -177,6 +178,7 @@ void PIOS_Board_Init(void) {
// Initialize these here as posix has no AHRSComms
AttitudeRawInitialize();
AttitudeActualInitialize();
VelocityActualInitialize();
PositionActualInitialize();

11
flight/PiOS.posix/posix/pios_debug.c
View File

@ -79,8 +79,15 @@ void PIOS_DEBUG_Panic(const char *msg)
PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_DEBUG, "\r%s @0x%x\r", msg, lr);
#endif
// Stay put
while (1) ;
// tell the user whats going on on commandline too
fprintf(stderr,"CRITICAL ERROR: %s\n",msg);
// this helps debugging: causing a div by zero allows a backtrace
// and/or ends execution
int b = 0;
int a = (2/b);
b=a;
}
/**

13
flight/PiOS/Common/pios_flashfs_objlist.c
View File

@ -116,6 +116,19 @@ int32_t PIOS_FLASHFS_Init()
return 0;
}
/**
* @brief Erase the whole flash chip and create the file system
* @return 0 if successful, -1 if not
*/
int32_t PIOS_FLASHFS_Format()
{
if(PIOS_Flash_W25X_EraseChip() != 0)
return -1;
if(PIOS_FLASHFS_ClearObjectTableHeader() != 0)
return -1;
return 0;
}
/**
* @brief Erase the headers for all objects in the flash chip
* @return 0 if successful, -1 if not

1
flight/PiOS/inc/pios_flashfs_objlist.h
View File

@ -32,6 +32,7 @@
#include "uavobjectmanager.h"
int32_t PIOS_FLASHFS_Init();
int32_t PIOS_FLASHFS_Format();
int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data);
int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data);
int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId);

76
ground/openpilotgcs/src/plugins/config/configplugin.cpp
View File

@ -30,7 +30,7 @@
#include <QStringList>
#include <QTimer>
#include <extensionsystem/pluginmanager.h>
#include "objectpersistence.h"
ConfigPlugin::ConfigPlugin()
{
@ -58,7 +58,7 @@ bool ConfigPlugin::initialize(const QStringList& args, QString *errMsg)
"ConfigPlugin.EraseAll",
QList<int>() <<
Core::Constants::C_GLOBAL_ID);
cmd->action()->setText("Erase all settings from board...");
cmd->action()->setText(tr("Erase all settings from board..."));
ac->menu()->addSeparator();
ac->appendGroup("Utilities");
@ -80,6 +80,17 @@ bool ConfigPlugin::initialize(const QStringList& args, QString *errMsg)
return true;
}
/**
* @brief Return handle to object manager
*/
UAVObjectManager * ConfigPlugin::getObjectManager()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
Q_ASSERT(objMngr);
return objMngr;
}
void ConfigPlugin::extensionsInitialized()
{
cmd->action()->setEnabled(false);
@ -122,18 +133,19 @@ void ConfigPlugin::eraseAllSettings()
return;
settingsErased = false;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
Q_ASSERT(objMngr);
ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>( objMngr->getObject(ObjectPersistence::NAME) );
ObjectPersistence* objper = ObjectPersistence::GetInstance(getObjectManager());
Q_ASSERT(objper);
connect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(eraseDone(UAVObject *)));
ObjectPersistence::DataFields data;
data.Operation = ObjectPersistence::OPERATION_DELETE;
data.Selection = ObjectPersistence::SELECTION_ALLSETTINGS;
ObjectPersistence::DataFields data = objper->getData();
data.Operation = ObjectPersistence::OPERATION_FULLERASE;
// No need for manual updated event, this is triggered by setData
// based on UAVO meta data
objper->setData(data);
objper->updated();
QTimer::singleShot(1500,this,SLOT(eraseFailed()));
QTimer::singleShot(6000,this,SLOT(eraseFailed()));
}
@ -141,37 +153,47 @@ void ConfigPlugin::eraseFailed()
{
if (settingsErased)
return;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
Q_ASSERT(objMngr);
ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>( objMngr->getObject(ObjectPersistence::NAME));
disconnect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(eraseDone(UAVObject *)));
QMessageBox msgBox;
msgBox.setText(tr("Error trying to erase settings."));
msgBox.setInformativeText(tr("Power-cycle your board. Settings might be inconsistent."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
ObjectPersistence* objper = ObjectPersistence::GetInstance(getObjectManager());
ObjectPersistence::DataFields data = objper->getData();
if(data.Operation == ObjectPersistence::OPERATION_FULLERASE) {
// First attempt via flash erase failed. Fall back on erase all settings
data.Operation = ObjectPersistence::OPERATION_DELETE;
data.Selection = ObjectPersistence::SELECTION_ALLSETTINGS;
objper->setData(data);
objper->updated();
QTimer::singleShot(1500,this,SLOT(eraseFailed()));
} else {
disconnect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(eraseDone(UAVObject *)));
QMessageBox msgBox;
msgBox.setText(tr("Error trying to erase settings."));
msgBox.setInformativeText(tr("Power-cycle your board after removing all blades. Settings might be inconsistent."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
}
}
void ConfigPlugin::eraseDone(UAVObject * obj)
{
QMessageBox msgBox;
ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>(sender());
Q_ASSERT(obj->getName().compare("ObjectPersistence") == 0);
QString tmp = obj->getField("Operation")->getValue().toString();
if (obj->getField("Operation")->getValue().toString().compare(QString("Delete")) == 0 ) {
ObjectPersistence* objper = ObjectPersistence::GetInstance(getObjectManager());
ObjectPersistence::DataFields data = objper->getData();
Q_ASSERT(obj->getInstID() == objper->getInstID());
if(data.Operation != ObjectPersistence::OPERATION_COMPLETED) {
return;
}
disconnect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(eraseDone(UAVObject *)));
if (obj->getField("Operation")->getValue().toString().compare(QString("Completed")) == 0) {
if (data.Operation == ObjectPersistence::OPERATION_COMPLETED) {
settingsErased = true;
msgBox.setText(tr("Settings are now erased."));
msgBox.setInformativeText(tr("Please now power-cycle your board to complete reset."));
} else {
msgBox.setText(tr("Error trying to erase settings."));
msgBox.setInformativeText(tr("Power-cycle your board. Settings might be inconsistent."));
msgBox.setInformativeText(tr("Power-cycle your board after removing all blades. Settings might be inconsistent."));
}
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);

1
ground/openpilotgcs/src/plugins/config/configplugin.h
View File

@ -48,6 +48,7 @@ public:
ConfigPlugin();
~ConfigPlugin();
UAVObjectManager * getObjectManager();
void extensionsInitialized();
bool initialize(const QStringList & arguments, QString * errorString);
void shutdown();

2
shared/uavobjectdefinition/objectpersistence.xml
View File

@ -1,7 +1,7 @@
<xml>
<object name="ObjectPersistence" singleinstance="true" settings="false">
<description>Someone who knows please enter this</description>
<field name="Operation" units="" type="enum" elements="1" options="NOP,Load,Save,Delete,Completed"/>
<field name="Operation" units="" type="enum" elements="1" options="NOP,Load,Save,Delete,FullErase,Completed"/>
<field name="Selection" units="" type="enum" elements="1" options="SingleObject,AllSettings,AllMetaObjects,AllObjects"/>
<field name="ObjectID" units="" type="uint32" elements="1"/>
<field name="InstanceID" units="" type="uint32" elements="1"/>